JPS5844241B2 - Follow-up steering signal generator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a follow-up steering signal generating device, and particularly to a tracking steering signal generating device that determines the direction in which a moving object such as an automobile or an airplane should proceed along a desired course in relation to a path recorded in advance on a recording medium. The present invention relates to a follow-up steering signal generating device that generates an azimuth signal or a steering (steering) direction signal for a moving object.

For example, it would be very convenient if the direction in which a car or the like should travel could be calculated based on a route recorded in advance on a recording medium such as a map, and the course or direction of the car could be given.

Therefore, the main object of the present invention is to provide a novel follow-up signal generator that can meet such requirements.

Another object of the present invention is to provide a follow-up steering signal generating device that has a relatively simple configuration, is inexpensive, and is accurate.

In summary, when a moving object such as an automobile or an airplane moves along a desired route, the coordinates of the moving object are determined by means provided on the moving object and detecting the moving distance and direction. The current position information at is derived.

Furthermore, the route that the mobile object should travel is recorded in advance,
The route recording means is scanned to obtain scanning information, and in response to the coordinate position information and azimuth information of the moving object and the scanning information, the moving object moves from the coordinate position of the moving object to the scan-detected position. I made it possible to inform this moving object of its direction.

The above objects and other objects and features of the invention will become more apparent from the following detailed description with reference to the drawings.

FIG. 1 is a geometrical diagram for explaining the invention in detail.

For example, on a map 1 serving as a route recording means, a route LN that the mobile object should follow is recorded in advance.

Then, on this map 1, a scanning detection point S is set at a predetermined distance l from the assumed moving body 3'.

Let the center of this assumed moving body 3' be P, and this center P
The distance from zzx to the detection point S is defined as l.

It is assumed that the detection point S is a point in front of the moving body 3' in the traveling direction and moves in relation to the movement of the moving body 3' on the map 1.

Furthermore, the angle formed by the line connecting the assumed moving object and the detection point S with respect to a specific direction (north in this embodiment) on the map 1 is assumed to be θm.

The coordinate position (Xm, Ym) of the mobile body 3' is displayed on this map 1 according to the actual movement of the mobile body 3 (Fig. 2), and the coordinate position (Xm, Ym) of the detection point S is Xs, Ys
) is given from the arithmetic unit 4 (FIG. 2), which will be described later.

In addition, in this embodiment, the map 1 is used as a moving route recording means.
The route LN is represented as a boundary line between two colors of different lightness, for example, white and black.

For the scanning detection point S, a photoelectric detector such as a phototransistor is used, for example.

In this embodiment, when the photoelectric detection point S detects a white area, a signal to steer the moving body 3' to the left is generated, and when the detection point S is located at a black area, the signal to steer the moving body 3' to the right is generated. Generates the desired signal.

If the moving body 3' is moved in accordance with the signal, either by human control or by automatic control, the photoelectric detection point S also moves in that direction.

Therefore, the state of the map 1 at the detection point S is determined,
By giving that signal to the mobile, this path LN
to follow.

That is, the signal from this detection point S, that is, the scanning information, is used to detect the difference between the direction in which the moving body 3' should run or move and the current direction, as well as its sign or negative, and determine the direction in which the moving body 3', that is, 3, should move. do.

In FIG. 1, if the detection point S exists on the right end of the path LN, which is drawn thick enough to be detected by the photoelectric detector, for example, with a width of 5 to 10 mm, then the current state of the moving body 3' The direction is the direction in which you should proceed.

Note that the assumed current position and orientation of the mobile object 3' are
As shown in FIG. 1, if the measurement values are calculated as coordinates Xm, Ym and θm, then the detection point S
The positions Xs and Ys of are given by the following equations.

Xs = Xm + l) s in θm Ys - Ym + Acos θm Here, if l is O, the current position of the moving body 3', that is, Xm, Ym becomes the scanning detection point S as it is.

FIG. 2 is a schematic block diagram illustrating a preferred embodiment of the invention, and FIG. 3 is a schematic block diagram of the compensator included in FIG.

In the configuration, a route LN is recorded on the map 1 in advance.

On this map 1, a photodetector 2 which scans this map 1 and is to serve as the scanning detection point S is provided so as to be positionally controllably opposite, such as an X-Y recorder.

A detection signal from this photodetector 2 is given to a moving body 3.

The moving body 3 includes a steering device 31. A compensation device 32 and a position and orientation calculation device 33 are provided.

The compensator 32 is used to add dead time (delay time) to the output of the photodetector 2, to improve so-called characteristics such as differential compensation and integral compensation, and to increase stability.

That is, as shown in FIG. 3, the compensation device 32 includes a time delay element 321, an integrator 322, a differentiator 323, a selector 324, and an adder 325.

The time delay element 321 is configured, for example, by a delay circuit.

A well-known integrator is used as the integrator 322, and the differentiator 323 shows differential characteristics by applying feedback to the integrator.

Selector 324 selects time delay element 321 . Integrator 322.
Any one or two or three of the differentiators 323 are output in accordance with the selection signal.

The adder 325 adds the output of the photodetector 2 and the output from the selector 324.

By providing the compensation device 32 in this manner, it is possible to obtain a signal compensated for by chattering prevention, PID operation, etc. in the steering device 31.

The position and orientation of the moving body 3 steered or steered by the steering device 31 are calculated by the position and orientation calculation device 33 based on the speed information Vm provided.

From this position and orientation calculation device 33, this moving body 3
Information on the current position and orientation of the coordinate position Xm,
Ym and θm are derived and provided to an arithmetic unit 4 such as a microprocessor.

In the calculation device 4, the provided distance information l and the information Xm
, Ymyθm, the positional information Xs, Ys of the detection point S, that is, the photodetector 2, is calculated using the above-mentioned equation.

Then, the calculated position information Xs, Ys is
is applied to the photodetector 2 above.

Therefore, depending on the position information from this arithmetic device 4,
This photodetector 2 moves and always detects whether the detection point S is on the path LN.

For example, when the detection point S is to the left of the path LN, that is, in a black area, the photodetector 2 generates a right turn signal.

Further, when this is not the case, that is, when the detection point S is in the white area on the right side of the path LN, the photodetector 2 outputs a left turn signal.

Then, this signal is transmitted via the compensation device 32 of the moving body 3,
is applied to the steering device 31.

If the movable body 3 is manually operated, it may be operated based on the direction command signal from the compensator 32, and if it is automatically operated, such control force is applied dynamically.

In FIG. 1, the route LN is drawn as thick as possible. The reason why the route LN is drawn as thick as possible is to prevent hunting or malfunction.

In other words, if the path LN is narrow, when the photoelectric detector detects the path LN, the photoelectric detector will cross the path LN even if it moves slightly, and the photoelectric detector will have to be returned to detect the path LN again. There must be.

Then, when the photoelectric detector is returned to the path LN, it may cross again, causing so-called hunting.

However, if the path LN has a width of about 107g771 as described above, the photoelectric detector can move along the path LN by outputting a steering signal before it crosses the path LN. The risk of this happening is extremely reduced, and the rate at which hunting occurs is reduced.

In the embodiment shown in FIG. 2, when traveling counterclockwise, the right end of the traveling direction of the route LN is set as the command route, but if the traveling direction is reversed, the photodetector in FIG. Just reverse the logical judgment in step 2.

Furthermore, although a map has been described in the embodiment as a route recording means, it may also be a means such as magnetic recording, discharge recording, or electric charge recording.

Further, in the embodiment of FIG. 2, the detection point S is, for example, X-
Although the movement was controlled mechanically like the Y recorder,
This may employ, for example, a discharge tube, cathode ray tube or other electronic display system.

Then, the distance l between the assumed moving body 3' and the detection point S
may also be changed depending on the situation, such as the radius of curvature of the route LN.

In other words, when the route LN draws sharp curves continuously, if the distance l is long, it will not be possible to follow the sharp curve, but if the distance l is shortened according to the radius of curvature of the sharp curve, the curve will be followed. It is possible to improve the tracking characteristics.

As described above, according to the present invention, it is possible to obtain a tracking signal generating device that can accurately track a moving object to a desired course with a relatively simple tank bottom at low cost.

[Brief explanation of the drawing]

FIG. 1 is a geometrical illustration explaining the invention in detail. FIG. 2 is a schematic block diagram illustrating a preferred embodiment of the invention. FIG. 3 is a schematic block diagram of the compensation device shown in FIG. 2. In the figure, 1 is a map, 2 is a photodetector, 3 is a moving object, 3
' is the assumed moving object, 4 is the arithmetic unit, LN is the route, and S
indicates the detection point.

Claims (1)

[Claims:] Follow-up steering signal generating device. 3. The follow-up steering signal generating device according to claim 1 or 2, wherein the predetermined distance is variable depending on the state of the route.