JP3773218B2 - Automatic running path and automatic running magnet generator - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic traveling path for guiding an automatic traveling vehicle using magnetism, and an automatic traveling magnetism generator disposed on the automatic traveling path.
[0002]
[Prior art]
In order to automatically drive an autonomous vehicle in this way, magnetic nails (magnetism generators for automatic traveling), which are a kind of traveling guidance mark, are continuously arranged in a line along the road, and the magnetic properties of the magnetic nails are arranged. There is an automatic traveling path configured to automatically travel along the vehicle while the vehicle is detected by a magnetic sensor disposed in the automatically traveling vehicle. In such an automatic traveling path, a permanent magnet is used as a magnetic nail because it is inexpensive and easy to install.
[0003]
[Problems to be solved by the invention]
In such an automatic driving road, when the road is a single lane, it is easy to detect magnetism from the magnetic nail and the automatic driving control is relatively easy. There is a problem that automatic traveling is difficult at places where the traveling route (magnetic nail) branches and merges.
[0004]
More specifically, in a place where the travel route branches or the like, if a magnetic nail is provided on each of the branch routes, the vehicle travels on a plurality of magnetic nail trains. It becomes impossible to detect the magnetic source. Therefore, in such a case, it is necessary to prohibit the detection of magnetism by the magnetic sensor and temporarily stop the automatic traveling.
[0005]
In addition, when continuing automatic driving, it is conceivable that the section where magnetic detection is prohibited is driven using inertial navigation. However, when driving using inertial navigation, high-precision gyroscopes and magnetic nails are used. A map having position information in which is arranged is required. Furthermore, since it is necessary to maintain high reliability of each device when traveling by inertial navigation, there is a problem that each device becomes complicated and expensive.
[0006]
The present invention has been made in view of such a problem, and can automatically cause the automatic traveling of the branching / merging portion to be performed, and the automatic traveling path of the automatic traveling system that is simple in configuration and low in cost. And it aims at providing the magnetism generator for automatic running.
[0007]
[Means for Solving the Problems]
In order to achieve such an object, the automatic traveling road of the present invention is provided with an automatic traveling magnetism generator for guiding an automatic traveling vehicle provided with a magnetic sensor to a predetermined location. It is possible to switch whether or not to generate a magnetism of an intensity that can be detected by a magnetic sensor provided in an automatic traveling vehicle from a magnetic generator for automatic traveling provided in a branching / merging section that branches and merges. A magnetism generating means is provided. In the sections other than the branching / merging section in the automatic traveling path, the automatic traveling magnetism generator is provided with a permanent magnet that generates magnetism having a strength that can be detected by a magnetic sensor.
[0008]
According to such an automatic traveling path, the automatic traveling magnetism generator disposed in the section other than the branching / merging section that occupies most of the automatic traveling path may be formed by a permanent magnet. In addition, the configuration of the magnetic generator itself can be simplified, and the arrangement on the automatic travel path can be easily performed. The magnetic generator for automatic travel arranged in the branching / merging section is slightly more complicated in configuration than the magnetic generator using only permanent magnets, but the magnetic generation provided in the entire automatic travel path Since the ratio with respect to the apparatus is low, the cost of the entire automatic traveling path can be reduced.
[0009]
The branching / merging section refers to a predetermined section including a point where a line of the magnetic generators for automatic traveling arranged on the automatic traveling path branches / joins. Specifically, the automatic traveling vehicle travels automatically. When magnetism is generated from a magnetism generator for automatic travel disposed on a travel path different from the travel path (a travel path that branches or merges), this refers to a section in which the magnetism may be detected. Accordingly, a traveling magnetism generator configured to be able to switch whether or not to generate magnetism in this branching / merging section is disposed, and only from the traveling magnetism generator disposed on the desired automatic traveling path. If the magnetism is generated, the automatic traveling vehicle can be reliably guided.
[0010]
Furthermore, by making the intensity of the magnetism generated from the traveling magnetism generator arranged in the branching / merging section equal to the magnetism intensity of the permanent magnet, the detection accuracy of the magnetic sensor may be constant, so the apparatus configuration is simple. Low cost.
[0011]
  In the above automatic traveling path, the automatic traveling magnetic generator provided in the branching / merging sectionThe magnetism generating means includes a permanent magnet and an electromagnet that generates magnetism that cancels the magnetism of the permanent magnet.It is preferable.
[0012]
  Also, the magnetism generating meansYou may comprise from a permanent magnet and the magnetic suppression means which suppresses generation | occurrence | production of the magnetism of this permanent magnet to the exterior.When an automatic travel path is configured using such a magnetism generating means, the magnetism of the permanent magnet is generated outside when an operation control signal such as energization to the electromagnet or the magnetism suppressing means is interrupted. By doing so, it is possible to prevent the occurrence of a blank portion where no magnetism is generated even during a power failure.
[0013]
  On an automatic driving path that can guide an automatic traveling vehicle equipped with a magnetic sensor to a predetermined location, the magnetic generator for automatic traveling provided in the branching / merging section generates magnetism with a strength that can be detected by the magnetic sensor. In the configuration in which switching of whether or not to perform is possible, an automatic traveling magnetism generator is composed of a permanent magnet and an electromagnet that generates magnetism that cancels the magnetism of the permanent magnet.The electromagnet has a coil wound around a permanent magnet, and when the coil is energized, an S pole magnetic field is generated on the N pole side of the permanent magnet, and N on the S pole side of the permanent magnet. It is preferable to generate a polar magnetic field.
[0014]
By using such a magnetism generator for automatic traveling, the generation of magnetism can be easily suppressed, and even if it is impossible to generate magnetism from the magnetism generating means due to some trouble, the permanent magnet Can generate magnetism. For this reason, by providing this automatic travel magnetism generator on one of the automatic travel paths that branch and merge, guidance to one automatic travel path can be performed even during a power failure or the like.
[0015]
  Furthermore, the automatic traveling magnetism generator that is provided in the branching / merging section and can switch whether or not to generate magnetism in the same manner as described above, suppresses generation of magnetism of the permanent magnet to the outside. From magnetic deterrence meansA rotating member provided with an upper horizontal portion formed in a U shape by a magnetic body and extending in the horizontal direction at the upper end portion and a lower horizontal portion extending in the horizontal direction at the lower end portion; A motor that rotates the member horizontally, and a rotating spring that urges the rotating member in a direction in which the upper horizontal portion and the lower horizontal portion face the opposite side of the permanent magnet. Turns horizontally against the biasing force of the rotary spring, the upper horizontal part and the lower horizontal part come into contact with the upper end surface and the lower end surface of the permanent magnet, and the energization to the motor is cut off, the rotary member is moved by the biasing force of the rotary spring. You may make it turn horizontally and make an upper horizontal part and a lower horizontal part face the opposite side to a permanent magnet.If a failure occurs in the operation control device that controls the operation of the magnetic deterring means, the generation of magnetism can be ensured even during a power failure, etc., as described above, if the magnetic deterring means is not activated. Can do.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
First, FIG. 2 shows an example of a vehicle configuration used in the automatic traveling system of the present invention. The vehicle VH can also automatically run without a driver's operation. For this reason, the vehicle VH includes an electric steering 11, an electric throttle 12, an electric brake 13, and an electric shift 14, and receives a command signal from the controller 15. Based on these, the vehicle VH can be automatically driven to operate.
[0017]
For this automatic traveling, a system for automatically traveling the vehicle VH along the magnetic nail N while detecting the magnetic nail N provided on the road surface R is provided, and the vehicle VH has a magnetic nail at the front thereof. A magnetic sensor 16 for detecting N is provided, and the detected data is sent to the controller 15.
[0018]
The travel guide magnetic nail N is embedded along the travel route on the road surface R. When information on the magnetic nail N detected by the magnetic sensor 16 is sent to the controller 15, the controller 15 performs signal processing. The operations of the electric steering 11, the electric throttle 12, the electric brake 13, and the electric shift 14 are controlled so as to follow the magnetic nail N and travel.
[0019]
Next, the magnetic nail N disposed on the road surface R will be described. As shown in FIG. 1, the magnetic nails N are embedded at a certain interval in the direction in which the road extends in the center of the road in the left-right direction. FIG. 1 shows a branching portion where the lane on the road increases from one lane to two lanes. The magnetic nail N is embedded in only the center portion of the portion where the lane R1 ′ is one lane (hereinafter referred to as “one lane portion”) as shown in a range I surrounded by a chain line, and is indicated by a range II surrounded by a chain line. In a portion bifurcated into two lanes (hereinafter referred to as a “branch portion”), a portion bifurcated into two lanes (hereinafter referred to as a “two lane portion”) as shown by a range III surrounded by a chain line in FIG. Are embedded in the center of each of the first and second lanes R1, R2.
[0020]
There are two types of magnetic nails N embedded in this way, one is formed only by permanent magnets and always generates magnetism to the outside, and the other is strength capable of detecting magnetism by a magnetic sensor. An electromagnet is provided as a magnetism generating means capable of switching whether to generate the magnetism. Permanent magnet magnetic nail 20 formed by permanent magnets is embedded in roads R1, R1 ', R2 where one or two lanes are completely formed, as indicated by black circles in one lane portion I and two lane portions III. Has been.
[0021]
Further, the electromagnet magnetic nail 10 formed by providing an electromagnet is embedded in the first lane R1 ′ before branching and the first lane R1 after branching, as indicated by white circles and hatched circles in the branching part II. The first lane side electromagnet magnetic nail 10a embedded so as to connect the permanent magnet magnetic nails 20 formed, and the permanent magnet magnetic nail 20 embedded in the first lane R1 ′ before branching and the second lane R2 after branching. It consists of the second lane side electromagnet magnetic nail 10b which connects each other.
[0022]
One of the first lane side electromagnet magnetic nail 10a and the second lane side electromagnet magnetic nail 10b is always energized and travels in the first lane R1 as it is or changes to the second lane R2. . That is, when the electromagnet magnetic nail 10 is energized (the state in which magnetic force is generated) is indicated by a hatched circle, the vehicle VH that has traveled on the first lane R1 ′ travels as it is without changing the lane. In order to generate magnetism, the first lane side electromagnet magnetic nail 10a is energized as shown in FIG. Thereby, since the magnetic force of the magnetic nail N in the first lane R1 is not interrupted, the vehicle VH can automatically travel on the first lane R1.
[0023]
Next, a case where the vehicle VH traveling in the first lane R1 ′ is moved to the increased second lane R2 will be described. When changing the lane from the first lane R1 'to the second lane R2, as shown in (B), the second lane side electromagnet magnetic nail 10b is energized and the first lane side electromagnet magnetic nail is energized. The power supply to 10a is cut off. As a result, a magnetic force is generated only in the second lane side electromagnet magnetic nail 10b in the branching portion II, so that the vehicle traveling in the first lane R1 ′ can smoothly change the lane to the second lane R2. it can.
[0024]
Here, the electromagnet magnetic nail 10 embedded in the road surface R will be described with reference to FIG. The electromagnet magnetic nail 10 has an iron core 12 disposed in a case 11, and a coil 13 is wound around the iron core 12. Thus, the case 11 in which the iron core 12 around which the coil 13 is wound is stored is embedded in the road surface R with the lid 14 being put on. The coil 13 is energized and controlled by the switching device 42, and the energization control of the switching device 42 is performed by a control signal from the control device 41.
[0025]
In a state where the coil 13 is energized by the switching device 42, magnetism (magnetic field) G is generated around the iron core 12 as shown in FIG. 3. Since this magnetism reaches the upper part of the road, it can be detected by the magnetic sensor 16. According to the electromagnet magnetic nail 10 configured as described above, since the generation and disappearance of magnetism can be performed with a simple configuration, the traveling guidance direction in the branching section II can be easily switched.
[0026]
The electromagnet magnetic nail 10 thus configured is not limited to the branching section II as described above, but also the lane changing section II as shown in FIG.₁And the introduction part II to the interchange and parking area as shown in FIG.₂Etc. are also buried. As described above, in the automatic traveling road in which the electromagnet magnetic nail 10 and the like are embedded in the branching section II and the like, the energization operation control of the electromagnet magnetic nail 10 is performed by the control device 41 as described above, and the vehicle VH is set to an appropriate lane Lead to interchange etc.
[0027]
For example, as shown in FIG.₁Vehicle VH traveling in the first lane R11 at the lane change unit II₁Change lane at lane change rear part III₁The case where the vehicle travels in the second lane R12 will be described. Lane change front I₁And lane change rear part III₁The first and second lanes R11 and R12 are provided with permanent magnet magnetic nails 120a to 120d.
[0028]
Lane change part II₁In, the first electromagnet magnetic nail 110a that connects the permanent magnet magnetic nails 120a, 120c of the first lane R11, the lane change front I₁Permanent magnet magnetic nail 120a and lane change rear part III in the first lane R11₁2nd electromagnet magnetic nail 110b connecting the permanent magnet magnetic nail 120d in the second lane R12 at the lane change front I₁Permanent magnet magnetic nail 120b and lane change rear part III in the second lane R12₁The third electromagnet magnetic nail 110c that connects the permanent magnet magnetic nail 120c in the first lane R11 and the fourth electromagnet magnetic nail 110d that connects the permanent magnet magnetic nails 120b and 120d in the second lane R12 are disposed. When the lane change as described above is performed, only the second electromagnet magnetic nail 110b is energized to generate magnetism.
[0029]
Next, as shown in FIG. 5, a case where the vehicle VH traveling in the first lane R21 is guided to the parking area will be described. The lane R23 connected to the parking area is formed to branch from the first lane R21. Branch front I of the first lane R21₂And the rear branch III of the first lane R21 and the road R23₂Are provided with permanent magnet magnetic nails 220a, 220b, 220c.
[0030]
Branch II₂The first electromagnet nail 210a connecting the permanent magnet magnetic nails 220a and 220b of the first lane R21, the permanent magnet magnetic nail 220a of the first lane R21 and the permanent magnet magnetic nail 220c of the lane R23 connected to the parking area. And a second electromagnet magnetic nail 210b. Since the second lane R22 is not related to the above branch, only the permanent magnet magnetic nail 220d is provided. When the vehicle VH traveling on the first lane R21 is guided to the parking area, magnetism is generated only in the second electromagnet magnetic nail 210b.
[0031]
Here, the operation control of the switching device 42 in the control device 41 will be described with reference to the flowchart shown in FIG. The control device 41 first recognizes whether or not the vehicle VH has entered the automatic travel lane in step S1, and then recognizes in which position the vehicle VH is traveling in the automatic travel lane in step S2. . These recognitions are based on the fact that the magnetic sensor 16 has detected the magnetism of a magnetic nail embedded in the road surface, and the vehicle position detected by the vehicle position detecting means 18 is detected from the communication device 17 provided in the vehicle VH from the control device 41. Made by sending to. The vehicle position detection means 18 includes a gyro, a GPS receiver, and the like.
[0032]
Next, in step S3, it is determined in which lane the vehicle VH is to be driven based on the traffic volume of the road. Based on this determination, it is determined in step S4 whether or not there is a need to change lanes. Here, when it is determined that there is no need to change the lane, the series of control ends, and the vehicle VH continues to travel in the same lane without switching the electromagnet at the branching unit or the lane changing unit. to continue.
[0033]
If it is determined in step S4 that the lane needs to be changed, the process proceeds to step S5 to first notify the vehicle VH of the shift to the determined lane. This notification is made by transmitting from the control device 41 to the communication device 17, and the communication device 17 that has received the notification causes the display means 19 to display that effect. After this notification is made, the switching operation control of the switching device 42 is performed in step S6, and the vehicle VH is guided to a predetermined lane.
[0034]
The switching operation of the switching device 42 is performed not only by the operation control from the control device 41 that controls the road as described above, but also by a request using the communication device 17 from the vehicle VH side. The For example, when entering the parking area as described above, it is made only by a request using the communication device 17 from the vehicle VH side.
[0035]
Next, an electromagnet magnetic nail having a different configuration of magnetism generating means will be described with reference to FIG. The electromagnet magnetic nail 30 is provided with a permanent magnet 32 instead of the iron core 11 in the electromagnet magnetic nail 10. When the coil 33 is energized, an S pole magnetic field is generated on the N pole side of the permanent magnet 32, and an N pole magnetic field is generated on the S pole side of the permanent magnet 32. Note that the strength of the magnetic field generated when the coil 33 is energized is approximately the same (balanced) as the strength of the magnetic field of the permanent magnet 32.
[0036]
According to the electromagnet magnetic nail 30 configured as described above, in the state where the power supply to the coil 33 is cut off, a magnetic field is generated by the permanent magnet 32 as in the state shown in FIG. Detection can be performed. In the state where the coil 33 is energized, a magnetic field is generated in the coil 33. Since the strength of the magnetic field is substantially equal to the strength of the magnetic field of the permanent magnet 32, the magnetic field of the permanent magnet 32 is increased. Is almost countered. Thereby, as shown in FIG. 7, the magnetic field generated from the electromagnet becomes very small and is not detected by the magnetic sensor 16.
[0037]
The electromagnet that generates magnetism that cancels the magnetism of the permanent magnet 32 as described above is not limited to the configuration in which the coil 33 is wound around the outer periphery of the permanent magnet 32, and a magnetic field opposite to the magnetic field of the permanent magnet 32. Other electromagnets that generate the above may be disposed in the vicinity of the permanent magnet.
[0038]
A specific arrangement method of the electromagnet magnetic nail 30 thus configured will be described with reference to FIG. FIG. 8 is the same as FIG._ThreeAnd the parts I and III before and behind are shown. Lane change front I_ThreeAnd lane change rear part III_Three, Permanent magnet magnetic nails 320a to 320d are arranged as magnetic nails, and the lane changing section II_ThreeIn the first lane R31, the permanent magnet magnetic nails 320a, 320d and the second lane R32 permanent magnet magnetic nails 320b, 320d are connected to each other by first and fourth electromagnet magnetic nails 30a, 30d (circles with horizontal lines). Magnetic nails indicated by marks are provided.
[0039]
Further, the second electromagnet magnetic nail 310b connecting the permanent magnet magnetic nail 320a of the first lane R31 and the permanent magnet magnetic nail 320d of the second lane R32, and the permanent magnet magnetic nail 320b of the second lane R32 and the first lane R31. A third electromagnet magnetic nail 310c (a magnetic nail indicated by a white circle) connecting the permanent magnet magnetic nail 320c is a magnetic nail configured in the same manner as the electromagnet magnetic nail 10 described above.
[0040]
In the automatic traveling road in which the permanent magnet magnetic nail 320 and the electromagnet magnetic nails 30 and 310 are arranged in this way, the excitation operation control (to the coil) of the electromagnets 310 and 330 based on the control signal from the control device 41. Energization control). By arranging the electromagnet magnetic nails 310 and 30 as described above, a magnetic field is generated from the first electromagnet magnetic nail 30a and the fourth electromagnet magnetic nail 30d when all the electromagnets are not energized. . For this reason, even when the control device 41 or the switching device 42 breaks down, a blank portion of the magnetic field is not generated, and automatic traveling can be performed while maintaining at least the traveling lane.
[0041]
Next, referring to FIG. 9 and FIG. 10, a magnetic nail 60 that can suppress the generation of a magnetic field to the outside by energizing (no generation of magnetism of a strength that can be detected by the magnetic sensor 16). explain. The magnetic nail 60 includes a permanent magnet 61, a rotary member (magnetic suppression means) 62 formed in a U-shape by a magnetic material such as iron, a motor 63 that rotates the rotary member 62, and a magnetic generator. The rotating member 62 is composed of a rotating spring 64 that constantly biases the rotating member 62 in a predetermined direction. In the magnetic nail 60 provided with the magnetism generating means configured as described above, when the motor 63 is not energized, as shown in FIG. The upper horizontal portion 62 a and the lower horizontal portion 62 b that extend in the direction are held in a state of being located on the side opposite to the permanent magnet 61.
[0042]
Thus, in the state where the upper horizontal portion 62a and the lower horizontal portion 62b are not in contact with the upper end surface 61a and the lower end surface 61b of the permanent magnet 61, the magnetic sensor 16 can detect the magnetism of the permanent magnet 61. .
[0043]
When the motor 63 is energized to rotate the rotating member 63 horizontally by 180 °, the upper horizontal portion 62a and the lower horizontal portion 62b come into contact with the upper end surface 61a and the lower end surface 61b of the permanent magnet 61 as shown in FIG. Thereby, since a magnetic path is formed in the rotating member 62, the magnetic field generated on the outside can be made extremely small, and the magnetism of the permanent magnet 61 can be prevented from being detected by the magnetic sensor 16.
[0044]
When the power supply to the motor 63 is cut off, the holding force for holding the upper horizontal portion 62a and the lower horizontal portion 62b on the upper end surface 61a and the lower end surface 61b is released, and the urging force of the rotating spring 64 causes the urging force to be shown in FIG. The rotating member 62 is horizontally rotated by 180 °. In the state in which the upper horizontal portion 62a and the lower horizontal portion 62b are in contact with the upper end surface 61a and the lower end surface 61b, the rotating member 62 is attracted to the permanent magnet 61. It is formed with an urging force that can rotate the rotating member 62 against it.
[0045]
The magnetic nail thus configured is controlled by the switching device 42 in response to a control signal from the control device 41, similarly to the operation control of the electromagnet magnetic nails 10 and 30 described above. That is, the magnetic field can be generated by cutting off the energization in the same manner as the electromagnet magnetic nail 30 described above. Therefore, even when the control device 41 and the switching device 42 are not normally operated during a power failure or the like, the automatic traveling of the vehicle traveling on the automatic traveling road can be continued.
[0046]
The magnetic nail that can generate a magnetic field even in the event of a power failure is not limited to the above-described configuration, and magnetic deterring means configured to raise and lower the permanent magnet is provided. Also good. Then, the permanent magnet may be lowered to prevent the magnetism from being generated outside when energized, and the magnet may be generated to the outside by raising the permanent magnet by an urging force such as a spring when not energized. Further, a shielding plate capable of shielding magnetism may be provided above the permanent magnet, and the shielding plate may be opened when no power is supplied.
[0047]
As described above, in this automatic traveling road, the magnetic nail for guidance provided on the road is a part other than the branching part and the lane changing part that occupies most of the automatic traveling road (part that travels along the road). Since it is sufficient to embed a magnetic nail formed by a permanent magnet, the equipment cost of the induction magnetic nail (induction infrastructure maintenance cost) is reduced. Further, since the strength of the magnetic field generated from the magnetic nail formed by the electromagnet at the branching portion or the like can be made equal to the strength of the magnetic field generated from the magnetic nail formed by the permanent magnet, the resolution of the magnetic sensor 16 is It may be low, and the apparatus cost can be reduced.
[0048]
【The invention's effect】
As described above, the automatic travel path of the present invention has an automatic travel magnetism having a magnetic generating means capable of switching whether or not to generate magnetism in a branch / merging section where the automatic travel path branches / joins. A generator is provided, and in other sections, a magnet generator for automatic travel using a permanent magnet is provided.
[0049]
Accordingly, the automatic traveling magnetism generator disposed in the section that occupies most of the automatic traveling path may be a permanent magnet that is simple in configuration and disposition operation, and thus can reduce costs. Then, by generating magnetism from any of the automatic traveling magnetism generators at the branching / merging portion, the automatic traveling vehicle can be easily and reliably guided to the desired automatic traveling path.
[0050]
Further, in the above automatic traveling path, it is preferable to use an electromagnet as the magnetism generating means of the automatic traveling magnetism generator provided in the branching / merging section. With such a configuration, the energization control to the electromagnet is controlled. Since switching whether or not to generate magnetism can be performed simply by performing this, the configuration of the apparatus can be simplified and the cost can be reduced.
[0051]
Further, the magnetism generating means is composed of a permanent magnet and an electromagnet for generating magnetism that cancels the magnetism of the permanent magnet, or from the permanent magnet and a magnetism suppressing means for suppressing the generation of magnetism of the permanent magnet to the outside. Or may be configured. When an automatic travel path is configured using such a magnetism generating means, the magnetism of the permanent magnet is generated outside when an operation control signal such as energization to the electromagnet or the magnetism suppressing means is interrupted. By doing so, it is possible to prevent the occurrence of a blank portion where no magnetism is generated even during a power failure. Therefore, by using an automatic traveling magnetism generator having such a magnetism generating means for any of the automatic traveling paths that branch and merge, automatic traveling can be performed safely even during a power failure.
[0052]
In addition, when the automatic traveling magnetism generator provided in the branching / merging section is configured to be capable of switching whether or not to generate magnetism with a strength that allows magnetism to be detected by a magnetic sensor, A magnetism generating device for generating magnetism that cancels the magnetism of the permanent magnet, and a magnetism generating device for automatic travel; and a permanent magnet and an arrival preventing means for preventing the permanent magnet from reaching the magnetic sensor; The magnetism of the permanent magnet may be detected by a magnetic sensor when the magnetism generating means and the arrival preventing means are malfunctioning.
[0053]
By providing such an automatic traveling magnetism generator on one of the automatic traveling paths for branching / merging, the magnetism for automatic traveling can be arranged without interruption of the magnetism in the branching / merging section even during a power failure. It is possible to guide to the established automatic driving path.
[Brief description of the drawings]
FIG. 1 is a plan view showing a lane increasing portion of an automatic traveling road according to the present invention.
FIG. 2 is a schematic view showing a configuration of a vehicle that travels on the automatic travel path.
FIG. 3 is a side cross-sectional view of an automatic traveling magnetism generator disposed on the automatic traveling path.
FIG. 4 is a plan view showing a lane changing portion of the automatic traveling road.
FIG. 5 is a plan view showing a branching portion of the automatic travel path to a parking area.
FIG. 6 is a flowchart showing operation control of an automatic traveling magnetism generator disposed on the automatic traveling path.
FIG. 7 is a side sectional view of a magnetic generator for automatic traveling according to the present invention.
FIG. 8 is a plan view of an automatic traveling path provided with the automatic traveling magnetism generator.
FIG. 9 is a side view of a magnetic generator for automatic traveling according to another embodiment of the present invention.
FIG. 10 is a side view of a magnetism generator for automatic traveling according to another embodiment of the present invention.
[Explanation of symbols]
10, 30, 110, 210, 310 Electromagnet magnetic nail
20, 120, 220, 320 Permanent magnet magnetic nail
11 Electric steering
12 Electric throttle
13 Electric brake
14 Electric shift
15 Controller
16 Magnetic sensor
17 Communication device
18 Vehicle position detection means

Claims (4)

In an automatic travel path provided with a magnetic generator for automatic travel for guiding an automatic travel vehicle provided with a magnetic sensor to a predetermined place,
In the branching / merging section where the automatic traveling path branches / joins, the magnetic generation that can switch whether or not the automatic traveling magnetism generator generates magnetism of a strength that can be detected by the magnetic sensor. With a means,
In the other sections, the automatic traveling magnetism generator is provided with a permanent magnet that generates magnetism of a strength that can be detected by the magnetism sensor ,
An automatic travel path characterized in that the magnetism generating means comprises a permanent magnet and an electromagnet for generating magnetism that cancels the magnetism of the permanent magnet. In an automatic travel path provided with a magnetic generator for automatic travel for guiding an automatic travel vehicle provided with a magnetic sensor to a predetermined place,
In the branching / merging section where the automatic traveling path branches / joins, the magnetic generation that can switch whether or not the automatic traveling magnetism generator generates magnetism of a strength that can be detected by the magnetic sensor. With a means,
In the other sections, the automatic traveling magnetism generator is provided with a permanent magnet that generates magnetism of a strength that can be detected by the magnetism sensor,
An automatic travel path characterized in that the magnetism generating means comprises a permanent magnet and a magnetism suppressing means for suppressing the generation of magnetism of the permanent magnet to the outside. Switching between whether or not to generate magnetism of strength that is provided in a branching / merging section in an automatic traveling path that can guide an automatic traveling vehicle provided with a magnetic sensor to a predetermined place and that can detect magnetism by the magnetic sensor A possible magnetic generator for automatic running,
With permanent magnets,
It consists of an electromagnet that generates magnetism that counteracts the magnetism of this permanent magnet,
The electromagnet has a coil wound around the permanent magnet, and by energizing the coil, an S pole magnetic field is generated on the N pole side of the permanent magnet and on the S pole side of the permanent magnet. An automatic traveling magnetism generator configured to generate an N-pole magnetic field. Switching between whether or not to generate magnetism of strength that is provided in a branching / merging section in an automatic traveling path that can guide an automatic traveling vehicle provided with a magnetic sensor to a predetermined place and that can detect magnetism by the magnetic sensor A possible magnetic generator for automatic running,
With permanent magnets,
It consists of magnetic deterrent means that suppress the generation of magnetism of this permanent magnet to the outside,
A rotating member provided with an upper horizontal portion formed in a U shape by a magnetic body and extending in a horizontal direction at an upper end portion and a lower horizontal portion extending in a horizontal direction at a lower end portion;
A motor for horizontally turning the rotating member;
A rotating spring that urges the rotating member in a direction in which the upper horizontal portion and the lower horizontal portion face away from the permanent magnet;
When the motor is energized, the motor rotates the rotating member horizontally against the urging force of the rotating spring, and the upper horizontal portion and the lower horizontal portion contact the upper end surface and the lower end surface of the permanent magnet. contact,
When the energization to the motor is interrupted, the rotating member is rotated horizontally by the urging force of the rotating spring, and the upper horizontal portion and the lower horizontal portion are configured to face opposite to the permanent magnet. A magnetic generator for automatic running.

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