JP3809698B2 - Transport device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a transport apparatus that supports a heavy transport object or a large transport object by a plurality of omnidirectional vehicles and transports the omnidirectional vehicles while cooperating with each other.
[0002]
[Prior art]
Conventionally, there is a method shown below for transporting a transported object by cooperation of a plurality of moving vehicles.
(1) A two-wheel independent drive type moving vehicle is used, and the moving vehicle and the conveyed product are coupled and conveyed via an elastic body. (Hashimoto Masafumi, Oba Fuminori, Nakahara Hironori: "Hierarchical cooperative transport control by multiple mobile robots" 6th Intelligent Mobile Robot Symposium, pp 395-396, 1994)
(2) A two-wheel independent drive type moving vehicle is used, and the moving vehicle and a transported object are transported by being coupled by a direct-acting and rotating spring and a damper element. (Yasuhiko Takee, Jun Ota, Hisashi Osumi, Tamio Arai, Junichi Suyama: “Realization of transport work by cooperation of multiple mobile robots”, 10th Robotics Society Conference, pp561-562, 1992)
(3) When a long pipe is conveyed by two moving vehicles, a two-wheel independent drive type moving vehicle is used, and the pipe is gripped by an arm that freely rotates with respect to an external force. In this case, even if the relative position of the two moving vehicles fluctuates, the movement of the arm can be absorbed within a certain range. (Makoto Sugaya: “Transportation work with two mobile robots”, Journal of the Robotics Society of Japan 12-6, pp41, 1994)
[0003]
[Problems to be solved by the invention]
However, these conventional methods, when trying to coordinate a plurality of moving vehicles, absorb elastic fluctuations between the moving vehicles and an elastic body or a linear motion and rotation spring between the moving vehicles and the transported object. In addition, it is necessary to interpose a damper element, a freely rotating arm, and the like, which increases the cost because the structure is complicated. For this reason, when a large transported object is transported freely while being fixed to a plurality of moving vehicles, it is transported freely without using a special device for absorbing fluctuations in the relative position between the moving vehicles, and stopped. At that time, the emergence of a transport device capable of precise positioning was expected.
[0004]
[Means for Solving the Problems]
  In order to solve the above problem, the invention according to claim 1 instantly starts moving in any direction.YouMultiple omnidirectional vehiclesA transport device for transporting a transported object mounted on the plurality of omnidirectional vehicles,
  Posture detection means for detecting the posture of the conveyed product;
  Based on the relative position of each omnidirectional vehicle relative to the movement center point set on the object to be conveyed or on the omnidirectional vehicle, the movement command given to the movement center point, and the posture of the object, each direction Means for calculating the moving speed of the moving vehicle;
  And moving the omnidirectional moving vehicle at this moving speed to transport the transported object in a coordinated manner.To do.
[0005]
  The invention of claim 2In the conveyance apparatus of Claim 1,
  The posture detecting means is a gyroscope or means for integrating a movement command.To do.
[0006]
  The invention of claim 3A plurality of omnidirectional vehicles that instantly start moving in any direction, and a transport device that transports a transported object that is mounted over these omnidirectional vehicles,
  When a movement center point is set on the transported object, a movement center point indicating means installed at the movement center point and serving as a movement center point indicator;
  It is installed in each omnidirectional mobile vehicle and measures the distance from the omnidirectional mobile vehicle to the moving center point indicating means and the relative posture direction of the omnidirectional moving vehicle and the moving center point indicating means and stores the measured values. Means,
  Based on the relative position of each omnidirectional vehicle relative to the movement center point set on the conveyance object, the movement command given to the movement center point, and the attitude of the conveyance object calculated from the relative attitude direction, Means for calculating the moving speed of each omnidirectional vehicle;
  And moving the omnidirectional moving vehicle at this moving speed to transport the transported object in a coordinated manner.To do.
[0007]
  The invention of claim 4A plurality of omnidirectional vehicles that instantly start moving in any direction, and a transport device that transports a transported object that is mounted over these omnidirectional vehicles,
  When the movement center point is set on one omnidirectional vehicle, a movement center point indicating means installed at that position and serving as a movement center point indicator;
  Measures the distance from the omnidirectional vehicle to the moving center point indicating means and the relative orientation and orientation of the omnidirectional moving vehicle and the moving center point indicating means installed in the remaining omnidirectional moving vehicles and stores the measured values Means to
  The relative position of each omnidirectional vehicle relative to the movement center point set on one omnidirectional vehicle, the movement command given to the movement center point, and the posture of the transported object calculated from the relative posture direction And a means for calculating the moving speed of each omnidirectional vehicle based on
  And moving the omnidirectional moving vehicle at this moving speed to transport the transported object in a coordinated manner.To do.
[0008]
  The invention of claim 5A plurality of omnidirectional vehicles that instantly start moving in any direction, and a transport device that transports a transported object that is mounted over these omnidirectional vehicles,
  When there are two omnidirectional vehicles, a moving center point indicating means installed on both omnidirectional vehicles and serving as a reference point marker,
  Means for measuring the distance from the omnidirectional moving vehicle to the moving center point indicating means and the relative orientation direction determined by the omnidirectional moving vehicle and the two moving center point indicating means;
  Means for setting an intermediate point obtained by dividing the measured distance between omnidirectional vehicles between each other as a movement center point and storing the position;
  The movement of each omnidirectional vehicle based on the relative position of each omnidirectional vehicle with respect to the movement center point, the movement command given to the movement center point, and the posture of the transported object calculated from the relative posture direction. Means for calculating the speed;
  And moving the omnidirectional moving vehicle at this moving speed to transport the transported object in a coordinated manner.To do.
[0009]
  The invention of claim 6 claimsIt is described in any one of Claims 1-5.In the transfer device,
  An operation terminal that transmits a movement command for the movement center point to each omnidirectional vehicle;
  Means for receiving a movement command installed in each omnidirectional vehicle and transmitted from an operation terminal;
  With the featuresTo do.
[0010]
  The invention of claim 7 is claimed in claimIt is described in any one of Claims 1-6.In the transfer device,
  The omnidirectional vehicle is
  A drive wheel that also serves as a steering wheel,
  An actuator for rotating the drive wheel;
  A steering shaft that supports the axle of the drive wheel;
  A bearing portion that is formed on the vehicle body and supports the steering shaft so that it can freely rotate around the vertical axis at a position that is horizontally spaced from the ground contact position of the drive wheel;
  An actuator for rotationally driving the steering shaft;
  A control device that drives both actuators such that the ratio of the rotational angular velocity of the drive wheels and the rotational angular velocity of the steering shaft is a value corresponding to the moving direction of the vehicle;
  With two or more drive units composed of
  A sensor for detecting the position of the vehicle body;
  A sensor for detecting the attitude direction of the vehicle body;
  A sensor for detecting the steering angle of each steering shaft;
  Calculating means for calculating an angular velocity ratio of the driving wheel and the steering shaft for each driving wheel from the vehicle position, the vehicle attitude direction and the steering shaft angle detected by each sensor and the moving target trajectory of the vehicle;
  The vehicle is configured to instantly start moving in an arbitrary direction.To do.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
In the present invention, an omnidirectional vehicle described in Japanese Patent Application No. 6-333021 and Japanese Patent Application No. 7-288014, which is filed by the present applicant, is used as a vehicle for supporting a conveyed product. The direction moving vehicle proposes a method of moving a wheel fulcrum at a certain distance from the moving center point in an arbitrary direction. Therefore, the present invention expands this, supports the transported object using a plurality of omnidirectional vehicles, and sets how much each omnidirectional vehicle is from the movement center point, thereby moving the omnidirectional vehicle. Even when there is a movement center point outside the vehicle, each omnidirectional vehicle is independently driven based on the movement center point. Thereby, it is realized that a plurality of omnidirectional vehicles that simultaneously support the same transported object travel in cooperation with each other.
Further, the omnidirectional vehicle of the present invention is not limited to the omnidirectional vehicle according to the above-mentioned applicant's application, but other types of omnidirectional vehicles such as Mecanum wheels, vutton crawlers, etc. Even if it uses, it is realizable similarly.
[0012]
  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Figure 1This embodimentFIG. 2 is a longitudinal sectional view showing an essential part of an omnidirectional vehicle used in the transport apparatus of FIG. 2, and FIG. 2 is a side view showing a part of FIG. In the figure, reference numeral 1 denotes a driving wheel that also functions as a steering wheel, and is rotatably supported on a leg 3 that is a steering shaft by an axle 2 that supports and fixes the driving wheel 1. Note that a pneumatic tire is usually attached to the drive wheel 1. The axle 2 is connected to a motor 5 that is an actuator via a speed reducer 4. An encoder 6 is connected to the other end of the motor 5 to detect the rotation angle of the drive wheel 1.
[0013]
The upper end of the leg 3 is supported by the vehicle body 7 via a bearing 8 so as to freely rotate around a vertical axis. Here, the center of the bearing 8, that is, the rotation center of the leg 3 is set to a position offset from the ground contact position of the drive wheel 1 by the horizontal distance s. A gear 9 is coaxially mounted on the upper surface of the leg 3 and meshed with a gear 11 supported by the main body 7. The gear 11 is supported and fixed to an output shaft 13 of a motor 12 that is an actuator. An encoder 14 is connected to the other end of the motor 12 to detect the rotation angle of the leg 3, that is, the steering angle.
[0014]
FIG. 3 is an explanatory diagram showing the operation principle of the drive wheel 1 in FIGS. 1 and 2. The figure is a plan view of the drive wheel 1 as viewed from above. For the sake of explanation, the leg 3 is shown in the form of a double-supported yoke. In the figure, G is a grounding point of the drive wheel 1, M is a rotation center (steering shaft) of the leg 3, and an offset distance s is between GM. Here, when the motor 5 is driven to rotate the driving wheel 1 having the outer diameter D at the angular velocity ω so that the leg 3 moves upward in the drawing, the steering shaft M has a moving velocity V expressed by the following equation._hIs obtained.
[0015]
[Expression 1]
V_h= D ・ ω
[0016]
Similarly, when the motor 12 is driven to rotate the leg 3 at an angular velocity γ so that the driving wheel 1 supported by the leg 3 rotates in the clockwise direction, the leg 3 is driven to move laterally. The wheel 1 is restrained from moving in the lateral direction by the frictional resistance of the ground contact surface, and as a reaction, the leg 3 turns clockwise about the point G. At this time, the moving speed V shown in the following equation is applied to the steering shaft M._sIs obtained.
[0017]
[Expression 2]
V_s= S · γ
[0018]
That is, when the driving wheel 1 and the leg 3 are driven simultaneously, the steering shaft M has two speeds V orthogonal to each other._h, V_sWill occur. These speeds V_h, V_sAre combined to become the speed V, and the steering shaft M is moved. Here, when the angle of the combined speed V with respect to the traveling direction of the drive wheel 1 is α, each speed V_h, V_s, V have the following relationship.
[0019]
[Equation 3]
V_h= V · cosα
[0020]
[Expression 4]
V_s= V · sin α
[0021]
As a result, the steering shaft M can be moved in a predetermined direction by controlling the angular velocity ω of the drive wheel 1 and the angular velocity γ of the leg 3 to be a constant ratio. The above relational expression is established at the moment when the rotation of the leg 3 is started, but the relational expression is not established at the next moment because the direction of the drive wheel 1 is changed. However, by constantly detecting the changing direction of the leg 3 with the encoder 14 and correcting the angular velocity ω and the angular velocity γ accordingly, the steering axis M can be continuously moved in a predetermined direction.
[0022]
FIG. 4 is an explanatory diagram showing a control method when the steering axis M in FIG. 3 is moved on a predetermined track. In the figure, K is a target trajectory, and when the angle between the tangent at the point where the steering axis M is located on the trajectory K and the coordinate axis X is θ, and the angle between the drive wheel 1 and the coordinate axis X is φ, Each speed component V generated on the steering axis M_h, V_sIs obtained by the following equation.
[0023]
[Equation 5]
V_h= V · cos (φ-θ)
[0024]
[Formula 6]
V_s= V · sin (φ-θ)
[0025]
That is, the movement speed V is determined in advance, and the angle φ is detected at the moment of movement, and the angle θ is detected by a sensor (not shown), whereby the speed component V for each axis is detected._h, V_sIs required. By controlling the angular velocities ω and γ of the drive wheels 1 and the legs 3 so that these speeds can be obtained, the steering axis M can move on the target track K.
[0026]
Note that the X-axis and Y-axis velocity components may be given in time series as the coordinate data for the trajectory K. In this case, the given X-axis and Y-axis velocity components V_x, V_y, The velocity component V for each axis by the following equation_h, V_sCan be requested.
[0027]
[Expression 7]
V_h= V · cos (φ-θ)
= V · cos θ · cos φ + V · sin θ · sin φ
= V_x・ Cosφ + V_y・ Sinφ
[0028]
[Equation 8]
V_s= V · sin (φ-θ)
= V · cos θ · sin φ-V · sin θ · cos φ)
= V_x・ Sinφ + V_y・ Cosφ
[0029]
FIG. 5 is a perspective view showing the entire omnidirectional vehicle. The driving wheel 1, the legs 3, the bearings 8, the motors 5 and 12, and their control devices (not shown) shown in FIGS. ) Etc. are installed on the left and right. In the figure, reference numeral 15 denotes a driven wheel.
[0030]
FIG. 6 is an explanatory diagram showing a control method in the vehicle shown in FIG. In the figure, L is a target track, and is controlled so that the center C of the vehicle body 7 travels on the track L. The center C is the steering axis M of both units installed at a distance of 2W.₁And M₂The middle position. Here, the moving speed of the center C is V, and the X-axis and Y-axis speed components are V_xc, V_ycIf the vehicle body 7 travels in a translational manner without rotation, the steering axis M₁X-axis and Y-axis velocity components V_x1, V_y1And steering axis M₂X-axis and Y-axis velocity components V_x2, V_y2Is as follows:
[0031]
[Equation 9]
V_x1= V_xc
[0032]
[Expression 10]
V_y1= V_yc
[0033]
## EQU11 ##
V_x2= V_xc
[0034]
[Expression 12]
V_y2= V_yc
[0035]
Next, the angular velocity φ without the vehicle body 7 traveling_vWhen rotating with the steering axis M₁X-axis and Y-axis velocity components V_x1, V_y1And steering axis M₂X-axis and Y-axis velocity components V_x2, V_y2Is as follows:
[0036]
[Formula 13]
V_x1= -W · cosφ_v
[0037]
[Expression 14]
V_y1= -W · sinφ_v
[0038]
[Expression 15]
V_x2= W · cosφ_v
[0039]
[Expression 16]
V_y2= W · sinφ_v
[0040]
However, φ_vIs an angle with respect to the X axis.
From these, the vehicle body 7 has an angular velocity φ_vWhen traveling at a speed V while rotating at a steering wheel M₁X-axis and Y-axis velocity components V_x1, V_y1And steering axis M₂X-axis and Y-axis velocity components V_x2, V_y2Is obtained by adding Equation 9 to Equation 12 and Equation 13 to Equation 16 respectively.
[0041]
[Expression 17]
V_x1= V_xc-W ・ cosφ_v
[0042]
[Formula 18]
V_y1= V_yc-W · sinφ_v
[0043]
[Equation 19]
V_x2= V_xc+ W · cosφ_v
[0044]
[Expression 20]
V_y2= V_yc+ W · sinφ_v
[0045]
The vehicle body 7 travels on the track L by rotating and steering the left and right drive wheels 1 based on the speed component thus determined. In particular, in this embodiment, since translational movement and turning in the front-rear and left-right directions are possible, it is possible to instantaneously change the direction in all directions without changing the direction of the vehicle body 7.
[0046]
Further, in the case of changing the direction, since the driving is performed by combining the rotation of the driving wheel 1 and the steering shaft M, the steering is smoothly performed.
Further, in this omnidirectional vehicle, a pneumatic tire is used as the drive wheel 1, so that vibrations generated in the ground contact portion during traveling are prevented from being transmitted to the vehicle body 7.
Here, traveling by a pair of left and right drive units has been described, but traveling can be similarly controlled when three or more drive units are attached.
[0047]
  FIG.BookInventionotherIt is explanatory drawing which shows the external appearance structure of embodiment. In the figure, reference numerals 21 and 22 denote omnidirectional vehicles that travel according to a command from the movement command input means, and the specific configuration has already been described with reference to FIG. 24 is a transported object, and 23 is a wireless operation terminal for setting how much the omnidirectional mobile vehicles 21 and 22 are moved from the moving center point and designating how the transported object 24 is moved. is there. Reference numeral 20 denotes an operator holding the operation terminal 23. Here, an arbitrary position on the transported object 24 is referred to as a movement center point, and is set in advance as a reference point for passing on the transport track.
[0048]
Next, the operator 20 inputs the relative position of the omnidirectional moving vehicles 21 and 22 with respect to the moving center point set on the conveyed product 24 to the operation terminal 23. Then, the input relative positions are sent and set to the omnidirectional vehicles 21 and 22 by radio signals. Further, a movement command for moving the movement center point is input to the operation terminal 23. This movement command designates how to move the movement center point of the conveyed product 24, and is a three-axis command value of an X-direction speed command, a Y-direction speed command, and an angular velocity for rotation. Consists of.
[0049]
Therefore, in this embodiment, in order to improve operability, a three-axis joystick is installed in the operation terminal 23 and a movement command is input. The input movement command is wirelessly transmitted to the omnidirectional mobile vehicles 21 and 22. The omnidirectional mobile vehicles 21 and 22 travel by calculating the wheel driving speed from the received movement command, the preset vehicle position, and the current posture of the conveyed object detected by the posture detecting means. In the illustrated example, the operator 20 inputs a movement command. However, instead of the operator 20, it is possible to run the vehicle unattended by issuing a movement command to the omnidirectional mobile vehicles 21, 22 from the computer. . In the illustrated example, two omnidirectional vehicles 21 and 22 are used, but the same applies when three or more omnidirectional vehicles are used.
[0050]
FIG. 8 is a diagram for explaining the principle for a plurality of omnidirectional vehicles to travel in cooperation with one omnidirectional vehicle 21 shown in FIG. In FIG. 8, for the sake of clarity, the display of the drive wheels and driven wheels (casters) constituting the omnidirectional vehicle 21 is omitted, and only the positions of the two wheel fulcrums (steering shafts) are displayed. In the figure, O is the movement center point of the conveyed product 24, and the center C of the omnidirectional vehicle 21 is C in the X direction from the movement center point O._x, C in the Y direction_yIt is in a position shifted by only. The omnidirectional vehicle 21 is installed in a posture rotated by Cφ with respect to the posture of the conveyed product 24. This C_x, C_y, Cφ (vehicle position) is set by the operator 20 using the operation terminal 23.
[0051]
The movement command that is input to the operation terminal 23 and sent by the operator 20 specifies how to move the movement center point O of the conveyed product 24, and the velocity command V in the X direction._xo, Y direction speed command V_yo, Angular velocity for rotation Vφ_oConsists of. Here, the omnidirectional vehicle 21 is moved to the moving center point O of the transported object 24 by V._xo, V_yo, Vφ_oWheel fulcrum M of the omnidirectional vehicle 21_aSpeed V_aIt is necessary to move with. Speed V_aIs the wheel fulcrum M in the coordinate system of the omnidirectional vehicle 21_aX_cDirectional speed command V_xa, Y_cDirectional speed command V_yaIt is the combined power of. These wheel fulcrums M_aSpeed V_xa, Y-direction speed V_yaIs represented by the following equation.
[0052]
[Expression 21]
V_xa= V_xo-A_x・ Sin (Oφ) ・ Vφ_o-A_y・ Cos (Oφ) ・ Vφ_o
[0053]
[Expression 22]
V_ya= V_yo+ A_x・ Cos (Oφ) ・ Vφ_o-A_y・ Sin (Oφ) ・ Vφ_o
[0054]
Where A in the formula_x, A_yIs represented by the following equation.
[0055]
[Expression 23]
A_x= C_x+ Wcos (α_a+ Cφ)
[0056]
[Expression 24]
A_y= C_y-Wsin (α_a+ Cφ)
[0057]
However, Oφ in the equation is the posture of the conveyed object detected by the posture detecting means, and W is a wheel fulcrum M from the center of the omnidirectional vehicle._aIs the distance to_aIs X_cC and M with reference to_aX and the line connecting_cIs the angle formed by
Similarly, the wheel fulcrum M in the coordinate system of the omnidirectional vehicle 21_bX_cDirectional speed command V_xb, Y_cDirectional speed command V_ybIs represented by the following equation.
[0058]
[Expression 25]
V_xb= V_xo-B_x・ Sin (Oφ) ・ Vφ_o-B_y・ Cos (Oφ) ・ Vφ_o
[0059]
[Equation 26]
V_yb= V_yo+ B_x・ Cos (Oφ) ・ Vφ_o-B_y・ Sin (Oφ) ・ Vφ_o
[0060]
Where B in the formula_x, B_yIs represented by the following equation.
[0061]
[Expression 27]
B_x= C_x+ Wcos (α_b+ Cφ)
[0062]
[Expression 28]
B_y= C_y-Wsin (α_b+ Cφ)
[0063]
However, Oφ in the expression is the posture of the conveyed object detected by the posture detecting means, and W is a wheel fulcrum M from the center of the omnidirectional vehicle 21._bIs the distance to_bIs X_cC and M with reference to_bX and the line connecting_cIs the angle formed by
In the present embodiment, a gyroscope is used as the posture detection means, the posture of the omnidirectional vehicle 21 is measured, and the posture Oφ of the conveyed product 24 is obtained by subtracting Cφ from the posture. As a simple method, the movement command can be obtained by integration.
[0064]
Wheel fulcrum M_aSpeed V_xa, V_yaAnd wheel fulcrum M_bSpeed V_xb, V_ybThe method of moving the vehicle in the above-described manner has been described in the description of the operation principle of the omnidirectional vehicle in FIGS. By performing these controls, the omnidirectional vehicle 21 moves the moving center point O of the conveyed product 24 to the speed V._xo, V_yo, Vφ_oPerform the movement with. Further, the omnidirectional vehicle 22 is also driven by the same control. As a result, the two omnidirectional mobile vehicles 21 and 22 travel in cooperation with each other.
[0065]
Similarly, when transporting a transported object by three or more omnidirectional vehicles, each omnidirectional vehicle is driven in the same manner to travel in cooperation with each other.
In this embodiment, Formula 23, Formula 24, Formula 27, and Formula 28 are C_x, C_y, Cφ is determined. C_x, C_y, Cφ does not change while one transported object is being transported. For this reason, it is possible to speed up the control calculation cycle by calculating Formula 23, Formula 24, Formula 27, and Formula 28 in advance and holding the respective values.
[0066]
  FIG.BookInventionotherIt is explanatory drawing which shows embodiment. In this embodiment, when a movement center point is set on a transported object, a movement center point indicating means as a movement center point indicator is installed at the position of the movement center point, and a plurality of omnidirectional vehicles Measures the relative position with respect to the movement center point indicating means, and stores the value as a movement center point in each omnidirectional vehicle. In FIG. 9, reference numeral 21 denotes an omnidirectional vehicle. On the omnidirectional vehicle 21, a laser distance meter 25, an encoder 26, and a controller 27 are mounted.
[0067]
Reference numeral 28 denotes a moving center point indicating means installed on a conveyed object (not shown). Specifically, a reflecting plate 28A and a reflecting plate 28B that reflect the laser emitted from the laser distance meter 25 on the omnidirectional moving vehicle 21; These are installed at two locations, a movement center point O and a position D separated from the movement center point O by a distance L. Here, the posture of the conveyed product is based on the line segment OD specified by the movement center point indicating unit 28. The laser distance meter 25 is installed at the center of the omnidirectional vehicle 21 and is a distance (R) to the movement center point indicating means 28.₁, R₂).
[0068]
The encoder 26 detects the angle (θ between the moving center point indicating means 28 and the omnidirectional moving vehicle 21.₁, Θ₂) And the controller 27 measures the distance (R) to the measured movement center point indicating means 28.₁, R₂) And angle (θ₁, Θ₂) To calculate how much the omnidirectional mobile vehicle 21 is from the movement center point O of the transported object 24 and store the value as a vehicle position for use in travel control of the omnidirectional mobile vehicle 21.
[0069]
FIG. 10 is an explanatory diagram showing the principle in which the omnidirectional moving vehicle 21 calculates the relative position of the host vehicle with respect to the moving center point O using the moving center point indicating means 28 in FIG. First, when the movement center point indicating means 28 is installed at the movement center point O of the conveyed product (not shown), the line segment OD of the moving center point indicating means 28 becomes the reference of the posture of the conveyed object. Here, the laser rangefinder 25 installed at the center C of the omnidirectional vehicle 21 is a distance R from the position to O.₁And angle θ₁And the distance R to D₂And angle θ₂Measure.
[0070]
Next, the measured distance R to O₁, Angle θ₁And the distance R to D₂, Angle θ₂From this, the vehicle position of the omnidirectional vehicle 21 is calculated. Here, the vehicle position is the difference between the center C of the omnidirectional vehicle 21 and the movement center point O in the X direction._x, C in Y direction_yIn addition, the difference between the posture of the conveyed product and the posture of the omnidirectional vehicle 21 is defined as Cφ, and each is calculated by the following equation.
[0071]
[Expression 29]
C_x= -R₁× cos (θ₁+ Cφ)
[0072]
[30]
C_y= -R₁× sin (θ₁+ Cφ)
[0073]
[31]
[0074]
However, in the above formula, R₂× cos (θ₂) = R₁× cos (θ₁), Cφ = 90 °.
These calculations are executed by the controller 27 and the obtained values are stored in the vehicle position storage means.
In this embodiment, simply by installing the movement center point indicating means at an arbitrary position on the transported object, the position is automatically set as the movement center point, so that the setting operation by the operator is unnecessary and labor saving is achieved. I can be taken.
[0075]
In this embodiment, the laser distance meter 25 is mounted on the omnidirectional vehicle and the movement center point indicating means 28 is mounted on the transported object. However, the laser distance meter 25 and the movement center point indicating means 28 are set as a set. It is also possible to prepare a device in advance, attach this device when setting the vehicle position of the omnidirectional vehicle, and remove it when the vehicle position setting operation is completed.
[0076]
  FIG.BookInventionotherIt is explanatory drawing which shows embodiment. In this embodiment, when the movement center point is set on one omnidirectional vehicle, the movement center point as a movement center point mark is set at the position of the movement center point on the set omnidirectional vehicle. The instruction means is installed, the plurality of omnidirectional mobile vehicles measure the relative position with respect to the movement center point instruction means, that is, the movement center point, and the value is stored in each omnidirectional vehicle as the movement center point. .
[0077]
In FIG. 11, 21 and 22 are omnidirectional vehicles. A moving center point is set in the omnidirectional vehicle 22, and a reflection plate 29 serving as a moving center point mark is installed at that position. Further, a reflector 30 is also installed at the head position of the vehicle at a certain distance from the reflector 29. The omnidirectional vehicle 21 is provided with a laser distance meter 25 that measures the distance to the omnidirectional vehicle 22, an encoder 26 that measures an angle with the omnidirectional vehicle 22, and a controller 27.
[0078]
  The controller 27 determines whether the omnidirectional mobile vehicle 21 is based on the distances (R1, R2) and angles (θ1, θ2) to the reflecting plates 29, 30 on the omnidirectional vehicle 22 measured by the laser distance meter 25 and the encoder 26. It calculates how much it is from the movement center point of the conveyed product and stores the obtained vehicle position. The drive control of the omnidirectional mobile vehicles 21 and 22 based on the vehicle position calculation procedure and the vehicle position is as follows., As described above with reference to FIGS.Since it is common with embodiment, description is abbreviate | omitted.
[0079]
In this embodiment, one of a plurality of omnidirectional vehicles is set as the position of the movement center point, and only the movement center point indicating means is installed at that position. Since the setting is automatically performed on the vehicle, the setting operation by the operator is not necessary and labor saving is achieved. In this embodiment, the laser distance meter 25 and the reflecting plates 29 and 30 are mounted on the omnidirectional vehicle. However, an apparatus in which the laser distance meter 25 and the reflecting plates 29 and 30 are set in advance is prepared. It is also possible to attach this device when setting the vehicle position of the omnidirectional vehicle and remove it when the vehicle position setting operation is completed.
[0080]
  FIG.BookInventionotherIt is explanatory drawing which shows embodiment. In this embodiment, when there are two omnidirectional vehicles, the reference point is set for both omnidirectional vehicles when the movement center point is set at the intermediate position of the object to be supported and conveyed by both omnidirectional vehicles. A sign is installed, both omnidirectional vehicles measure the relative position to each other's reference point sign, calculate the intermediate point as the movement center point, and move the relative position with respect to the movement center point in each omnidirectional direction It is memorized in the vehicle.
[0081]
In FIG. 12, reference numerals 21 and 22 denote omnidirectional vehicles for transporting the same transported object. The omnidirectional vehicle 21 includes a laser range finder 31 that measures the distance to the omnidirectional vehicle 22, a reflector 32 that reflects the laser emitted from the omnidirectional vehicle 22, a vehicle position, and vehicle position storage means. The controller 33 for storing the information is mounted. Similarly, the omnidirectional vehicle 22 includes a laser distance meter 34 that measures the distance to the omnidirectional vehicle 21, a reflector 35 that reflects the laser emitted from the omnidirectional vehicle 21, and a vehicle position by calculating the vehicle position. A controller 36 for storing in the storage means is mounted.
[0082]
Since the laser distance meters 31 and 34 and the reflectors 32 and 35 are fixed to the omnidirectional vehicles 21 and 22, respectively, the two vehicles 21 and 22 are opposed to each other as shown in FIG. By emitting lasers from 31 and 34 to the reflectors 32 and 35 of the other vehicles 21 and 22, the distance between the two can be measured. When the measured distance shows the same value, the deviation of the relative posture between the omnidirectional vehicle 21 and the conveyed product (not shown) is 0 °. The relative posture shift is 180 °.
[0083]
Further, assuming that both the vehicles 21 and 22 are located on the X axis, the displacement C in the X direction from the movement center point_xIs half of the distance measured by the laser distance meters 31, 34, and the deviation C in the Y direction_yBecomes 0. The vehicle positions of these omnidirectional vehicles 21, 22 are stored and used for travel control.
In this embodiment, in a state where the conveyed product is supported by two omnidirectional vehicles, each omnidirectional vehicle measures the position of the other vehicle, and the movement center point is at the intermediate position of the conveyed product. Since the setting is performed automatically, the setting operation by the operator is unnecessary, and labor saving is achieved.
[0084]
In this embodiment, the laser distance meters 31 and 34 and the reflecting plates 32 and 35 are mounted on the omnidirectional vehicles 21 and 22, respectively. However, the laser distance meters 31 and 34 and the reflecting plates 32 and 35 are respectively provided. It is also possible to prepare a set device in advance, attach this device when setting the vehicle position of the omnidirectional vehicle, and remove it when the vehicle position setting operation is completed.
In the embodiment of the present invention, the laser distance meter and the encoder are used for position measurement, but other measuring means may be used.
[0085]
【The invention's effect】
As described above, according to the present invention, by using a plurality of omnidirectional mobile vehicles and simultaneously supporting one transported object, each omnidirectional mobile vehicle travels in cooperation with each other, There is no need to install a complicated mechanism for absorbing fluctuations in the relative position between a plurality of moving vehicles that support the conveyed product. As a result, there are no restrictions for loading the transported goods, and it is possible to transport various transported objects, which has been difficult in the past, and can be used in various industrial fields.
[0086]
In addition, since there is no need to exchange data between each omnidirectional vehicle during a coordinated operation between multiple omnidirectional vehicles, there is no need for a high-speed communication device like the conventional device, and the upper limit of the traffic volume. Thus, the number of mobile robots capable of cooperative operation is not limited. As a result, the necessary number of omnidirectional vehicles can be transported according to the size and weight of the conveyed product, and the omnidirectional vehicles can be standardized, thereby improving operational efficiency. In addition, since the structure of the omnidirectional vehicle itself supporting the conveyed product is simple and the control for the cooperative operation is relatively simple, the entire apparatus can be configured at low cost. In addition, since the stopping accuracy of each omnidirectional vehicle is almost the same as the stopping accuracy, accurate positioning is possible.
[Brief description of the drawings]
FIG. 1 is a longitudinal sectional view showing a main part of an embodiment of an omnidirectional mobile vehicle used in the present invention.
FIG. 2 is a side view showing a part of FIG.
FIG. 3 is an explanatory diagram showing the operation principle of the drive wheel in FIG. 1;
4 is an explanatory diagram showing a method for controlling the steering shaft in FIG. 1. FIG.
FIG. 5 is a perspective view showing the entire vehicle of an embodiment of an omnidirectional vehicle used in the present invention.
6 is an explanatory diagram showing a control method of the vehicle in FIG. 5. FIG.
[Fig. 7]BookInventionotherIt is explanatory drawing which shows the external appearance structure of embodiment.
FIG. 8 is a diagram for explaining the traveling principle of the omnidirectional vehicle of FIG. 7;
FIG. 9BookInventionotherIt is explanatory drawing which shows embodiment.
FIG. 10 is an explanatory diagram showing the principle by which the omnidirectional vehicle of FIG. 9 calculates the relative position of the host vehicle with respect to the movement center point.
FIG. 11BookInventionotherIt is explanatory drawing which shows embodiment.
FIG.BookInventionotherIt is explanatory drawing which shows embodiment.
[Explanation of symbols]
      1 Drive wheel
      2 axles
      3 legs
      4 Reducer
      5 Motor
      6 Encoder
      7 Vehicle body
      8 Bearing
      9,11 gears
      12 Motor
      13 Output shaft
      14 Encoder
      15 Follower wheel
      20 Operator
      21 and 22 omnidirectional vehicles
      23 Operation terminal
      24 Transported goods
      25 Laser distance meter
      26 Encoder
      27 Controller
      28 Movement center point indicating means
      28A, 28B reflector
      29, 30 reflector
      31 Laser distance meter
      32 reflector
      33 controller
      34 Laser distance meter
      35 Reflector
      36 controller

Claims (7)

Comprising a plurality of omnidirectional vehicle you start to move in any direction instantaneously, a conveying device for conveying the conveyed object to be mounted over the top of these plurality of omnidirectional vehicle,
Posture detection means for detecting the posture of the conveyed product;
Based on the relative position of each omnidirectional vehicle relative to the movement center point set on the object to be conveyed or on the omnidirectional vehicle, the movement command given to the movement center point, and the posture of the object, each direction Means for calculating the moving speed of the moving vehicle;
And moving the omnidirectional vehicle at this moving speed to convey the conveyed object in a coordinated manner . In the conveyance apparatus of Claim 1,
The posture detecting means is a gyroscope or a means for integrating a movement command . A plurality of omnidirectional vehicles that instantly start moving in any direction, and a transport device that transports a transported object that is mounted over these omnidirectional vehicles,
When a movement center point is set on the transported object, a movement center point indicating means installed at the movement center point and serving as a movement center point indicator;
It is installed in each omnidirectional mobile vehicle and measures the distance from the omnidirectional mobile vehicle to the moving center point indicating means and the relative posture direction of the omnidirectional moving vehicle and the moving center point indicating means and stores the measured values. Means,
Based on the relative position of each omnidirectional vehicle relative to the movement center point set on the conveyance object, the movement command given to the movement center point, and the attitude of the conveyance object calculated from the relative attitude direction, Means for calculating the moving speed of each omnidirectional vehicle;
And moving the omnidirectional vehicle at this moving speed to convey the conveyed object in a coordinated manner . A plurality of omnidirectional vehicles that instantly start moving in any direction, and a transport device that transports a transported object that is mounted over these omnidirectional vehicles,
When the movement center point is set on one omnidirectional vehicle, a movement center point indicating means installed at that position and serving as a movement center point indicator;
Measures the distance from the omnidirectional vehicle to the moving center point indicating means and the relative orientation and orientation of the omnidirectional moving vehicle and the moving center point indicating means installed in the remaining omnidirectional moving vehicles and stores the measured values Means to
The relative position of each omnidirectional vehicle relative to the movement center point set on one omnidirectional vehicle, the movement command given to the movement center point, and the posture of the transported object calculated from the relative posture direction And a means for calculating the moving speed of each omnidirectional vehicle based on
And moving the omnidirectional vehicle at this moving speed to convey the conveyed object in a coordinated manner . A plurality of omnidirectional vehicles that instantly start moving in any direction, and a transport device that transports a transported object that is mounted over these omnidirectional vehicles,
When there are two omnidirectional vehicles, a moving center point indicating means installed on both omnidirectional vehicles and serving as a reference point marker,
Means for measuring the distance from the omnidirectional moving vehicle to the moving center point indicating means and the relative orientation direction determined by the omnidirectional moving vehicle and the two moving center point indicating means;
Means for setting an intermediate point obtained by dividing the measured distance between omnidirectional vehicles between each other as a movement center point and storing the position;
The movement of each omnidirectional vehicle based on the relative position of each omnidirectional vehicle with respect to the movement center point, the movement command given to the movement center point, and the posture of the transported object calculated from the relative posture direction. Means for calculating the speed;
And moving the omnidirectional vehicle at this moving speed to convey the conveyed object in a coordinated manner . In the conveyance apparatus as described in any one of Claims 1-5 ,
An operation terminal that transmits a movement command for the movement center point to each omnidirectional vehicle;
Means for receiving a movement command installed in each omnidirectional vehicle and transmitted from an operation terminal;
A conveying apparatus comprising: In the conveyance apparatus as described in any one of Claims 1-6 ,
The omnidirectional vehicle is
A drive wheel that also serves as a steering wheel,
An actuator for rotating the drive wheel;
A steering shaft that supports the axle of the drive wheel;
A bearing portion that is formed on the vehicle body and supports the steering shaft so that it can freely rotate around the vertical axis at a position that is horizontally spaced from the ground contact position of the drive wheel;
An actuator for rotationally driving the steering shaft;
A control device that drives both actuators such that the ratio of the rotational angular velocity of the drive wheels and the rotational angular velocity of the steering shaft is a value corresponding to the moving direction of the vehicle;
With two or more drive units composed of
A sensor for detecting the position of the vehicle body;
A sensor for detecting the attitude direction of the vehicle body;
A sensor for detecting the steering angle of each steering shaft;
Calculating means for calculating an angular velocity ratio of the driving wheel and the steering shaft for each driving wheel from the vehicle position, the vehicle attitude direction and the steering shaft angle detected by each sensor and the moving target trajectory of the vehicle;
And a vehicle that instantly starts moving in an arbitrary direction .

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