JP2001209429A - Device for correcting position and direction of unmanned conveying vehicle - Google Patents
Device for correcting position and direction of unmanned conveying vehicleInfo
- Publication number
- JP2001209429A JP2001209429A JP2000020284A JP2000020284A JP2001209429A JP 2001209429 A JP2001209429 A JP 2001209429A JP 2000020284 A JP2000020284 A JP 2000020284A JP 2000020284 A JP2000020284 A JP 2000020284A JP 2001209429 A JP2001209429 A JP 2001209429A
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- Prior art keywords
- automatic guided
- traveling
- guided vehicle
- detector
- vehicle
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- 238000001514 detection method Methods 0.000 claims description 15
- 239000003550 marker Substances 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000005674 electromagnetic induction Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、自立走行する無人
搬送車の位置および方位を補正する装置に関するもので
ある。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for correcting the position and direction of an unmanned guided vehicle traveling independently.
【０００２】[0002]
【従来の技術】従来から、無人搬送車は各種製造工場な
どにおいて屋内で走行ルートがほぼ固定され、同じある
いは同種の比較的軽量な物品の搬送に使用されている。
しかしながら、屋外で重量物を時速２０Ｋｍ以上の車速
で搬送する場合には、種々の解決すべき技術的問題があ
り、無人搬送車の実用化が進んでいない。2. Description of the Related Art Conventionally, an automatic guided vehicle has a travel route almost fixed indoors in various manufacturing factories and the like, and is used for transporting relatively light articles of the same or similar type.
However, when a heavy object is transported outdoors at a vehicle speed of 20 km / h or more, there are various technical problems to be solved, and the automatic guided vehicle has not been put into practical use.
【０００３】例えば、製鉄所構内ではコイルや大型鋼材
等の重量物を、無人搬送車によって搬送しているが、こ
の方法は、搬送経路に誘導線または磁気テープを設置し
て、これに搬送車を誘導させるようにしたもので、搬送
経路が固定され比較的搬送距離が短く、走行速度も遅い
ものである。そして、搬送距離が長い場合や走行経路が
頻繁に変更されるものについては運転手付きの大型キャ
リアなどで搬送している。For example, in an ironworks, heavy objects such as coils and large steel materials are transported by an unmanned transport vehicle. In this method, a guide wire or a magnetic tape is installed in a transport route, and the transport vehicle is mounted on the guide wire or magnetic tape. The transport route is fixed, the transport distance is relatively short, and the traveling speed is low. When the transport distance is long or the traveling route is frequently changed, the transport is performed by a large carrier with a driver.
【０００４】ところで、無人搬送車にジャイロスコープ
と走行距離の検出手段を設けて、変化角度と移動距離か
ら現在位置を認識して指令された目的地へ走行するよう
にしたものが知られており、走行経路が搬送物などによ
って頻繁に変わる場合や搬送距離が長い場合の誘導手段
として好適である。[0004] By the way, there is known an automatic guided vehicle in which a gyroscope and a means for detecting a traveling distance are provided to recognize a current position from a change angle and a moving distance and travel to a commanded destination. It is suitable as a guiding means when the traveling route frequently changes depending on the transported object or when the transport distance is long.
【０００５】この誘導方式においては、ジャイロスコー
プによる変化角度および走行距離の検出値は、ともに誤
差を有するため、移動距離が長く曲線走行が多い程累積
され、現在位置および方位にズレが生じ、無人搬送車が
走行路から逸脱したり、目的の位置に到着できないこと
が起こる。そこで、走行経路の出発点で、別の誘導手
段、例えばガイドテープを磁気センサで検知しながら誘
導させて、所定の位置に正確に位置させ、無人搬送車が
有するデータをリセットし、絶対位置と方位を入力する
ことが行われている。なお、走行距離が長い場合や経路
が複雑な場合には、経路の途中にも無人搬送車の位置お
よび方位をリセットするためのステーションを設けてい
る。In this guidance system, the detected values of the change angle and the travel distance by the gyroscope have errors, and therefore, the longer the travel distance and the more the number of curve runs, the more the accumulated values are accumulated. The carrier may deviate from the traveling path or may not be able to reach the target position. Therefore, at the starting point of the traveling route, another guiding means, for example, a guide tape is guided while being detected by a magnetic sensor, accurately positioned at a predetermined position, resetting the data of the automatic guided vehicle, and setting the absolute position and Entering the azimuth has been done. If the traveling distance is long or the route is complicated, a station for resetting the position and orientation of the automatic guided vehicle is provided in the middle of the route.
【０００６】[0006]
【発明が解決しようとする課題】ところが、こうした方
法による場合は、出発点や走行経路が変更する場合に
は、別途、リセットするためのステーションを必要と
し、自由な搬送経路を計画できないという問題があり、
また、ステーションに無人搬送車を誘導する誘導装置も
高精度なものが要求されるばかりでなく、ステーション
での位置合わせに時間を要するため、搬送効率が悪いと
いう問題がある。However, in such a method, when the starting point or the traveling route is changed, a station for resetting is separately required, and a free transport route cannot be planned. Yes,
In addition, a guide device for guiding an unmanned guided vehicle to a station is not only required to have high precision, but also requires a long time for positioning at the station, so that the transfer efficiency is poor.
【０００７】そこで、本発明の目的は、簡単な構成で、
無人搬送車が有する誤差を含む位置および方位データを
正常な値に補正する装置を提供することにある。Therefore, an object of the present invention is to provide a simple configuration,
It is an object of the present invention to provide a device for correcting position and orientation data including an error of an automatic guided vehicle to normal values.
【０００８】[0008]
【課題を解決するための手段】上記目的を達成するた
め、本発明では次の手段を採った。即ち、走行距離検知
器と移動角度を検知するジャイロスコープを搭載して自
らの位置と進行方位を算出しながら指令された走行経路
を走行する無人搬送車の位置および方位の補正装置にお
いて、無人搬送車の前部と後部の走行中心線上に車体幅
方向の位置のズレ量を検知する方位検知器を設けるとと
もに、無人搬送車の中央部に絶対位置情報を検知するＩ
Ｄタグ検知器を設け、走行経路中の所定位置に、前記方
位検知器とＩＤタグ検知器に対向させて方位標識と絶対
位置情報を記憶したＩＤタグを設け、該両方位検知器の
検知情報から無人搬送車の方位のズレ角と絶対位置との
ズレ量を演算して現在位置と方位を補正するようにした
ことを特徴としている。In order to achieve the above object, the present invention employs the following means. That is, in a device for correcting the position and azimuth of an automatic guided vehicle traveling on a commanded traveling route while calculating its own position and traveling direction by mounting a gyroscope for detecting a traveling angle and a traveling angle detector, An azimuth detector for detecting the amount of displacement in the width direction of the vehicle is provided on the front and rear running center lines of the vehicle, and an absolute position information is detected at the center of the automatic guided vehicle.
A D tag detector is provided, and an ID tag which stores a direction marker and absolute position information is provided at a predetermined position in the traveling route so as to face the direction detector and the ID tag detector, and the detection information of the both position detector is provided. The present invention is characterized in that the current position and the azimuth are corrected by calculating the amount of deviation between the azimuth deviation angle of the automatic guided vehicle and the absolute position.
【０００９】本発明は、走行距離検知器と移動角度を検
知するジャイロスコープを搭載して自らの位置と進行方
位を算出しながら指令された走行経路を走行する無人搬
送車に適用される。したがって、走行路に無人搬送車を
誘導する磁気テープや誘導線を配設したものは除かれ
る。The present invention is applied to an automatic guided vehicle that travels on a commanded traveling route while calculating its own position and traveling direction by mounting a traveling distance detector and a gyroscope for detecting a moving angle. Therefore, a device provided with a magnetic tape or a guide wire for guiding the automatic guided vehicle on the traveling path is excluded.
【００１０】この走行距離検知器とジャイロスコープに
よる無人搬送車の誘導方式は誤差を含むので、これを、
走行経路中の所定位置（ステーション）に基準となる標
識を置いて、これを検知することにより無人搬送車の有
する位置および方位のデータを補正するものである。[0010] Since the guidance system of the automatic guided vehicle by the traveling distance detector and the gyroscope includes an error,
A reference sign is placed at a predetermined position (station) on the traveling route, and by detecting the sign, the data of the position and orientation of the automatic guided vehicle is corrected.
【００１１】走行経路中の所定位置は、無人搬送車の出
発点や必ず通過する経路中に任意に定められる位置で、
特に限定するものではない。この所定位置に設置される
方位標識は、無人搬送車の前部の方位検知器に対向する
ものと、後部の方位検知器に対向するものの２つからな
り、無人搬送車の走行中心線に一致させた位置に配設さ
れる。そして、その中点にＩＤタグが設置される。The predetermined position in the traveling route is a starting point of the automatic guided vehicle or a position arbitrarily determined in a route that always passes.
There is no particular limitation. The azimuth signs installed at this predetermined position consist of two types, one facing the front direction detector of the automatic guided vehicle and the other facing the rear direction detector, and coincide with the traveling center line of the automatic guided vehicle. It is arranged in the position where it was made. Then, an ID tag is set at the midpoint.
【００１２】一方、無人搬送車の前部と後部に設けられ
る方位検知器は走行中心線に対して車両幅方向のズレ量
が検知できる必要があり、ある程度の幅を有している。
この幅は、最大ズレ量を参考にして定めればよい。検知
方式は走行中心線からのズレ量を検知できるものであれ
ば特に問わないが、屋外での使用を考慮し、磁気センサ
と磁気マーカ（地上側）によるのが好ましい。On the other hand, the azimuth detectors provided at the front and rear of the automatic guided vehicle need to be able to detect the amount of displacement in the vehicle width direction with respect to the traveling center line, and have a certain width.
This width may be determined with reference to the maximum deviation amount. The detection method is not particularly limited as long as the deviation amount from the traveling center line can be detected. However, in consideration of outdoor use, it is preferable to use a magnetic sensor and a magnetic marker (ground side).
【００１３】ＩＤタグ検知器は無人搬送車が多少ズレて
所定位置に進入しても検知できるようにある程度の範囲
内を検知できるようにする必要がある。前部の方位検知
器と後部の方位検知器が基準の位置からどれだけズレて
いるかを検知すれば、無人搬送車の方位のズレ角はｔａ
ｎ-1（β／α）を演算することによって求めることがで
きる。なお、βはズレ量、αは方位標識間距離である。The ID tag detector needs to be able to detect an area within a certain range so that it can detect even if the automatic guided vehicle enters a predetermined position with a slight deviation. If the front azimuth detector and the rear azimuth detector detect how far from the reference position, the deviation angle of the azimuth of the automatic guided vehicle is ta.
It can be obtained by calculating n -1 (β / α). Here, β is the shift amount, and α is the distance between the direction markers.
【００１４】また、無人搬送車が絶対位置（ＩＤタグの
設置位置）とどれだけズレているか演算できるので、こ
れらを処理装置で演算処理して、無人搬送車が走行距離
検知器とジャイロスコープによって演算して保持してい
る自らの位置データを補正する。Further, since it is possible to calculate how much the automatic guided vehicle deviates from the absolute position (position where the ID tag is installed), these are processed by the processing device, and the automatic guided vehicle is operated by the traveling distance detector and the gyroscope. It corrects its own position data that it has calculated and held.
【００１５】なお、走行経路中の所定位置は、無人搬送
車が常に一定方向から進入するようにしている場合は、
上記の構成で問題ないが、いずれの方向からも進入でき
るようにしている場合、即ち、前進も後進も同様に走行
できるようにしている場合は、所定位置へ進入する方向
を知る必要がある。この場合は、請求項２に記載のよう
に、無人搬送車の前部と後部に走行経路中の所定位置に
設けた方向標識を検知する方向検知器を設けて、車両の
進行方向を検知するようにすればよい。これの具体的な
手段は種々採り得る。例えば、前部の方向検知器を進行
方向に２個並べ、後部の方向検知器は１個として、２回
検知信号が出力された場合と１回検知信号が出力された
場合で区別するようにしたり、方向検知器の検知素子を
複数個にして検知信号が外側から車体側に向かって検知
したか内側から車体外方へ向かって検知したかによって
判別してもよい。[0015] The predetermined position in the traveling route is set so that the automatic guided vehicle always enters from a fixed direction.
Although there is no problem with the above configuration, in the case where the vehicle can be entered from any direction, that is, in the case where the vehicle can travel in both forward and reverse directions, it is necessary to know the direction of entering the predetermined position. In this case, as described in claim 2, direction detectors for detecting direction markers provided at predetermined positions in the traveling route are provided at the front and rear portions of the automatic guided vehicle to detect the traveling direction of the vehicle. What should I do? Various specific means for this can be employed. For example, two front direction detectors are arranged in the traveling direction, and one rear direction detector is provided so as to distinguish between a case where the detection signal is output twice and a case where the detection signal is output once. Alternatively, the determination may be made based on whether the detection signal is detected from the outside toward the vehicle body or from the inside toward the outside of the vehicle body by using a plurality of detection elements of the direction detector.
【００１６】[0016]
【発明の実施の形態】以下本発明を図面に示す実施形態
例に基づいて説明する。図１に示されるように、無人搬
送車１は全長にわたり平らな荷台３を有し、複数の車輪
２を備え、前後進いずれにも同じ速度で走行できる。各
車輪２はフレームに対してアームで取り付けられ、アー
ムを回動することによって荷台３の高さを変えることが
できるように構成されている。そして、例えば搬送物を
載置した脚付きパレットに荷台を低くして潜り込み、荷
台を上昇させて脚付きパレットごと搬送物を担持して搬
送することができる。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below based on an embodiment shown in the drawings. As shown in FIG. 1, the automatic guided vehicle 1 has a flat bed 3 over its entire length, has a plurality of wheels 2, and can travel at the same speed in both forward and backward traveling. Each wheel 2 is attached to the frame by an arm, and is configured so that the height of the carrier 3 can be changed by rotating the arm. Then, for example, the carrier can be lowered into the legged pallet on which the article is placed, and the carrier can be raised to carry the article along with the legged pallet.
【００１７】また、各車輪２とも操舵できるように構成
されている。なお、４は、運転室で無人搬送車１の走行
制御系が故障した場合や無人搬送に適さない場合に運転
者によって運転できるようにするため設けられている。
車輪２の１つには、車輪２の回転を検知するロータリエ
ンコーダからなる走行距離検知器１２が設けられ、車体
の中央部には、回転角度を検出するジャイロスコープ１
１が搭載されている。そして、走行距離検知器１２とジ
ャイロスコープ１１の検知信号は処理装置３０に送ら
れ、現在位置を演算し指令されている方向へ走行する。Each of the wheels 2 can be steered. The reference numeral 4 is provided so that the driver can drive the vehicle when the traveling control system of the automatic guided vehicle 1 breaks down in the driver's cab or when the vehicle is not suitable for automatic guided transport.
One of the wheels 2 is provided with a traveling distance detector 12 composed of a rotary encoder for detecting rotation of the wheel 2, and a gyroscope 1 for detecting a rotation angle is provided at a central portion of the vehicle body.
1 is mounted. Then, the detection signals of the traveling distance detector 12 and the gyroscope 11 are sent to the processing device 30, which calculates the current position and travels in the commanded direction.
【００１８】次に、位置補正を行うための検知装置を、
図２および図３に基づいて説明する。図２（ａ）は、無
人搬送車の側面図で、図２（ｂ）は平面図である。ま
た、図２（ｃ）は、走行経路の所定位置（ステーション
という）に設けられる標識などを示している。Next, a detecting device for performing position correction will be described.
A description will be given based on FIG. 2 and FIG. FIG. 2A is a side view of the automatic guided vehicle, and FIG. 2B is a plan view. FIG. 2C shows signs and the like provided at predetermined positions (called stations) on the traveling route.
【００１９】まず、無人搬送車１には、車両走行方向中
心線上の車体の先端と後端に方位検知器１４および方向
検知器１５が、車両のほぼ中央にはＩＤタグ検知器１６
が設けられている。そして、各ステーションには、方位
標識２４、方向標識２５およびＩＤタグ２６が、無人搬
送車１の上記方位検知器１４、方向検知器１５およびＩ
Ｄタグ検知器１６に対向する位置に、即ち、方位標識２
４は前後に２個、ＩＤタグ２６はその中間部に１個およ
び方向標識２５は前部に１個設けられている。なお、方
向標識２５は後部に設けてもよい。First, the automatic guided vehicle 1 has a direction detector 14 and a direction detector 15 at the front and rear ends of the vehicle body on the center line in the vehicle traveling direction, and an ID tag detector 16 at substantially the center of the vehicle.
Is provided. In each station, the direction sign 24, the direction sign 25, and the ID tag 26 are provided with the direction detector 14, the direction detector 15, and the I of the automatic guided vehicle 1.
At the position facing the D tag detector 16, that is, the direction marker 2
4, two ID tags 26 are provided at an intermediate portion thereof, and one ID tag 25 is provided at a front portion thereof. Note that the direction indicator 25 may be provided at the rear.
【００２０】方位検知器１４は、図３（ａ）に示すよう
に、Ｎ極を検知する磁気センサで１０ｍｍ間隔で４８個
の素子が設けられている。一方、方位標識２４は上面が
Ｎ極の磁気マーカである。無人搬送車１が方位標識を通
過するときに前方側と後方側の方位検知器１４によっ
て、方位標識２４を検出するが、そのときいずれの素子
がＯＮになるかを検知することによって、車体の方位の
ズレ角を知ることができる。この方位のズレ角は、ｔａ
ｎ-1（β／α）を演算することによって算出される。こ
こで、βはズレ量、αは方位標識間距離である。As shown in FIG. 3A, the azimuth detector 14 is a magnetic sensor for detecting an N pole and is provided with 48 elements at intervals of 10 mm. On the other hand, the direction marker 24 is a magnetic marker having an N pole on the upper surface. When the automatic guided vehicle 1 passes through the azimuth sign, the azimuth sign 24 is detected by the azimuth detectors 14 on the front side and the rear side. You can know the misalignment angle of the azimuth. The deviation angle of this direction is ta
It is calculated by calculating n −1 (β / α). Here, β is the shift amount, and α is the distance between the direction markers.
【００２１】次に、方向検知器１５は図３（ｂ）に示す
ように、Ｓ極を検知する磁気センサで方位検知器１４と
同様に１６個の素子が設けられている。一方、方向標識
２５は上面がＳ極の磁気マーカである。無人搬送車１が
方向標識２５を通過するときに前方側と後方側の方向検
知器１５によって、方向標識２５を検出するが、そのと
きいずれの側から検出信号が出されるかによって、無人
搬送車１が前進走行か後進走行かを知ることができ、ま
た、車体の内側に向かう方向で検出されるか、車体の外
側に向かう方向で検出されるかによって、無人搬送車の
進行方向を知ることができる。Next, as shown in FIG. 3B, the direction detector 15 is a magnetic sensor for detecting the S pole, and is provided with 16 elements like the direction detector 14. On the other hand, the direction marker 25 is a magnetic marker having an S pole on the upper surface. When the automatic guided vehicle 1 passes through the direction sign 25, the direction detectors 25 on the front side and the rear side detect the direction sign 25, and depending on which side the detection signal is output at that time, the automatic guided vehicle It is possible to know whether the vehicle 1 is traveling forward or backward, and to know the traveling direction of the automatic guided vehicle according to whether it is detected in a direction toward the inside of the vehicle body or in a direction toward the outside of the vehicle body. Can be.
【００２２】次に、ＩＤタグ検知器１６は、図３（ｃ）
に示すように、車体のほぼ中央部に設けられ、ステーシ
ョンに設けられたＩＤタグ２６を検知するためのもの
で、一種のアンテナの機能を有している。一方、ＩＤタ
グ２６は、その地点の絶対位置（Ｘ、Ｙ、θ）情報が入
力されており、ＩＤタグ検知器１６からの電磁誘導によ
り、当該位置情報がＩＤタグ検知器１６へ送信される。Next, the ID tag detector 16 is shown in FIG.
As shown in the figure, the antenna is provided at a substantially central portion of the vehicle body and detects an ID tag 26 provided at a station, and has a kind of antenna function. On the other hand, the absolute position (X, Y, θ) information of the point is input to the ID tag 26, and the position information is transmitted to the ID tag detector 16 by electromagnetic induction from the ID tag detector 16. .
【００２３】即ち、無人搬送車がＩＤタグ２６を通過す
るときにＩＤタグ検知器１６からＩＤタグ２６へ電磁誘
導が行われ、ＩＤタグ２６では誘導電圧を発生させて送
信回路を作動させ、絶対位置情報が送信される。次に、
上記のように構成された無人搬送車１が荷台に搬送物を
積載して搬送するにあたり、無人搬送車１が自動的に走
行位置と移動方向の修正を行う作用について説明する。That is, when the automatic guided vehicle passes through the ID tag 26, electromagnetic induction is performed from the ID tag detector 16 to the ID tag 26. The ID tag 26 generates an induced voltage to operate the transmission circuit, and Location information is transmitted. next,
An operation in which the automatic guided vehicle 1 configured as described above automatically corrects the traveling position and the moving direction when the automatic guided vehicle 1 loads and conveys the articles on the loading platform will be described.
【００２４】図４は、本実施形態による無人搬送車１の
位置方向の補正を行う処理装置３０の構成を示すブロッ
ク図である。この処理装置３０は入力部３１と演算部３
２、３３と比較部３４と記憶部３５とから構成されてい
る。FIG. 4 is a block diagram showing the configuration of a processing device 30 for correcting the position and direction of the automatic guided vehicle 1 according to the present embodiment. The processing device 30 includes an input unit 31 and an arithmetic unit 3
2 and 33, a comparison unit 34, and a storage unit 35.
【００２５】入力部３１は無人搬送車１に設けられた検
知部２０のジャイロスコープ１１、走行距離検知器１
２、方位検知器１４、方向検知器１５およびＩＤタグ検
知器１６からの信号を取り入れて演算部３２、３３へ処
理しやすい信号に変換して出力する。The input unit 31 includes the gyroscope 11 of the detecting unit 20 provided in the automatic guided vehicle 1 and the traveling distance detector 1.
2. It takes in signals from the azimuth detector 14, the direction detector 15, and the ID tag detector 16 and converts them into computationally easy-to-process signals to the calculation units 32 and 33 and outputs them.
【００２６】演算部３２では入力部３１の情報のうちジ
ャイロスコープ１１からの回転角の検知情報と走行距離
検知器１２からの走行距離の検知情報を取り入れて、無
人搬送車１の進行方向を検知すると共にその進行方向に
おける移動距離を演算し、この演算結果を基に現在無人
搬送車１が所在する位置をＸＹ座標に直して記憶部３５
を介して走行制御装置４０へ送出している。走行制御装
置４０では、指令された走行経路と走行速度に従って操
向制御および速度制御が行われる。The arithmetic unit 32 detects the traveling direction of the automatic guided vehicle 1 by taking in the rotation angle detection information from the gyroscope 11 and the traveling distance detection information from the traveling distance detector 12 out of the information of the input unit 31. At the same time, the moving distance in the traveling direction is calculated, and based on the calculation result, the position where the automatic guided vehicle 1 is currently located is converted into XY coordinates and stored in the storage unit 35.
Is transmitted to the travel control device 40 via the. In the travel control device 40, steering control and speed control are performed according to the commanded travel route and travel speed.
【００２７】そして、走行経路のポイントとなる位置に
複数設けられたステーションを通過するときに、方位検
知器１４、方向検知器１５およびＩＤタグ検知器１６か
らの信号を検知して演算部３３へ送られる。演算部３３
では、車体のズレ角を演算し、進行方向および絶対位置
（Ｘ，Ｙ，θ）情報とともに比較部３４に送出する。When passing through a plurality of stations provided at points that are points on the traveling route, signals from the direction detector 14, the direction detector 15, and the ID tag detector 16 are detected and sent to the arithmetic unit 33. Sent. Arithmetic unit 33
Then, the deviation angle of the vehicle body is calculated and sent to the comparison unit 34 together with the traveling direction and the absolute position (X, Y, θ) information.
【００２８】比較部３４では演算部３２の情報と比較
し、演算部３３の検知情報が所定の範囲にある場合にあ
ると判断される場合には、記憶部３５に送り、演算部３
２の情報を補正する。The comparing section 34 compares the detected information with the information of the calculating section 32, and when it is determined that the detected information of the calculating section 33 is within a predetermined range, sends the detected information to the storage section 35,
2 is corrected.
【００２９】[0029]
【発明の効果】以上説明したように、本発明の無人搬送
車の位置および方位の補正装置は、無人搬送車の前部と
後部の走行中心線上に車体幅方向の位置のズレ量を検知
する方位検知器を設けるとともに、無人搬送車の中央部
に絶対位置情報を検知するＩＤタグ検知器を設け、走行
経路中の所定位置に、前記方位検知器とＩＤタグ検知器
に対向させて方位標識と絶対位置情報を記憶したＩＤタ
グを設け、該両方位検知器の検知情報から無人搬送車の
方位のズレ角と絶対位置とのズレ量を演算して現在位置
と方位を補正するようにしたので、簡便な手段によって
無人搬送車の自らの位置・方位データを正確なものへ補
正できる。また、走行経路の所定位置（ステーション）
では絶対位置として情報が得られるので、途中からの経
路変更や、信号障害などで車両が経路から許容範囲外に
なってしまって停止した場合に、付近のステーションで
自らの位置および方位を簡便に補正でき、従来のように
出発点まで移動させなくても対処できるという効果もあ
る。As described above, the position and orientation correction device of the automatic guided vehicle according to the present invention detects the amount of deviation of the position in the vehicle width direction on the front and rear running center lines of the automatic guided vehicle. An azimuth detector is provided, and an ID tag detector for detecting absolute position information is provided at the center of the automatic guided vehicle, and an azimuth sign is provided at a predetermined position in a traveling route so as to face the azimuth detector and the ID tag detector. And an ID tag storing absolute position information is provided, and the current position and the direction are corrected by calculating the deviation between the direction of the azimuth of the automatic guided vehicle and the absolute position from the detection information of the double position detector. Therefore, the position and orientation data of the AGV can be corrected to accurate ones by simple means. Also, a predetermined position (station) on the traveling route
If the vehicle stops outside the allowable range due to a change in the route or a signal failure, the location and direction of the vehicle can be easily determined at a nearby station. There is also an effect that correction can be made and the problem can be dealt with without moving to the starting point as in the related art.
【図１】本発明の一実施形態による無人搬送車の外観構
成を示す斜視図である。FIG. 1 is a perspective view illustrating an external configuration of an automatic guided vehicle according to an embodiment of the present invention.
【図２】同 無人搬送車の位置補正のための検知装置と
地上標識の状態を示す説明図である。FIG. 2 is an explanatory diagram showing a state of a detection device and a ground sign for position correction of the automatic guided vehicle.
【図３】同 位置補正の検知状態を示す説明図である。FIG. 3 is an explanatory diagram showing a detection state of the position correction.
【図４】同 位置補正の処理装置３０の構成を示すブロ
ック図である。FIG. 4 is a block diagram showing a configuration of a processing device 30 for position correction.
１…無人搬送車 ２…車輪 ３…荷台 ４…運転室 １１…ジャイロスコープ １２…走行距離検知器 １４…方位検知器 １５…方向検知器 １６…ＩＤタグ検知器 ２０…検知部 ２４…方位標識 ２５…方向標識 ２６…ＩＤタグ ３０…処理装置 ３１…入力部 ３２、３３…演算部 ３４…比較部 ３５…記憶部 ４０…走行制御装置 DESCRIPTION OF SYMBOLS 1 ... Automatic guided vehicle 2 ... Wheel 3 ... Carrier 4 ... Driver cab 11 ... Gyroscope 12 ... Travel distance detector 14 ... Direction detector 15 ... Direction detector 16 ... ID tag detector 20 ... Detection part 24 ... Direction sign 25 ... Direction sign 26 ... ID tag 30 ... Processing device 31 ... Input unit 32,33 ... Calculating unit 34 ... Comparing unit 35 ... Storage unit 40 ... Running control device
───────────────────────────────────────────────────── フロントページの続き (72)発明者 小野田 朗 愛知県名古屋市熱田区三本松町１番１号 日本車輌製造株式会社内 Ｆターム(参考） 2F105 AA10 BB08 BB17 5H301 AA02 AA03 AA09 BB05 CC03 CC06 DD01 FF04 FF11 FF13 FF27 GG12 GG17 GG28 HH01 HH02 ────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Akira Onoda 1-1, Sanbonmatsucho, Atsuta-ku, Nagoya-shi, Aichi Japan Vehicle Manufacturing Co., Ltd. F-term (reference) 2F105 AA10 BB08 BB17 5H301 AA02 AA03 AA09 BB05 CC03 CC06 DD01 FF04 FF11 FF13 FF27 GG12 GG17 GG28 HH01 HH02
Claims (2)
イロスコープを搭載して自らの位置と進行方位を算出し
ながら指令された走行経路を走行する無人搬送車の位置
および方位の補正装置において、無人搬送車の前部と後
部の走行中心線上に車体幅方向の位置のズレ量を検知す
る方位検知器を設けるとともに、無人搬送車の中央部に
絶対位置情報を検知するＩＤタグ検知器を設け、走行経
路中の所定位置に、前記方位検知器とＩＤタグ検知器に
対向させて方位標識と絶対位置情報を記憶したＩＤタグ
を設け、該両方位検知器の検知情報から無人搬送車の方
位のズレ角と絶対位置とのズレ量を演算して現在位置と
方位を補正するようにしたことを特徴とする無人搬送車
の位置および方位の補正装置。An apparatus for correcting the position and direction of an automatic guided vehicle traveling on a commanded traveling route while calculating its own position and traveling direction by mounting a traveling distance detector and a gyroscope for detecting a moving angle. An azimuth detector for detecting the amount of displacement in the vehicle width direction is provided on the front and rear traveling center lines of the automatic guided vehicle, and an ID tag detector for detecting absolute position information is provided at the center of the automatic guided vehicle. Provided, at a predetermined position in the traveling route, an ID tag that stores an orientation marker and absolute position information facing the orientation detector and the ID tag detector, and detects the automatic guided vehicle from the detection information of the both-position detector. A position and azimuth correction device for an automatic guided vehicle, wherein a current position and an azimuth are corrected by calculating an amount of deviation between an azimuth deviation angle and an absolute position.
前部と後部に走行経路中の所定位置に設けた方向標識を
検知する方向検知器を設け、車両の進行方向を検知する
ようにしたことを特徴とする請求項１記載の無人搬送車
の位置および方位の補正装置。2. An automatic guided vehicle capable of traveling in the same direction both forward and backward, provided with direction detectors for detecting direction markers provided at predetermined positions in the traveling route at the front and rear of the automatic guided vehicle to detect the traveling direction of the vehicle. 2. The device for correcting the position and orientation of an automatic guided vehicle according to claim 1, wherein:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000020284A JP3378843B2 (en) | 2000-01-28 | 2000-01-28 | Correction device for position and direction of automatic guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000020284A JP3378843B2 (en) | 2000-01-28 | 2000-01-28 | Correction device for position and direction of automatic guided vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2001209429A true JP2001209429A (en) | 2001-08-03 |
| JP3378843B2 JP3378843B2 (en) | 2003-02-17 |
Family
ID=18546867
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000020284A Expired - Fee Related JP3378843B2 (en) | 2000-01-28 | 2000-01-28 | Correction device for position and direction of automatic guided vehicle |
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| Country | Link |
|---|---|
| JP (1) | JP3378843B2 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2005250684A (en) * | 2004-03-02 | 2005-09-15 | Toshiba Corp | Article management apparatus, article management system, purchase support system and purchase support method |
| JP2010020514A (en) * | 2008-07-10 | 2010-01-28 | Nippon Sharyo Seizo Kaisha Ltd | Location azimuth measurement system for unmanned vehicle |
| JP2010020515A (en) * | 2008-07-10 | 2010-01-28 | Nippon Sharyo Seizo Kaisha Ltd | Unmanned vehicle |
| JP2010039664A (en) * | 2008-08-04 | 2010-02-18 | Yaskawa Electric Corp | Correction system for route of automated guided vehicle |
| KR101185678B1 (en) | 2010-11-23 | 2012-09-24 | 현대중공업 주식회사 | The method for tracking the position and posture of a vehicle, a material, or a block by averaging coordinates of RFID Tags |
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2000
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005250684A (en) * | 2004-03-02 | 2005-09-15 | Toshiba Corp | Article management apparatus, article management system, purchase support system and purchase support method |
| JP2010020514A (en) * | 2008-07-10 | 2010-01-28 | Nippon Sharyo Seizo Kaisha Ltd | Location azimuth measurement system for unmanned vehicle |
| JP2010020515A (en) * | 2008-07-10 | 2010-01-28 | Nippon Sharyo Seizo Kaisha Ltd | Unmanned vehicle |
| JP4694598B2 (en) * | 2008-07-10 | 2011-06-08 | 日本車輌製造株式会社 | Position and orientation measurement system for unmanned vehicles |
| JP4694599B2 (en) * | 2008-07-10 | 2011-06-08 | 日本車輌製造株式会社 | Unmanned vehicle |
| JP2010039664A (en) * | 2008-08-04 | 2010-02-18 | Yaskawa Electric Corp | Correction system for route of automated guided vehicle |
| KR101185678B1 (en) | 2010-11-23 | 2012-09-24 | 현대중공업 주식회사 | The method for tracking the position and posture of a vehicle, a material, or a block by averaging coordinates of RFID Tags |
| RU2481204C1 (en) * | 2011-11-07 | 2013-05-10 | Открытое акционерное общество "Завод им. В.А.Дегтярева" | Method of operating topographic survey vehicle |
| CN102765345A (en) * | 2012-07-23 | 2012-11-07 | 梁倬睿 | Automatic road transporting device |
| WO2019180765A1 (en) | 2018-03-19 | 2019-09-26 | 本田技研工業株式会社 | Autonomous traveling work machine |
| US11714411B2 (en) | 2018-03-19 | 2023-08-01 | Honda Motor Co., Ltd. | Autonomous traveling work machine |
| CN113009412A (en) * | 2021-01-06 | 2021-06-22 | 武汉理工大学 | Positioning system and method based on RFID digital pavement |
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