Automatic guided vehicle and automatic guided vehicle control method

• US 5,961,559 A
• Filed: 03/31/1997
• Issued: 10/05/1999
• Est. Priority Date: 03/29/1996
• Status: Expired due to Fees

• Current Assignee: Mazda Motor Corporation
• Original Assignee: Mazda Motor Corporation
• Inventors: Moriyama, Koichi, Shimbara, Yoshimi, Teramoto, Koji
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US08/829,689
• Time in Patent Office: 918 Days
• Field of Search: 701/23, 701/41, 701/48, 701/68, 701/69, 701/72, 701/74, 701/202, 701/210, 701/79, 701/211, 180/168, 180/233, 180/248, 180/249
• US Class Current: 701/23
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 7/006 Dynamic electric braking by reversing current, i.e. plugging
• CPC Class Codes: G05D 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 1/0263 using magnetic strips
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

A automatic guided vehicle which drives drive wheels differentially to change its traveling direction applies braking by imposing reverse torque to wheel drive motors when cornering or when rapid braking is demanded. This braking corrects the traveling direction of the automatic guided vehicle when the vehicle is apt to depart from its intended path, enabling a automatic guided vehicle even having a large inertia to make a smooth turn at a sharp corner.

Claims

1. A vehicle control method for controlling a direction of a self drive vehicle by differentially driving electric motors for driving right and left drive wheels, said vehicle control method comprising the steps of:

detecting a lateral deviation of said self drive vehicle from a prearranged travel path which is established by guide means;

calculating a speed difference between rotational speeds of said electric motors necessary to correct said lateral deviation; and

applying reverse torque to said electric motors according to said speed difference to differentially drive said right and left wheels.

2. A vehicle control method as defined in claim 1, wherein said reverse torque is varied by controlling a consumption of regenerative energy of said motor during deceleration.

3. A vehicle control method as defined in claim 2, wherein either one of said motors is driven by regenerative control when said speed difference is greater than a specified speed difference.

4. A vehicle control method as defined in claim 3, further comprising the step of applying reverse braking during deceleration when said speed difference is greater than a specified speed difference.

5. A vehicle control method as defined in claim 1, wherein said motors are controlled by a brake control map prescribing a relationship between lateral deviation and controlled braking variable.

6. A vehicle control method as defined in claim 1, and further comprising the step of controlling a speed of said automatic guided vehicle by a forward drive control map prescribing a relationship between lateral deviation and motor speed.

7. A vehicle control method as defined in claim 1, and further comprising the step of controlling a speed of said automatic guided vehicle by a backward drive control map prescribing a relationship between lateral deviation and motor speed.

8. A vehicle control method as defined in claim 1, wherein said lateral deviation of said self-drive vehicle from a prearranged travel path is detected by a sensor.

9. A vehicle control method as defined in claim 8, wherein said guide means is disposed on a floor.

10. A vehicle control method as defined in claim 9, wherein a guide means comprises a magnetic tape disposed on said floor and said sensor comprises a magnetic sensor.

11. A vehicle control method as defined in claim 1, wherein said electric motors are attached to said right and left drive wheels, respectively, and controlled by a controller according to said lateral deviation so as to remove said lateral deviation of said self-drive vehicle from said prearranged travel path.

12. A vehicle control method as defined in claim 1, wherein said guide means includes travel instruction means for indicating travel speed of said self-drive vehicle to which a traveling speed is decreasingly changed.

13. A vehicle control method as defined in claim 12, and further comprising the step of reading said travel instruction means.

14. A vehicle control method as defined in claim 1, wherein said self-drive vehicle is controlled in speed based on a map defining a relationship between rotational speeds of said electric motors and said lateral deviations.

15. A vehicle control system for controlling a self-drive vehicle which is guided by path guide means to travel on a prearranged travel path established by said path guide means and controlling a traveling direction of said self-drive vehicle by driving right and left drive wheels at different speeds, said vehicle control system comprising:

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

control means for detecting whether there is a demand of deceleration, detecting a lateral deviation of said self-drive vehicle from said path guide means and controlling regenerated energy of said electric motor according to said lateral deviation when said deceleration demand is detected.

16. A vehicle control system as defined in claim 15, wherein said control means includes a circuit for motor drive control and motor braking control for each said motor.

17. A vehicle control system as defined in claim 15, wherein said control means controls consumption of said regenerated energy by pulse width modulation control.

18. A vehicle control system as defined in claim 17, wherein said control means reverses said motor for braking during deceleration.

19. A vehicle control system as defined in claim 15, wherein said control means controls said motor by a brake control map prescribing a relationship between lateral deviation and controlled braking variable.

20. A vehicle control system as defined in claim 15, wherein said control means controls said motor by a drive control map prescribing a relationship between lateral deviation and motor speed and a brake control map prescribing a relationship between lateral deviation and controlled braking variable which are selectively used.

21. A vehicle control system as defined in claim 15, wherein said control means controls said motor by a forward drive control map prescribing a relationship between lateral deviation and motor speed, a backward drive control map prescribing a relationship between lateral deviation and motor speed, and a brake control map prescribing a relationship between lateral deviation and controlled braking variable which are selectively used.

22. A vehicle control system as defined in claim 15, wherein said guide means includes travel instruction means for indicating travel speed of said automatic guided vehicle to which a traveling speed is decreasingly changed.

23. A vehicle control system as defined in claim 22, and further comprising a sensor for reading said travel instruction means.

24. A vehicle control system as defined in claim 15, wherein said lateral deviation of said self-drive vehicle from a prearranged travel path is detected by a sensor.

25. A vehicle control system as defined in claim 24, wherein said guide means is disposed on a floor.

26. A vehicle control system as defined in claim 25, wherein a guide means comprises a magnetic tape disposed on said floor and said sensor comprises a magnetic sensor.

27. A vehicle control system as defined in claim 15, wherein said electric motors are attached to said right and left drive wheels, respectively, and controlled by a controller according to said lateral deviation so as to remove said lateral deviation of said self-drive vehicle from said prearranged travel path.

28. A vehicle control system as defined in claim 15, wherein said self-drive vehicle is controlled in speed based on a map defining a relationship between rotational speeds of said electric motors and said lateral deviations.

29. A vehicle control method for controlling a direction of a automatic guided vehicle by differentially driving motors for driving right and left drive wheels, said vehicle control method comprising the steps of:

detecting a lateral deviation of said automatic guided vehicle from a prearranged travel path;

calculating a speed difference between rotational speeds of said motors necessary to correct said lateral deviation;

applying reverse torque to said motors according to said speed difference to differentially drive said right and left wheels; and

controlling a speed of said automatic guided vehicle by a forward drive control map prescribing a relationship between lateral deviation and motor speed.

30. A vehicle control method for controlling a direction of a automatic guided vehicle by differentially driving motors for driving right and left drive wheels, said vehicle control method comprising the steps of:

detecting a lateral deviation of said automatic guided vehicle from a prearranged travel path;

calculating a speed difference between rotational speeds of said motors necessary to correct said lateral deviation;

applying reverse torque to said motors according to said speed difference to differentially drive said right and left wheels; and

controlling a speed of said automatic guided vehicle by a backward drive control map prescribing a relationship between lateral deviation and motor speed.

31. A vehicle control system for controlling a automatic guided vehicle which is guided by path guide means to travel on a prearranged path established by said path guide means and controlling a traveling direction of said automatic guided vehicle by driving right and left drive wheels at different speeds, said vehicle control system comprising:

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

control means for detecting whether there is a demand of deceleration, detecting a lateral deviation of said automatic guided vehicle from said path guide means and controlling regenerated energy of said motor according to said lateral deviation when said deceleration demand is detected; and

wherein said control means controls said motor by a drive control map prescribing a relationship between lateral deviation and motor speed and a brake control map prescribing a relationship between lateral deviation and controlled braking variable which are selectively used.

32. A vehicle control system for controlling a automatic guided vehicle which is guided by path guide means to travel on a prearranged path established by said path guide means and controlling a traveling direction of said automatic guided vehicle by driving right and left drive wheels at different speeds, said vehicle control system comprising:

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

control means for detecting whether there is a demand of deceleration, detecting a lateral deviation of said automatic guided vehicle from said path guide means and controlling regenerated energy of said motor according to said lateral deviation when said deceleration demand is detected; and

wherein said control means controls said motor by a forward drive control map prescribing a relationship between lateral deviation and motor speed, a backward drive control map prescribing a relationship between lateral deviation and motor speed, and a brake control map prescribing a relationship between lateral deviation and controlled braking variable which are selectively used.