CN105103069B - automatic conveying vehicle - Google Patents
automatic conveying vehicle Download PDFInfo
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- CN105103069B CN105103069B CN201480018197.XA CN201480018197A CN105103069B CN 105103069 B CN105103069 B CN 105103069B CN 201480018197 A CN201480018197 A CN 201480018197A CN 105103069 B CN105103069 B CN 105103069B
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- 238000001514 detection method Methods 0.000 claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims description 23
- 230000009471 action Effects 0.000 claims description 8
- 235000013399 edible fruits Nutrition 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 14
- 235000004443 Ricinus communis Nutrition 0.000 description 13
- 238000004519 manufacturing process Methods 0.000 description 9
- 240000000528 Ricinus communis Species 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 238000003860 storage Methods 0.000 description 4
- 238000011065 in-situ storage Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
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- 210000001699 lower leg Anatomy 0.000 description 1
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- 230000009466 transformation Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention is following technology：Laser range sensor is installed on automatic conveying vehicle, detection range includes this vehicle rear, and one or both of the position and direction of trolley are detected by the measurement result of the laser range sensor.Automatic conveying vehicle is the automatic conveying vehicle (100) that can link trolley (200) to be conveyed, with the laser range sensor (105) that can measure this vehicle rear, one or both of position and direction of laser range sensor (105) detection trolley (200) are utilized.It is based particularly on the measurement result of laser range sensor (105), it is not attached to close to the rear for being located at this vehicle and the trolley (200) of this vehicle and links the trolley (200), either in the state of linking with trolley (200) trolley (200) rearward advancing or advance in connection be detached from, the position relationship of Ben Che and trolley (200) become be not connecting state position relationship in the case of stop advancing.
Description
Technical field
The present invention relates to automatic conveying vehicles, are more particularly to effectively applied to the trolley that can link trolley to be conveyed
The technology of trailed model automatic conveying vehicle.
Background technology
As the background technology of the art, such as there are Japanese Unexamined Patent Publication 2009-288931 bulletins (patent document 1).
It is recorded in the bulletin：" in the case of Ben Che and transported material connection, prevent the transported material from putting in avoidant disorder object
It moves and is interfered with ambient enviroment ".In addition, there are Japanese Unexamined Patent Publication 2004-98233 bulletins (patent document 2).In the bulletin
It describes：" self-regulation mobile robot that can determine optimal mobile route is provided ".
Existing technical literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2009-288931 bulletins
Patent document 2：Japanese Unexamined Patent Publication 2004-98233 bulletins
Invention content
The subject that the invention solves
Automatic conveying vehicle or mobile robot are commonly used in the transport system used in production line and automated warehouse etc..
Control mode as these automatic conveying vehicles and mobile robot has the mode for presetting its travel track and performs control
The mode advanced while Shi Shengcheng travel tracks.Certainly, the mode advanced while generation travel track when performing control
The flexibility and road of automatic conveying vehicle and mobile robot compared with the mode for presetting its travel track in obstacle avoidance
In degree of freedom when line changes more preferably.
On the other hand, in order to improve the transfer efficiency for the transport system for using automatic conveying vehicle and mobile robot, it is being
Linking trolley on automatic conveying vehicle or mobile robot in system can convey more as the method that transported material is drawn
Cargo, it is believed that it is more effective.At this point, for automatic conveying vehicle, the trolley as transported material is from its price, structure
Simplification and popularity (being widely present in general factory) angularly consider, are desired for not having the dress for needing power and power supply
It puts.
For drawing this using automatic conveying vehicle AGV (Automatic Guided Vehicle, automatic guided vehicle)
The trolley traction conveying of vehicle, following situation has been found out after present inventor's research.For example, it is contemplated that by object between the production line of factory
Product are loaded in situation about being conveyed on trolley, it is known that there are it is as described below the problem of.Using Figure 12~Figure 15 with<A：Manual feed>、
<B：Utilize the automatic conveying of automatic conveying vehicle>Sequence illustrate.Figure 12 is an example for illustrating general manual feed
Figure.Figure 13 is the figure for illustrating the general an example conveyed automatically using automatic conveying vehicle.Figure 14 is for definition graph
The figure of an example of the size of trolley parking area and trolley in 13.Figure 15 is the position for illustrating working space and trolley parking area
An example figure.
<A：Manual feed>
In manual feed, as shown in figure 12, there is operator respectively in working space 1 and working space 2, set using production
Equipment for 1 and production equipment 2 carries out operation.Production equipment 2 also uses the article that production equipment 1 produces as material.Operation
The article that production equipment 1 produces is loaded on trolley by the operator in space 1.The article of defined amount is loaded on trolley
Afterwards, its trolley is placed on trolley parking area 1 by the operator of working space 1.There is conveying between production equipment 1 and production equipment 2
Operator, after the trolley for being placed on trolley parking area 1 is seen, which is transported to trolley parking area 2 by conveying operator.
Due to interfering the reasons such as operation, problem for security, respective operator is removed in working space 1 and working space 2
Except personnel cannot enter.In addition, from the operating efficiency of the operator in working space 1 and working space 2 and the sky of factory
Between efficiency angle, between trolley parking area 1 and working space 1 and the phase of the distance between trolley parking area 2 and working space 2
It hopes short as much as possible.
<B：Utilize the automatic conveying of automatic conveying vehicle>
In the situation of above-mentioned Figure 12, consider the conveying for conveying operator is substituted for using automatic defeated as shown in fig. 13 that
The conveying of vehicle is sent with labor-saving situation.Since object conveyor is trolley, it is oneself of trolley trailed model it is expected automatic conveying vehicle
Dynamic waggon.It is as follows using the sequence of batching products of automatic conveying vehicle.
(1) in trolley parking area 1, automatic conveying vehicle automatically links trolley.
(2) automatic conveying vehicle advances to trolley parking area 2 in the state of linking with trolley.
(3) in trolley parking area 2, automatic conveying vehicle releases the connection with trolley.
It is led to the problem of respectively in above each step (1), (2), (3) as described below.
<<B1：For step (1)>>
In the case of the manual feed shown in above-mentioned Figure 12, on ground, setting-out or note adhesive tape etc. are stopped to set trolley
The situation in area is more.At this point, in order not to make one to have excessive positioning burden, as shown in figure 14, exist opposite when placing trolley
All around have a case that 10cm's or so is vacant in trolley size.
The deviation of generation ± 10cm or so according to situation difference of the position of the trolley of trolley parking area as being placed on.
Although can not just generate deviation by the way that the size of trolley parking area is set as trolley size, operation at this time is empty
Between operator need to carry out accurate positioning when trolley is placed on trolley parking area, due to expending the time, operation
Efficiency reduces.
In addition, although certain fixture can be set in trolley parking area, due to becoming the obstacle of layout changing or becoming
The reasons such as the obstacle of pedestrian and situation about having difficulties.Also, although certain transformations can be carried out to trolley, in trolley number
In the case that mesh is more, need to being all transformed, improvement expenses become problem.
Therefore, it is desirable to automatic conveying vehicle trolley is not transformed trolley parking area yet and can be with preventing in platform
The trolley there are deviation of vehicle parking area links automatically.
<<B2：For step (2)>>
Although trolley is linked with automatic conveying vehicle by certain link mechanism, exist due to certain reasons and in traveling
Unexpected position disconnect connection situation.In such circumstances it is desirable to automatic conveying vehicle stops advancing simultaneously in the position
Send out the alarms such as light or sound as needed.
<<B3：For step (3)>>
As shown in figure 15, it is drawn since automatic conveying vehicle links trolley at the rear of this vehicle, in order to which trolley is placed
In trolley parking area 2, the gap of automatic conveying vehicle entrance is needed between trolley parking area 2 and working space 2.The gap takes
Certainly in the size of automatic conveying vehicle, since general known its overall length of small-sized automatic conveying vehicle is also close to 1m, row is considered
Into upper vacant, more than 1.5m is needed.
As described above, from the angle of operating efficiency and space efficiency, it is expected that working space and the distance of trolley parking area are leaned on
Closely, there are this gaps to constitute the reason of efficiency reduces.Therefore, in order to lean on working space and the distance of trolley parking area
Closely, it is desirable to eliminate the gap between working space and trolley parking area.
It is above-mentioned from the minimizing of automatic conveying vehicle, the cost effective angle of cost effective angle and system entirety
The problem of step (1), (2), (3) are related it is expected to prepare in automatic conveying vehicle a solution to solve rather than respectively
Prepare respective solution.
Therefore, the present invention proposes in view of the above problems, and representative purpose is provides following technology：Automatically it is conveying
Laser range sensor is installed, detection range includes this vehicle rear, passes through the measurement result of the laser range sensor on vehicle
One or both of position and direction to detect trolley.
The above-mentioned and other purpose and new feature of the present invention is apparent by the description and attached drawing of this specification.
A technical solution to solve project
The summary of representative invention simplys illustrate as follows in invention disclosed in the present application.
That is, representative automatic conveying vehicle can link trolley the automatic conveying vehicle that is conveyed to be a kind of, have such as
Lower feature.
(1) above-mentioned automatic conveying vehicle has the laser range sensor that can measure this vehicle rear, utilizes above-mentioned Laser Measuring
One or both of position and direction of above-mentioned trolley are detected away from sensor.
(2) above-mentioned automatic conveying vehicle has the laser range sensor that can measure this vehicle rear, based on above-mentioned Laser Measuring
Measurement away from sensor is as a result, on the rear for being located at above-mentioned vehicle and the above-mentioned trolley for not being attached to above-mentioned vehicle and connection
State trolley.
(3) above-mentioned automatic conveying vehicle has the laser range sensor that can measure this vehicle rear, based on above-mentioned Laser Measuring
Measurement away from sensor in the state of linking with above-mentioned trolley as a result, rearward advance.
(4) above-mentioned automatic conveying vehicle has the laser range sensor that can measure this vehicle rear, based on above-mentioned Laser Measuring
Measurement away from sensor as a result, the above-mentioned trolley advanced in connection be detached from, the position relationship of above-mentioned vehicle and above-mentioned trolley into
For be not connecting state position relationship in the case of stop advance.
Invention effect
The effect obtained by representative invention in invention disclosed in the present application simplys illustrate as follows.
That is, representative effect is that laser range sensor is installed on automatic conveying vehicle, detection zone includes this vehicle
Rear can pass through one or both of the position and direction of the measurement result of the laser range sensor to detect trolley.
Description of the drawings
Fig. 1 is the figure for illustrating an example of the structure of automatic conveying vehicle and trolley in an embodiment of the invention.
Fig. 2 is the figure of automatic conveying vehicle and trolley viewed from above in Fig. 1.
Fig. 3 is for the figure of an example of the measurement range of laser range sensor in definition graph 1.
Fig. 4 is the figure of an example of control method for moving automatic conveying vehicle in definition graph 1.
Fig. 5 is the figure for detecting the principle of the position and direction of trolley in definition graph 1.
Fig. 6 is the figure of the relationship of triangle formed for the angle of trolley in definition graph 1 and laser range sensor.
Fig. 7 is the flow chart for automatic conveying vehicle to be attached to an example of the control method of trolley in definition graph 1.
Fig. 8 is for the figure of the position relationship of automatic conveying vehicle and trolley in definition graph 7.
Fig. 9 is for the figure of the storage mode of automatic conveying vehicle in definition graph 1.
Figure 10 is an example of control method for retreating in the state of trolley is linked automatic conveying vehicle in definition graph 1
Flow chart.
Figure 11 is for the figure of the position relationship of automatic conveying vehicle and trolley in definition graph 10.
Figure 12 is the figure for illustrating an example of general manual feed.
Figure 13 is the figure for illustrating the general an example conveyed automatically using automatic conveying vehicle.
Figure 14 is for the figure of an example of the size of trolley parking area and trolley in definition graph 13.
Figure 15 is for illustrating working space and the figure of an example of trolley parking area.
Specific embodiment
In the following embodiments, for convenience's sake, multiple embodiments or chapters and sections is divided into carry out when needed
Illustrate, but other than situation about especially clearly stating, they are not mutually not related, but a side is the opposing party's
The relationships such as all or part of variation, details, supplementary explanation.In addition, in the following embodiments, in the number for mentioning element
In the case of mesh etc. (including number, number, amount, range etc.), in addition to being expressly defined as in the situation and principle that clearly state
Except situation of optional network specific digit etc., be not limited to the optional network specific digit, and can on optional network specific digit or under.
Further, in the following embodiments, structural element (also including element step etc.) is in addition to clearly stating
Situation and principle on except situation about clearly needing etc. not necessarily, this is without explicit word.Similarly, in following implementation
In mode, whens referring to shape, position relationship of structural element etc. etc., in addition to can clearly recognize in the situation and principle that clearly state
Except really not so situation etc., including the situation approximate or similar substantially with its shape etc..This for above-mentioned numerical value and
Range is also the same.
[summary of embodiment]
It is illustrated first against the summary of embodiment.It is as an example, included in bracket in the summary of present embodiment
It is illustrated with the corresponding structural element of embodiment, mark etc..
The automatic conveying that the representative automatic conveying vehicle of present embodiment is conveyed for a kind of connection trolley (200)
Vehicle (100) has feature as follows.
(1) above-mentioned automatic conveying vehicle includes the laser range sensor (laser range scanners) that can measure this vehicle rear
(105), detected using above-mentioned laser range sensor one or both of position and direction of above-mentioned trolley (step (1),
(2), a solution of the problem of (3) are related).
(2) above-mentioned automatic conveying vehicle includes the laser range sensor (105) that can measure this vehicle rear, is swashed based on above-mentioned
The measurement of ligh-ranging sensor as a result, close to being located at the rear of above-mentioned vehicle and not being attached to the above-mentioned trolley of above-mentioned vehicle, and
Link the trolley (solution of the problem of step (1) is related).
(3) above-mentioned automatic conveying vehicle includes the laser range sensor (105) that can measure this vehicle rear, is swashed based on above-mentioned
The measurement of ligh-ranging sensor in the state of linking to above-mentioned trolley as a result, rearward advance (the problem of step (3) is related
One solution).
(4) above-mentioned automatic conveying vehicle includes the laser range sensor (105) that can measure this vehicle rear, is swashed based on above-mentioned
The measurement of ligh-ranging sensor is as a result, the above-mentioned trolley that connection is advanced is detached from, the position of above-mentioned vehicle and above-mentioned trolley is closed
In the case of being tied to form the position relationship not to be connecting state, stop (the solution party of the problem of step (2) is related that advances
Case).
Below for an embodiment of the summary based on present embodiment described above, based on attached drawing in detail into
Row explanation.In addition, in all drawings used to illustrate the implementation, same mark is accompanied by the same part in principle and is omitted
Its repeated explanation.
[embodiment]
Fig. 1~Figure 11 is utilized to carry out with the trolley for being attached to the automatic conveying vehicle for the automatic conveying vehicle of present embodiment
Explanation.
<The structure and action of automatic conveying vehicle and trolley>
It is illustrated using Fig. 1~Fig. 4 for the automatic conveying vehicle in present embodiment and the structure of trolley and action.Figure
1 is the figure for illustrating an example of the structure of automatic conveying vehicle 100 and trolley 200.Fig. 2 is automatic conveying vehicle viewed from above
100 and the figure of trolley 200.Fig. 3 is the figure for illustrating an example of the measurement range of laser range sensor 105.Fig. 4 is to be used for
Illustrate the figure of an example for the control method for moving automatic conveying vehicle 100.
Fig. 1 shows the trolleys that the automatic conveying vehicle 100 in present embodiment and the automatic conveying vehicle 100 can link conveying
200 structure.The automatic conveying vehicle 100 of present embodiment is that the trolley trailed model that can link trolley 200 to be conveyed is automatic
Waggon.
The automatic conveying vehicle 100 includes mobile mechanism 101, link mechanism 107, detects the connection whether trolley 200 links
Detection sensor 108 measures extraneous sensor 104 around this vehicle, the laser range sensor 105 for measuring this vehicle rear and control
Device 106 processed.Here, this vehicle in the measurement of extraneous sensor 104 and laser range sensor 105 refers to automatic conveying vehicle
100 main body.
Mobile mechanism 101 include generate power device (not shown) and through power transfer mechanism (not shown) (certainly
Including direct drive mode) connection driving wheel 102, by rotating the driving wheel 102, make the castor as driven wheel
(caster) 103 also rotate, and can move automatic conveying vehicle 100.It illustrates herein and driving wheel 102 is arranged on rear side, it will
Castor 103 is arranged on the example of front side.It's not limited to that for the structure of the driving wheel 102 and castor 103, those skilled in the art
It can be selected appropriately.
Link mechanism 107 is the arm mechanism mounted on 100 rear portion of automatic conveying vehicle, can up and down be transported using root as axis
It is dynamic.The front end of arm 109 offers hole 110, and by putting down arm 109, hole 110 is hung on the pin 203 for being set to trolley 200,
Automatic conveying vehicle 100 and trolley 200 can be linked.In addition, after arm 109 is lifted (being represented in Fig. 1 with double dot dash line), it is automatic defeated
Vehicle 100 is sent to be detached with trolley 200.The arm 109 lifts and puts down that it's not limited to that, such as motor drive can be used.
In the case that trolley 200 is attached to automatic conveying vehicle 100 by link mechanism 107, by connection detection sensor 108
It detects to have linked, is sent to control device 106.As the connection detection sensor 108, it's not limited to that, such as available
Encoder measures the angle of arm to detect connecting state.In addition, the connection detection sensor 108 is also capable of the shape of detection arm 109
State.Limit switch etc. is may be, for example, to carry out the device of mechanical detection or carry out the device of electric detection.
Further, since it is equipped with extraneous sensor 104, therefore 100 energy of automatic conveying vehicle in 100 front end face of automatic conveying vehicle
Building, object, people around automatic conveying vehicle 100 etc. is enough detected by external world's sensor 104 and obtains its information, it can
The content is passed to control device 106 to handle.It's not limited to that for external world's sensor 104, such as can be used and pass through
Laser distance sensor of distance that infrared laser is scanned to detect building, object, people with surrounding etc. etc..
Further, it is equipped on rear side of the upper surface of automatic conveying vehicle 100 in the present embodiment and measures this vehicle rear
Laser range sensor 105.The trolley 200 at the rear of the laser range sensor 105 detection automatic conveying vehicle 100, can obtain
Take the information such as the position and direction of the trolley 200.Its content can be transmitted to control device 106 and be handled.The laser ranging
It's not limited to that for sensor 105, for example, can be used be scanned by infrared laser detect with the distance of trolley 200 swash
Electrical distance sensor etc..
Then, control device 106 carries out the control of mobile mechanism 101 for conveying carrier 200.Specifically, based on basis
Current location, target location and the automatic conveying vehicle of automatic conveying vehicle 100 obtained from the information obtained as extraneous sensor 104
100 surrounding condition sends control signal of advancing to mobile mechanism 101, carries out traveling control.Further, based on according to sharp
The position and direction of trolley 200 obtained from the information that ligh-ranging sensor 105 obtains, the situation of control connection trolley 200 connect
Trolley 200 is tied come traveling when being conveyed etc..
In the automatic conveying vehicle 100 of present embodiment, identification of the current location of the automatic conveying vehicle 100 etc. passes through control
Map possessed by device 106 processed is generated to be realized with the function of position identification.Map systematic function is in advance to extraneous sensor
The measurement information of 104 environment (building, object of surrounding etc.) collected carries out statistical disposition, and generation automatic conveying vehicle 100 moves
The map of dynamic environment.The meter that position identification function can measure extraneous sensor 104 in the practical movement of automatic conveying vehicle 100
Measurement information is matched with the map being generated in advance, and calculates measurement information and the position (x, y) of map match and posture (θ), is known
The position of another edition of a book vehicle.
It can be not required to guiding equipment in this way, the automatic conveying vehicle 100 in present embodiment becomes and self-position, basis is obtained
The trackless automatic conveying vehicle that situation self-discipline ground is advanced.In self-discipline traveling, the barrier of extraneous sensor 104 progress can be passed through
Detection, slowed down according to the distance with the barrier, avoided, stopped.Further, the target point specified can be directed to
Automatically select the travelings such as the route of shortest time, accessible route, route without blocking.
In addition, for the trolley 200 linked on automatic conveying vehicle in present embodiment 100, those skilled in the art can fit
Locality selection, such as including two castors 201 and two universal wheels 202.Herein, it is illustrated that castor 201 be arranged on rear side, it is universal
Wheel 202 is arranged on the example of front side.
Fig. 2 is the structure of automatic conveying vehicle shown in FIG. 1 100 and trolley 200 viewed from above, is represented in present embodiment
The positive direction of laser range sensor 105 included by automatic conveying vehicle 100.In addition, Fig. 3 represents laser range sensor
An example of 105 measurement range.
As shown in Fig. 2, laser range sensor 105 is mounted on rear side of the upper surface of automatic conveying vehicle 100.Then, such as Fig. 3
It is shown, the range at about 220 ° or so of 100 rear of automatic conveying vehicle is measured by the laser range sensor 105, especially
Ground detects the trolley 200 that be attached at the trolley 200 at 100 rear of automatic conveying vehicle or link, obtains the trolley 200
The information such as position and direction and be transmitted to control device 106.
Fig. 4 is the figure for illustrating an example for the control method for moving automatic conveying vehicle 100 shown in FIG. 1, represents this
The structure of wheel possessed by automatic conveying vehicle 100 in embodiment.
The mobile mechanism 101 of automatic conveying vehicle 100 includes two driving wheels of left driving wheel 102L and right driving wheel 102R
102.Left driving wheel 102L is mutually parallel with right driving wheel 102R, direction towards automatic conveying vehicle 100 direction of travel regularly
Configuration.In addition to the fixed driving wheel in direction in the driving wheel 102, driving wheel of turning angle etc. can be also controlled.Further,
Automatic conveying vehicle 100 includes left foot wheel 103L and right crus of diaphragm wheel 103R as driven wheel castor 103.The castor 103 is consolidated including direction
Fixed castor, the unfixed universal wheel in direction, controllable turning angle castor etc., herein using universal wheel.
The rotating speed of left driving wheel 102L and right driving wheel 102R can be controlled separately.For example, enabling left driving
In the case that wheel 102L is equal with the rotating speed of right driving wheel 102R, 100 straight ahead of automatic conveying vehicle is enabling left driving wheel 102L
In the case of the rotating speed difference of right driving wheel 102R, the turning of automatic conveying vehicle 100 is advanced.At this point, the curvature of turning is by left drive
The speed discrepancy of driving wheel 102L and right driving wheel 102R determines.In addition, straight ahead and turning are not limited to advance, also can after
It moves back.
If for example, make turning for unit interval of the rotating speed more than right driving wheel 102R of left driving wheel 102L unit interval
Speed, then 100 right direction of automatic conveying vehicle turning.On the other hand, if being less than the rotating speed of left driving wheel 102L unit interval
The rotating speed of the unit interval of right driving wheel 102R, then 100 left direction of automatic conveying vehicle turning.
In addition, if the direction of rotation of left driving wheel 102L is enabled with the direction of rotation of right driving wheel 102R on the contrary, then automatic
Waggon 100 rotates in situ.
Such as the trolley 200 linked on the automatic conveying vehicle 100 in Fig. 1 includes before direction is fixed on trolley 200
Into unfixed two universal wheels 202 of two castors 201 on direction and direction.
<The solution for the problem of being conveyed automatically caused by previous automatic conveying vehicle>
Using Fig. 5~Figure 11 for automatic caused by automatic conveying vehicle previous in the automatic conveying vehicle in present embodiment
The solution of the problem of conveying illustrates.Fig. 5 is the figure for illustrating the principle for the position and direction for detecting trolley 200.
Fig. 6 is for illustrating the angle of trolley 200 and the figure of the relationship of the triangle of the composition of laser range sensor 105.
As described above, the automatic conveying vehicle 100 of present embodiment is mounted with laser range sensor 105, detection range packet
Containing this vehicle rear, one in the position and direction of trolley 200 can be detected by the measurement result of the laser range sensor 105
Person or both.Illustrate to detect an example of the principle of the position and direction of the trolley 200 using Fig. 5 and Fig. 6.
(1) when trolley 200 enters the measurement range of laser range sensor 200, as shown in figure 5, being passed from laser ranging
The laser irradiation that sensor 105 irradiates is measured to the front end face of trolley 200 from laser range sensor 105 to 200 front end of trolley
The distance in face.
(2) on the other hand, the laser irradiation of 200 front end face of trolley is not irradiated to the object more remote than trolley 200, is measured
To the distance of the point.The point usually measured is the point that place is positioned remotely enough compared to trolley 200, therefore can be with trolley 200
Front end face is distinguished.Thereby, it is possible to detect the angle of trolley 200 (both ends of front end face).
(3) as shown in fig. 6, from laser range sensor 105, the direction at the angle of trolley 200 that is detected in (2)
It is known for the direction of illumination of laser.In addition, the distance to the angle of trolley 200 is the meter that laser range sensor 105 obtains
Survey result.The relationship of the triangle formed as a result, according to the angle of trolley 200 with laser range sensor 105 is calculated, can
Detect position and direction of the trolley 200 relative to laser range sensor 105.
In addition, the method for calculating the position and direction of trolley 200 according to laser range sensor 105 in practice does not limit
In this.
<<B1：The solution of the problem of step (1)>>
The step of step (1) automatically links trolley 200 for automatic conveying vehicle 100 in trolley parking area.For the step
(1) solution is neither to be transformed to trolley 200 nor to trolley parking area, and automatic conveying vehicle 100 can be with placement
Automatically link in the trolley 200 of the existence position deviation of trolley parking area.
As described previously for the link mechanism 107 of connection trolley 200 and automatic conveying vehicle 100, automatic conveying will be mounted on
The arm 109 at 100 rear portion of vehicle is put down, and the hole 110 for the front end for being opened in the arm 109 is hung over to the pin 203 for being set to trolley 200
On.Thus, it is possible to link automatic conveying vehicle 100 and trolley 200.After trolley 200 is attached to automatic conveying vehicle 100, detected by connection
Sensor 108 detects to have linked, and is sent to control device 106.
In addition, as described above, if it is possible to which the position of trolley 200 is learnt by the measurement result of laser range sensor 105
It puts and direction, then can set the position and direction of automatic conveying vehicle 100, can be connected with the trolley 200.It will
With the position and direction that trolley 200 links as target point, automatic conveying vehicle 100 is made to be moved to target point.By the automatic conveying
The control method that vehicle 100 is attached to trolley 200 for example has Fig. 7 and method shown in Fig. 8.Fig. 7 is to link automatic conveying vehicle 100
To the flow chart of an example of the control method of trolley 200, Fig. 8 is for illustrating automatic conveying vehicle 100 and platform in the control method
The figure of the position relationship of vehicle 200.
First, the position and direction (S301) of trolley 200 are detected by laser range sensor 105.In the S301 certainly
Position relationship such as Fig. 8 (1) of dynamic waggon 100 and trolley 200 is shown.The detection information is passed to control device 106.
Then, control device 106 judges whether to be capable of detecting when the position and direction (S302) of trolley 200.S302's sentences
In the case of disconnected result is undetectable, standby (S303) after a certain period of time returns to S301.The judging result of S302 is has detected
In the case of, the rotation (S304) in situ of automatic conveying vehicle 100.The position of automatic conveying vehicle 100 and trolley 200 in the S304
Shown in relationship such as Fig. 8 (2).
Then, whether control device 106 judges the rear front of this vehicle (automatic conveying vehicle 100) towards target point (trolley
200) direction (S305).The judging result of S305 is without in the case of, returning to S304.The judging result of S305 is court
In the case of, automatic conveying vehicle 100 linearly retreats (S306).The position of automatic conveying vehicle 100 and trolley 200 in the S306
Shown in relationship such as Fig. 8 (3).
Then, control device 106 judges whether automatic conveying vehicle 100 reaches target point (S307).The judging result of S307
In the case of not reaching, S306 is returned.The judging result of S307 is in the case of having reached, automatic conveying vehicle 100 is in situ
It rotates (S308).In the S308 shown in automatic conveying vehicle 100 and position relationship such as Fig. 8 (4) of trolley 200.
Then, whether control device 106 judges the rear front of this vehicle (automatic conveying vehicle 100) towards the side of trolley 200
To (S309).The judging result of S309 is without in the case of, returning to S308.The judging result of S309 is the situation of direction
Under, automatic conveying vehicle 100 stops advancing (S310).Then, control device 106 acts link mechanism 107, connects with trolley 200
It ties (S311).In the S311 shown in automatic conveying vehicle 100 and position relationship such as Fig. 8 (5) of trolley 200.
As described above, automatic conveying vehicle 100 can be transformed neither to trolley 200 nor to trolley parking area and with
The trolley 200 for being placed on the existence position deviation of trolley parking area automatically links.
<<B2：The solution of the problem of step (2)>>
Step (2) for automatic conveying vehicle 100 with trolley 200 link in the state of march to trolley parking area the step of.
The solution of the problem of for step (2) is, in the case that the unexpected position in traveling disconnects connection, automatically
Waggon 100 can stop advancing and sending out as needed the alarms such as light or sound in the position.
In the traveling of automatic conveying vehicle 100 and trolley 200, since trolley 200 and automatic conveying vehicle 100 mechanically link,
In the measurement result of laser range sensor 105, the position of trolley 200 relative to automatic conveying vehicle 100 in a certain range.
For example, in above-mentioned Fig. 3, trolley 200 is in the range of the measurement of laser range sensor 105.
In the case where the connection of trolley 200 and automatic conveying vehicle 100 disconnects, trolley 200 is lost due to not having power
Under.For example, in above-mentioned Fig. 3, trolley 200 is detached from the measurement range of laser range sensor 105.At this point, control device 106 stops
The only alarms such as 100 concurrent light extraction of automatic conveying vehicle or sound.
As described above, in the case that unexpected position in traveling disconnects connection, automatic conveying vehicle 100 can be
The position stops the alarms such as concurrent light extraction or sound of advancing.
<<B3：The solution of the problem of step (3)>>
The step of step (3) is the connection in the releasing of trolley parking area automatic conveying vehicle 100 and trolley 200.For the step
Suddenly solution the problem of (3) is that, in order to make working space and the distance of trolley parking area close, can make working space and platform
It eliminates in gap between vehicle parking area.
Therefore, using the storage mode of automatic conveying vehicle 100 as shown in Figure 9.Fig. 9 is for illustrating automatic conveying vehicle
The figure of 100 storage mode.As shown in figure 9, in order to make automatic conveying vehicle 100 do not enter trolley parking area 2 and working space 2 it
Between, trolley 200 is enabled back into trolley parking area 2.In order to make trolley 200 back into enabling automatic conveying vehicle 100 in platform
It turns around and retreats before vehicle parking area 2.In such manner, it is possible to the trolley 200 of automatic conveying vehicle 100 will be attached in a manner of storage
It is put into trolley parking area 2.
In the case where trolley 200 can be measured relative to the direction of this vehicle, make the controlling party of the retrogressing of automatic conveying vehicle 100
Method of the rule shown in if any Figure 10 and Figure 11.Conversely, in the case where trolley 200 cannot be measured relative to the direction of this vehicle,
Can not retreat automatic conveying vehicle 100.
Figure 10 be for illustrate to make in the state of trolley 200 link the control method of the retrogressing of automatic conveying vehicle 100 one
The flow chart of example.Figure 11 is the figure for illustrating automatic conveying vehicle 100 and the position relationship of trolley 200 in the control method.
First, the position and direction (S401) of trolley 200 are detected using laser range sensor 105.The detection information
It is passed to control device 106.
Then, control device 106 judges whether to detect the position and direction (step S402) of trolley 200.S402's
In the case of judging result is undetectable, sends out alarm (S403) and terminate.
In the case that the judging result of S402 is completed for detection, control device 100 then judges trolley 200 with this vehicle (certainly
Dynamic waggon 100) direction it is whether consistent (S404).The judging result of S404 is under unanimous circumstances, and automatic conveying vehicle 100 is straight
Line retreats (S405).In the S405 shown in automatic conveying vehicle 100 and position relationship such as Figure 11 (1) of trolley 200.
In the case that the judging result of S404 is inconsistent, then judge trolley 200 relative to this vehicle (automatic conveying vehicle
100) whether direction is right (S406).The judging result of S406 is in the case that direction is right, makes what automatic conveying vehicle 100 turned right
It retreats (S407) simultaneously.In the S407 shown in automatic conveying vehicle 100 and position relationship such as Figure 11 (2) of trolley 200.
The judging result of S406 is in the case that direction is left, is retreated while automatic conveying vehicle 100 is made to turn left
(S408).In the S408 shown in automatic conveying vehicle 100 and position relationship such as Figure 11 (3) of trolley 200.
After S405, S407, S408, control device 106 judges whether automatic conveying vehicle 100 reaches target point (trolley
Parking area) (S409).The judging result of S409 is in the case of not reaching, returns to S401.The judging result of S409 is has reached
In the case of, automatic conveying vehicle 100 stops advancing (S410).
As described above, by making trolley 200 back into trolley parking area, it being capable of cancel job space and trolley parking area
Between gap.
<The effect of one embodiment>
Pass through the automatic conveying vehicle 100 in present embodiment described above and the platform for being attached to the automatic conveying vehicle 100
Vehicle 200 can obtain following effect.
(1) automatic conveying vehicle 100 has the laser range sensor 105 that can measure this vehicle rear, can be swashed using this
Ligh-ranging sensor 105 detects one or both of position and direction of trolley 200.
(2) automatic conveying vehicle 100 has the laser range sensor 105 that can measure this vehicle rear, in automatic conveying vehicle
100 in the step of trolley parking area automatically links trolley 200, can the measurement based on laser range sensor 105 as a result,
The close rear for being located at this vehicle and the trolley 200 for not being attached to this vehicle, and link the trolley 200.
(3) automatic conveying vehicle 100 includes the laser range sensor 105 that can measure this vehicle rear, in automatic conveying vehicle
100 in the step of trolley parking area releases the connection with trolley 200, being capable of the measurement knot based on laser range sensor 105
Fruit is rearward advanced in the state of linking with trolley 200.
(4) automatic conveying vehicle 100 has the laser range sensor 105 that can measure this vehicle rear, in automatic conveying vehicle
100 with trolley 200 link in the state of march to trolley parking area the step of in, can be based on laser range sensor 105
Measurement is as a result, be detached from the trolley 200 that connection is advanced, the position relationship of Ben Che and trolley 200 becomes not is connecting state
Stop advancing in the case of position relationship.
(5) automatic conveying vehicle 100 controls the dynamic of this vehicle by the way that the measurement result based on laser range sensor 105 is configured
The control device 106 of work can utilize control device 106 to control the traveling of this vehicle, and control the connection of trolley 200.
(6) by above-mentioned (1)~(5), the laser range sensor 105 that control device 106 can be based on (1) detects
It is going out that as a result, combining multiple above-mentioned (2)~(4), respectively action is controlled.
(7) automatic conveying vehicle 100 has the extraneous sensor 104 that can be measured around this vehicle, and control device 106 can
The traveling of this vehicle is controlled also based on the measurement result of external world's sensor 104.
(8) automatic conveying vehicle 100, which has, can detect this vehicle and the connection detection sensor 108 of the connection of trolley 200, control
Device 106 processed can control the traveling of this vehicle also based on the testing result of the connection detection sensor 108.
(9) automatic conveying vehicle 100 has the mobile mechanism 101 for moving this vehicle, and control device 106 can control the movement
Mechanism 101 controls the traveling of this vehicle.
(10) automatic conveying vehicle 100, which has, can carry out and the connection of trolley 200 and the link mechanism detached 107, control
The connection and detach that device 106 can control the link mechanism 107 to control this vehicle and trolley 200.
Present inventor's proposed invention is specifically illustrated based on embodiment above, but the present invention not by
It limits in the above-described embodiment, can make various changes without explicit word within the scope of its spirit.It is for example, above-mentioned
Embodiment be in order to the present invention is illustrated with being easily understood and the detailed description that carries out, and it is non-limiting must have it is illustrated
Whole structures.Also, part-structure for the above embodiment can carry out other in the range of technological thought is not departed from
Addition, deletion, the replacement of structure.
For example, be illustrated in the above-described embodiment for automatic conveying vehicle, but as the present invention is not limited to
This, it is also applicable for the self-discipline mobile object such as mobile robot of self-discipline.
Indicia explanation
100 automatic conveying vehicles
101 mobile mechanisms
102 driving wheels
103 castors
104 extraneous sensors
105 laser range sensors
106 control devices
107 link mechanisms
108 connection detection sensors
109 arms
110 holes
200 trolleys
201 castors
202 castors
203 pins.
Claims (7)
1. a kind of automatic conveying vehicle that can link trolley to be conveyed, it is characterised in that：
Laser ranging with one or both of the position and direction that can measure this vehicle rear and the detection trolley passes
Sensor,
In the step of automatic conveying vehicle links the trolley automatically, the measurement knot based on the laser range sensor
Fruit is not attached to close to the rear for being located at described vehicle and the trolley of described vehicle and links the trolley, also,
In the step of connection for releasing the automatic conveying vehicle and the trolley, the measurement based on the laser range sensor
As a result, rearward advance in the state of linking with the trolley, also,
In the step of advancing in the state of the automatic conveying vehicle and trolley connection, based on the laser range sensor
Measurement as a result, it is not to connect that the trolley advanced in connection, which is detached from, the position relationship of described vehicle and the trolley becomes
Stop advancing in the case of the position relationship of knot state.
2. automatic conveying vehicle as described in claim 1, it is characterised in that：
Also have and the control device of the action of described vehicle controlled based on the measurement result of the laser range sensor,
The control device controls the traveling of described vehicle, and controls the connection of the trolley.
3. automatic conveying vehicle as claimed in claim 2, it is characterised in that：
The control device detects one or both of position and direction of the trolley based on the laser range sensor
Obtained from as a result, the following multiple actions of combination are controlled：
The close rear for being located at described vehicle and the trolley not linked with described vehicle and the action linked with the trolley；
The action rearward advanced in the state of linking with the trolley；With
It not is connecting state to become in the position relationship of trolley disengaging, described vehicle and the trolley that connection is advanced
Stop the action advancing in the case of position relationship.
4. automatic conveying vehicle as claimed in claim 2, it is characterised in that：
Also there is the extraneous sensor around described vehicle of measurement,
The control device controls the traveling of described vehicle based on the measurement result of the extraneous sensor.
5. automatic conveying vehicle as claimed in claim 2, it is characterised in that：
Described vehicle and the connection detection sensor of the connection of the trolley can be detected by also having,
The control device controls the traveling of described vehicle based on the testing result of the connection detection sensor.
6. automatic conveying vehicle as claimed in claim 2, it is characterised in that：
Also having makes the mobile mechanism of described vehicle movement,
The control device controls the mobile mechanism to control the traveling of described vehicle.
7. automatic conveying vehicle as claimed in claim 2, it is characterised in that：
Also have can carry out with the connection of the trolley and the link mechanism detached,
The control device controls the link mechanism to control the connection of described vehicle and the trolley and detach.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013-062900 | 2013-03-25 | ||
| JP2013062900A JP6109616B2 (en) | 2013-03-25 | 2013-03-25 | Automated guided vehicle |
| PCT/JP2014/055380 WO2014156501A1 (en) | 2013-03-25 | 2014-03-04 | Automatic guided vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105103069A CN105103069A (en) | 2015-11-25 |
| CN105103069B true CN105103069B (en) | 2018-07-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480018197.XA Active CN105103069B (en) | 2013-03-25 | 2014-03-04 | automatic conveying vehicle |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6109616B2 (en) |
| CN (1) | CN105103069B (en) |
| WO (1) | WO2014156501A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108602189B (en) * | 2015-10-28 | 2022-01-25 | 巴伊兰大学 | Robot collaboration system |
| KR102082071B1 (en) * | 2016-05-12 | 2020-02-26 | 아이치 기까이 테크노 시스템 가부시끼가이샤 | Traction device of unmanned carrier and unmanned carrier having same |
| CN106054889B (en) * | 2016-06-28 | 2019-05-10 | 深圳市三宝创新智能有限公司 | A kind of robot autonomous barrier-avoiding method and device |
| TWI658346B (en) * | 2017-11-13 | 2019-05-01 | 台灣積體電路製造股份有限公司 | Intelligent environmental and security monitoring method and monitoring system |
| JP7081194B2 (en) * | 2018-02-13 | 2022-06-07 | セイコーエプソン株式会社 | Travel control system for transport vehicles and travel control methods for transport vehicles |
| WO2019159519A1 (en) * | 2018-02-13 | 2019-08-22 | セイコーエプソン株式会社 | Transportation vehicle travel control system and transportation vehicle travel control method |
| JP7095301B2 (en) * | 2018-02-13 | 2022-07-05 | セイコーエプソン株式会社 | Travel control system for transport vehicles and travel control methods for transport vehicles |
| CN108776482B (en) * | 2018-06-22 | 2021-02-26 | 北京京东尚科信息技术有限公司 | Unmanned distribution vehicle, and distribution control method and device for unmanned distribution vehicle |
| JP7080481B2 (en) * | 2018-07-19 | 2022-06-06 | 株式会社ササキコーポレーション | Control system for self-propelled work machines and self-propelled work machines |
| JP7163782B2 (en) * | 2019-01-15 | 2022-11-01 | 株式会社豊田自動織機 | Autonomous cart |
| JP7365573B2 (en) * | 2019-06-03 | 2023-10-20 | 株式会社リコー | Connecting devices, connecting moving devices, and autonomous moving devices |
| JP7380350B2 (en) | 2020-03-10 | 2023-11-15 | 株式会社リコー | Autonomous running device, autonomous running control method, and autonomous running control program |
| CN111409654A (en) * | 2020-04-03 | 2020-07-14 | 首钢智新迁安电磁材料有限公司 | Rail transport device |
| JP7151925B1 (en) | 2022-04-28 | 2022-10-12 | 株式会社椿本チエイン | Automatic guided vehicle control method, control device, and computer program |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2014186680A (en) | 2014-10-02 |
| JP6109616B2 (en) | 2017-04-05 |
| CN105103069A (en) | 2015-11-25 |
| WO2014156501A1 (en) | 2014-10-02 |
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