JPH04155407A - Method for positioning self-traveling type parts carrier system - Google Patents

Abstract

PURPOSE:To highly accurately travel the self-traveling system parts carrier system from an origin position to a working position by detecting a positioning mark formed on a floor face and automatically correcting the position and posture of the system before starting its traveling. CONSTITUTION:The origin position detecting mark 18 is formed on the origin position 17 so that a self-traveling feeder 1 can travel on prescribed traveling route 29 without forming a band-like guide band along all the traveling route 29 on the floor face on which the feeder 1 is to be traveled and the mark 18 is detected by sensors 6 to 8 fixed to the feeder 1 to automatically correct the X and Y coordinates and posture of the feeder 1. In this case, the brightness, saturation and surface reflecting state of the mark 18 are different from that of the floor face of a stage on which the feeder 1 is to be traveled. Consequently, the traveling position accuracy of the feeder 1 can be guaranteed and the detection accuracy of the sensors 6 to 8 can be improved.

Description

[Detailed Description of the Invention] [Field of Application of Supervised Soil Collection] The present invention relates to a robot for transporting parts that runs independently (hereinafter referred to as a self-propelled feeder), which uses an optical sensor in advance to run. By detecting the position of the position detection mark provided on the floor, the X-coordinate, Y-coordinate and rotation angle of the self-propelled feeder are automatically detected, and the feeder moves after correcting its position and at the working position. , by reading the work position detection mark using an optical sensor, the system automatically corrects the positional deviation while learning the amount of positional deviation from the next run, and the self-propelled feeder and host combination 1 - in the evening. To provide a means for efficiently managing a plurality of self-propelled feeders by communicating information.

[Conventional technology]

As described in Japanese Unexamined Patent Publication No. 118810/1983, the prior art is a self-propelled feeder equipped with one driving wheel on each side of the vehicle. ! The system used optical means to continuously detect the amount of deviation in the guide zone provided over the entire area of the road.

In addition, as described in %Kokai No. 63-70308,
Specially provided control marks are placed along a guide band provided throughout the travel route, and control information is attached to these marks, which are then read by the self-propelled feeder as it travels.

In addition, the method described in Japanese Patent Application Laid-Open No. 65-56409 distinguishes the guidance belt provided over the entire running route by color, so that the guide strip that is provided over the entire running route is differentiated by color, so that the guide strip that is provided over the entire running route is differentiated by color. This method provides information and directions for driving routes.

In addition, as described in %Kasho 6l-28s908, necessary information is transmitted to the self-propelled feeder using a specially processed tape that is provided over the entire running route and has nine guiding bands Fc119. It is a method of communication.

In addition, as described in Japanese Patent Application Laid-open No. 59-1520013, 1. A sensor having a large number of magnetic detection elements is attached to a self-propelled feeder so that the self-propelled feeder can travel along a magnetic induction zone on the traveling side. It is something.

In addition, the one described in % Patent Publication No. 57-62425 is a marker type self-propelled feeder in which the mark is rectangular with a constant width and the mark is in the shape of a right triangle with a constant base width and height ratio. However, this method detects a deviation of one approach angle from the driving route based on the distance traveled on the mark.

Also, fFh 1x2oo&-jt public N&cie
The system No. 11 performs running control by detecting the position in the lateral direction with respect to the guide line by sampling and controlling the rotational speed difference between the left and right drive wheels.

Also, the method described in %KAI No. 1-197808 analyzes the image information obtained by photographing the mark, and combines the analyzed ii* information with the I! of the mark in the storage means! In this method, the current position and direction of the self-propelled feeder are calculated based on the coordinates inside the jll and all the coordinates, and the travel of the self-propelled feeder is controlled.

Furthermore, in the method described in Japanese Patent Application Laid-open No. 1197809, the outer shape of the mark is circular, and a circular code that is concentric with the mark and can be distinguished from other marks is attached within the mark, thereby adjusting the inclination of the self-propelled feeder. Regardless of the direction, the center position of the mark and the code content are always correct.
To! Make it easy to understand.

[Problem to be solved by the invention]

As in the above-mentioned conventional technology, a special information transmission means is provided along the running route on the floor surface on which the self-propelled feeder runs while detecting the position of the round-shaped guide strip, and is also provided along the guide strip. A plurality of self-propelled feeders have to share part or all of one traveling route.

For this reason, it is not possible to create a travel route for a self-propelled feeder that crosses other travel routes, and multiple self-propelled feeders share a single floor surface. (interfering with each other when traveling), no consideration was given to traveling in a manner that would not interfere with the traveling of other self-propelled feeders.

However, due to the host controller managing and operating multiple self-propelled feeders, there is no means to always know the position and control status of all self-propelled feeders, and all self-propelled feeders are not running. Since the route was controlled serially, the efficiency of management and operation was poor.

In addition, since self-propelled feeders run on a closed circular track, if there is a self-propelled feeder on the travel route that has already stopped, all subsequent self-propelled feeders must stop. did not become. Similarly, if there is a self-propelled feeder on the travel route that has stopped due to a failure, all subsequent self-propelled feeders must stop, resulting in the entire system stopping. , the purpose is to provide a control method that solves these problems.

(Rounding means to solve the problem) Ninthly, in order to achieve the above object, in the present invention, a self-propelled feeder does not provide a belt-shaped guide band along the entire running route on the floor surface on which the self-propelled feeder runs. In order for the moving feeder to travel along a predetermined travel route, an origin position detection mark is provided at the origin position, and by detecting it using a sensor installed on the self-propelled feeder, the X, ! coordinates and posture can be determined. It is a means of automatically making corrections.

A mark is provided that differs in brightness, saturation, and surface reflection state from the floor surface of the stage on which the self-propelled feeder travels and the position detection mark.

An origin position detection mark with a notch of K[i angle at one end is used to determine the X, YM marks and turning attitude of the self-propelled feeder.

The position of the self-propelled feeder at the working position can be determined using the triangular working position mark that can be detected by three optical sensors at once! A work position mark is used to detect the direction of deviation.

Since the self-propelled feeders do not travel while detecting marks that indicate the travel meridian, there is no need for multiple self-propelled feeders to share part or all of one travel route, and multiple self-propelled feeders can each use separate travel routes. This is a method that allows you to have

Therefore, it is possible to freely set the travel route of the self-propelled feeder, and to create a travel route that crosses other travel routes.In addition, multiple self-propelled feeders can be managed simultaneously by the host computer. By controlling, when multiple self-propelled feeders share the same floor surface, consideration should be given to running in a manner that does not interfere with each other or prevent the running of other self-propelled feeders. It is possible to do Natsu nine.

By providing a wireless communication means between the host computer and the multiple self-propelled feeders, and transmitting and receiving information on the running position between the host computers, the multiple self-propelled feeders each select the optimal route from multiple routes. The driving method is to run the vehicle with

[Effect]

In the present invention, a mark for detecting the posture of the self-propelled feeder is provided only at the origin position of the self-propelled feeder on the floor surface on which the self-propelled feeder runs, and the posture is detected while using a sensor provided on the self-propelled feeder. By correcting it, the accuracy of the traveling position of the self-propelled feeder can be guaranteed.

By providing position detection marks with different colors and surface conditions on the floor surface on the stage on which the self-propelled feeder travels, it is possible to improve the detection accuracy by the optical sensor.

Since there is no need to place position detection marks on the travel route, there is no need for multiple self-propelled feeders to share part or all of a single travel route, and there are slight differences between multiple self-propelled feeders. , it becomes possible to travel on different travel routes, and it is possible to set complicated travel routes.

For this reason, it has become possible to freely provide a travel route for the self-propelled feeder and provide a travel route that crosses other travel routes. In addition, it is possible to take into consideration such things as preventing multiple traveling feeders from interfering with each other on an island platform that runs on a common floor surface, and running in a manner that does not prevent the running of other traveling feeders. .

By using a host computer that manages and operates multiple self-propelled feeders, it has become possible to provide a means to constantly grasp the position and control status of all self-propelled feeders. As a result, all the self-propelled feeders can be controlled to run in parallel on the travel route, and the system can be managed and operated efficiently.

By providing a wireless communication means between the host computer and the multiple self-propelled feeders, and transmitting and receiving information on the running position between the host computers, the multiple self-propelled feeders can each select multiple routes and prevent interference with each other. It is possible to run the feeder without interfering with the running of other self-propelled feeders.

In addition, since self-propelled feeders run on linear open tracks or reciprocate on the same track, even if there is a self-propelled feeder that has already stopped on the travel route, it can be used as a self-propelled feeder in a pond. By traveling on the detour route, all the following self-propelled feeders can travel without stopping. Similarly, even if there is a self-propelled feeder on the travel route that has stopped due to a failure, there is no need for all subsequent self-propelled feeders to stop, and the entire system does not stop.

〔Example〕

The following is a self-supporting self-propelled feeder 1 which is an embodiment of the present invention.
will be explained with reference to FIGS. 1 to 8.

As shown in FIG. 1, the self-propelled feeder 1 is provided with drive wheels 2a, 2b on the left and right, respectively, and each drive wheel 2a, 2b is driven by a Fi servo motor 4&.

Driven by 4bK. The self-propelled feeder 1 also includes a control microcomputer 3, a position detection optical sensor 6,
7. 8, power supply battery 9, host computer 27
Communication device tOa, tOb for communication between, fixed driven wheel 1
1, movable driven wheels 12, and component mounting table 1
It has 3.

Further, an emergency stop tape type pressure sensor 14 is provided on the outer periphery.

FIG. 2 shows nine origin detection marks 18 affixed to the floor surface 33 of a stage 280 on which the self-propelled feeder 1 travels, and the self-propelled feeder 1 inserts one end of the right-angled notch 19 of the origin detection mark 18 into the self-propelled feeder 1. It is set in advance at a position where it can be detected by the central optical sensor 6 provided at the center.

FIG. 5 shows the work position detection mark 23 affixed to the floor surface 55 of the stage 28 on which the self-propelled feeder 1 travels, and the right detection part 25 is placed at a position that can be detected by the optical sensor 6.7°6 of the self-propelled feeder 10. , each location in the left detection unit 26, and further,
One location corresponds to the central detection section 24, and each location is arranged so that it can be detected by overlapping the location of the work position detection mark 25.

FIG. 4 is an origin detection flowchart, in which the self-propelled feeder 1 corrects the X and Y coordinates and the attitude in the turning direction at the origin position 17.

FIG. 5 is a flowchart of school funds, in which the self-propelled feeder 1 detects the work position detection mark 23 at the work position 22, and determines the direction of positional deviation during travel based on that position.

By repeating this operation, the stop position nFt at the working position 22 can be improved.

In the front, the self-propelled feeder 1 is a wireless communication device +OA.

A notch 19 is provided in the floor surface 35 of the stage 28, which is perpendicular to the origin position 17 of one self-propelled feeder 1, and can be moved and stopped in response to instructions from the host computer 27 via the feeder 101). An origin detection mark 16 is provided.

Travel position information is transmitted to the host computer 27 via the wireless communication devices 10a and 10b between the host computer 27 and the plurality of self-propelled feeders 1, and the plurality of self-propelled feeders 1 each follow the plurality of travel routes 29. It is possible to select it, instruct the self-propelled feeder 11c to transmit, and make it run.

In the above configuration, when the host computer 27 instructs the start of movement of the self-propelled feeder IK and the travel route 29,
In the self-propelled feeder 1, the drive wheels 2a, 2b are rotated by a fist that rotates the left and right servo motors 4*, 4b in the same direction, and the self-propelled feeder 1 travels in the direction indicated by the arrow.

At this time, encoders 5a and 5b attached to the servo motors 4a and 4b detect the amount of rotation of the servo motors 4a and 4b and perform feedback control. This allows the left and right servo motors 4a, 4b to always travel on appropriate tracks.

From the state shown in Figure S, move the self-propelled feeder 1 step by step in the direction of the arrow and position it in the X-coordinate direction until the optical sensor 6 in the center of the self-propelled feeder 1 turns off. Repeatedly, after turning off and turning the self-propelled feeder 1 by 90 degrees in the direction of arrow B by the correction amount of the turning angle, it further performs a minute step turning in the same direction, and turns within the turning angle in terms of the apparent minute. The positioning of the orientation in the direction is repeated until the right sensor 7 in front of the self-propelled feeder 1 is turned on.Next, it is moved by a small amount of steps in the direction of arrow C again, and the positioning is performed in the X coordinate direction. Positioning at the origin position 17 is completed by a series of zero or more operations that are repeated until the optical sensor 6 is in the ON state 11.

Next, movement data is transmitted from the host computer 27 to each self-propelled feeder 1 via the non-III communication ten stages 10a, 10t). The self-propelled feeder 1 moves to the working position 22 via a predetermined regular route 29 .

In this state, the work opening is hot (not shown) on the self-propelled feeder 1.
At the same time, three optical sensors 6 and 7 detect the work position detection mark 23 provided on the floor surface 55 to transfer the parts 16 to and from the 1C.
．． 8 to detect and store information in non-volatile memory! l2
The host computer 27 sends the wireless communication device 10a to each self-propelled feeder 1 again.
By transmitting movement data via 10'b,
It moves backward again towards the origin position 17 and returns to the state before the origin alignment.

As shown in FIG. 5, the same operation is repeated again. At the beginning of the moving song, the work position detection mark 23 is detected by the optical sensors 6, 7.
．． Based on the detected information in step 8 and the information in step 9, the position and orientation are corrected in a direction that will reduce the amount of positional deviation.

6. Lightly select the work position detection mark 23. 7. When detected using the 41-bit method, seven patterns can be obtained as shown in FIG. Optical sensor 6, 7. If all I3 are on, are they in the correct position? C, there is no need for correction, so substitute the correction value KO.0 Next, if only the front right optical sensor 7 is in the ON state, it is thought that a deviation in the turning angle has occurred in the left direction. A negative maximum expected deviation amount in the turning direction is substituted into a correction value for each of the servo motors 4a and 4b so as to correct it in the right direction. In a similar manner, the maximum expected deviation amount in the horizontal direction corresponding to all seven methods is calculated by substituting the maximum expected deviation amount in the longitudinal direction into the correction value.

The next pressure is compared with the previous correction value position shift direction on the non-volatile memory 52, and if the direction is the same, the direction is changed, and if it is the opposite direction, the correction coefficient is directly multiplied to obtain the correction value. The correction coefficient is a value obtained empirically based on the results of actually running the self-propelled feeder 1.

Based on the results, the actual rotation angle of the motors 4a and 4b of the self-propelled feeder 1 is determined.

'# Fixed slightly to bond, this learning result is non-volatile Fourie 3
2 above, and correct the next driving data (by doing this, the learning efficiency is improved).

Furthermore, in order to be able to cope with sudden changes in the state of the traveling stage 28, learning is always repeated once during traveling.

As shown in FIG. 7, the self-propelled feeder 1 moving in the direction indicated by the arrow detects an obstacle 51 in the direction of movement by the ultrasonic sensor 15. At this time, if there is another self-propelled feeder 1 or an eating obstacle 31 in the direction of movement of the self-propelled feeder 1, until the 1lili['IJt31 moves,
Stop to prevent interference.

After the obstacle 31 moves, the self-propelled feeder 11f
i travel history jf! Start driving on r29.

The self-propelled feeder 1 runs according to a predetermined program in the on-board microcomputer 3, and selects an appropriate one among a plurality of running routes 29 through the wireless communication devices 10a and 10b during maneuvering. According to the instructions from the computer 27, the computer 27 selects an appropriate program and runs along the data θ.

After the self-propelled feeder 1 reaches the working position 22, a robot (not shown) loads it! Nine parts 16 [
Take it out and do the assembly etc.'! ±, No work required
The essential parts 16 are again loaded onto the table 15 of the self-propelled feeder 1 by the robot.

After the robot completes its work, the robot sends the work completion signal to the host computer 27#C, causing the host computer 27 to release the
The self-propelled
The robot 1 is maneuvered, moves towards the origin position 17, starts traveling again, and travels from the origin to the origin position 17 through the same route 29.
reach.

At the same time, the host computer 27 transmits information on the traveling route 29 to the host computer 27 between the plurality of self-propelled feeders 1 via the wireless communication devices 10a and 10b,
Each of the plurality of self-propelled feeders 1 selects a plurality of travel routes 29, and instructs the self-sufficient feeder 1 to travel. Therefore, as shown in FIG. 8, when the self-propelled feeder 1 comes into contact with another robot or the like, the microcomputer 3 may be stopped by the tape-shaped pressure sensitive sensor 14. In this way, if there is another self-propelled feeder 1 on the travel route 29 that has stopped and is difficult to travel again, it travels along the detour route 30 according to instructions from the host computer 27 to reach the working position 2.
Reach 2.

Work while repeating the above operations.

〔Effect of the invention〕

According to the present invention, a mark for detecting and correcting the origin position of each self-propelled feeder on the stage on which the self-propelled feeder travels is provided, and when the self-propelled feeder detects this before traveling, the origin position is detected and corrected. It can travel from position to work position with high accuracy.

(9) The self-propelled feeder automatically recognizes the position correction direction by detecting the work position detection mark provided at the work position and corrects it in advance when traveling next time. Avoid this by correcting your position and posture before driving.

In addition, by repeatedly traveling along a predetermined route,
Since learning is performed in a direction that gradually reduces the error 'ktfc, the accuracy of the stopping position of the work position is improved.

Learning is repeated as needed to achieve the same stopping position fff degree at the work position, and at the same time, the data learned - degree is used repeatedly and the learning data is constantly updated, so it can respond to changes in the state of the traveling stage. I can do it.

As described above, the self-propelled feeder is effective as a means for accurately traveling a self-propelled vehicle with a relatively short travel route because it is not necessary to provide a walking route indicating band over the entire travel route.

Host: By managing the ambiator, it is possible to select and control multiple travel routes on one stage, so multiple self-propelled feeders do not interfere with each other, and the travel route can be changed efficiently. .

By changing the color and surface condition of the floor surface on the stage on which the self-propelled feeder travels, the origin detection mark, and the work position detection mark, it is possible to accurately detect even some dirt.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of a self-propelled feeder according to an embodiment of the present invention 3A, Fig. 2 is an explanatory diagram of an origin detection mark for a self-propelled feeder, and Fig. 3 is an explanatory diagram of a work position detection mark for a self-propelled feeder. , FIG. 4 is a flowchart for adjusting the origin using the self-propelled feeder control program, FIG. 5 is a learning flowchart based on the self-propelled feeder control program, and FIG. 6 shows how the work position detection mark 23 is detected by the optical sensor 6, 7. FIG. 7 is an overall perspective view of the system of the present invention, and FIG. 8 is an overall perspective view of the system of the present invention. 1...Self-propelled feeder, 2a...Drive wheel, 2b...
・Drive wheel, 3...Microcomputer, 4a...
・Servo motor, 4b... Servo motor, 5a...
Encoder, 5b... Encoder, 6... Center light sensor, 7... Right light sensor, 8... Left light sensor, 9...
...Battery, 10a...Wireless communication device, 10b...
・Wireless communication device, 11... Fixed driven single wheel, 12...
・Movable driven wheel, 15...Table for mounting parts, 14
... Tape type pressure sensor, 15 ... Ultrasonic wave-e7, 16 ... Parts, 17 ... Origin position, 18 ... Origin detection mark, 19°° right angle notch, 20 ...Central sensor detection section, 21...Right sensor detection section, 22...
・Working position, 25...Working position detection mark, 24...
- Central detection section, 25... Right detection section, 26... Left detection section, 27... Host computer, 28... Stage, 29... Travel route, 30... Detour route, 31.
...Obstacle, 32...Nonvolatile memory, 63...Floor surface. f8 Agent Patent Attorney Katsuo Ogawa-2-ml No. 20 No. 40 No. 5 No. 6 No. 6 Hayashi = Rojo - Rotating Ii Shujin Spear 4 fire, Zukini / j = hfo Chiranri r 2 beats backwards No. '70

Claims (1)

[Claims of Claims] 1. In a free-standing self-propelled vehicle that drives wheels by a servo motor and is equipped with a power source, a controller that controls the self-propelled vehicle, and a sensor that can measure the position of the self-propelled vehicle, the floor surface A method for positioning a self-propelled parts conveyance system, characterized in that the position and orientation of the system are automatically corrected before the start of travel by detecting positioning marks provided on the system. 2. In claim 1, the coordinates of the floor surface and the A method for detecting the position of a self-propelled vehicle to obtain the attitude of the self-propelled vehicle. 3. In claim 1, the robot turns 90 degrees at right angles on the floor surface, changes direction and moves straight, repeats this process while moving to a predetermined position, and when the work is completed, moves backward while moving straight 90 degrees. A method of driving a self-propelled vehicle that turns and changes direction while returning along the same route. 4. In claim 1, the position of the self-propelled vehicle is such that a work position recognition mark is provided on the floor at the work position of the self-propelled vehicle, so that it is possible to detect a positional deviation state of the track that occurs while the self-propelled vehicle is traveling. This is a shift recognition method. 5. In claim 1, the material of the origin position detection mark and the work position recognition mark provided on the floor surface and the floor surface member are made of different materials, and the brightness and color saturation are different, so that the mark is provided on the self-propelled vehicle. These are origin position detection marks and work position recognition marks that can be easily detected by a sensor. 6. In claim 1, by controlling a plurality of self-propelled vehicles at the same time using wireless communication means by one host computer, the coordinates on one stage can be managed and the coordinates can be freely controlled without interfering with each other. Control method for driving. 7. In claim 1, after reaching the target position of the work,
The work position detection mark detection sensor installed on the self-propelled vehicle recognizes the stopped position of the self-propelled vehicle, and feeds back the direction of positional deviation and its position information to the self-propelled vehicle's computer, and based on that information, the self-propelled vehicle A control method that calculates the amount of positional deviation from the previous stop position information, and then moves while making corrections to improve the accuracy of the stop position, before returning to the origin position and moving towards the target position again. 8. The positional deviation correction learning control method for a self-propelled vehicle according to claim 7, in which the amount of positional deviation is gradually reduced by repeatedly performing the work. 9. The origin position detection mark according to claim 5, wherein one end of the origin position detection mark provided on the floor surface on which the vehicle runs is provided with a perpendicular notch portion and a side parallel to the one side thereof. 10. The work position shift detection mark according to claim 4, which can be detected at three or more locations simultaneously by a mark detection sensor provided on a self-propelled vehicle. 11. In claim 7, a wireless communication means is provided between the host computer and the plurality of self-propelled vehicles, and information on the traveling position is transmitted to the host computer, so that the plurality of self-propelled vehicles each select a plurality of routes. and interfere with each other,
A management method for autonomous self-propelled vehicles that allows them to run without interfering with the operation of other self-propelled vehicles.