JP2012238346A - Unmanned carrying system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned carrying system capable of controlling the traveling speed of an unmanned carrier without providing a marker.SOLUTION: An unmanned carrying system is equipped with a guiding line 2D and an unmanned carrier. The guiding line 2D has three kinds of colored areas 2a, 2b, and 2c colored so as to successively appear three different colors. The unmanned carrier has imaging means; a target speed setting portion for setting target speed on the basis of the colored areas 2a, 2b, and 2c; a travel controlling portion; a traveling direction specifying portion for specifying a traveling direction on the basis of an order of the three kinds of the colored areas 2a, 2b, and 2c; and a memory portion storing a relationship between the colors of the colored areas 2a, 2b, and 2c and the traveling speed and a relationship between the order of the three kinds of the colored areas 2a, 2b, and 2c and the traveling direction in advance, and storing a history of the colors of the colored areas.

Description

  The present invention relates to an automatic guided system including a guide line and an automatic guided vehicle that travels along the guide line.

  As shown in FIG. 6, conventionally, a guide line 22 laid on the road surface, an automatic guided vehicle 23 that travels along the guide line 22 at a predetermined travel speed, and a bar code provided in the vicinity of the guide line 22. An unmanned conveyance system 21 including a marker 24 is known (see, for example, Patent Document 1).

  In the automatic transport system 21 provided with the marker 24, the automatic guided vehicle 23 picks up the guide line 22 and the marker 24 and generates optical image means 25a and 25b, and the generated image. A command code for controlling the traveling speed displayed on the marker 24 is read from the data, and a traveling control unit 26 that controls the traveling speed of the automatic guided vehicle 23 based on the read command code, and provided at four corners of the vehicle body, And a wheel 27 driven under the control of the control unit 26.

  According to the automatic transport system 21, the automatic guided vehicle 23 travels at a predetermined speed according to the command code displayed on the marker 24. Therefore, by providing the marker 24 in advance at a point where the travel speed is to be changed. The traveling speed of the automatic guided vehicle 23 can be freely controlled.

JP 2001-188610 A

  However, in the conventional unmanned conveyance system 21, since it is necessary to provide the markers 24 at all points where the traveling speed is changed, the number of the markers 24 is increased, and it takes time to install the markers 24. was there.

  Further, in the conventional automatic guided system 21, when a part of the marker 24 is dirty or missing, the automatic guided vehicle 23 cannot accurately read the command code for controlling the traveling speed displayed on the marker 24. The traveling speed cannot be controlled, and as a result, there is a risk of causing an accident such as derailment.

  This invention is made | formed in view of the said situation, The place made into the subject is providing the automatic guided system which can control the traveling speed of an automatic guided vehicle, without providing a marker.

  In order to solve the above problems, an unmanned conveyance system according to the present invention is an unmanned conveyance system including a guide line laid on a road surface and an automatic guided vehicle that travels at a predetermined traveling speed along the guide line. The guide line has three kinds of colored areas colored so that three different colors appear in order, and the automatic guided vehicle generates image data of an area including the guide line, A target speed setting unit that sets a target speed based on the color of the colored area in the image data, a travel control unit that feedback-controls the travel speed to match the target speed, and continuously generated image data A traveling direction identifying unit that identifies the traveling direction based on the order of the colors of the three colored areas, the relationship between the color of the colored area and the traveling speed, and the order of the colors of the three colored areas and the traveling direction And a storage unit that stores a color history of the colored region in the generated image data, and the target speed setting unit refers to the storage unit to determine the color of the colored region. The travel speed corresponding to the above is set as a target speed, and the travel direction specifying unit refers to the storage unit and specifies the travel direction based on the order of the colors of the three most recent colored areas.

  According to this configuration, the target speed of the automatic guided vehicle is set based on the color of the colored area in the guide line, and the traveling speed is feedback-controlled so as to match the target speed. If the color of the colored region in the image data generated by the imaging means can be recognized even if it is missing or missing, the traveling speed of the automatic guided vehicle can be reliably controlled without providing a marker. Furthermore, according to this configuration, the traveling direction of the automatic guided vehicle can be specified.

  ADVANTAGE OF THE INVENTION According to this invention, the automatic guided system which can control the traveling speed of an automatic guided vehicle can be provided, without providing a marker.

1 is a schematic configuration diagram of an unmanned conveyance system according to a first embodiment of the present invention. It is an example of the data which shows the relationship between the number of boundary lines, and traveling speed. It is a block diagram of the travel control part in the present invention. It is a schematic block diagram of the unmanned conveyance system which concerns on 2nd Embodiment of this invention. It is a modification of the guide line in this invention, Comprising: (A) is a top view which shows a 1st modification, (B) is a top view which shows a 2nd modification. It is a schematic block diagram of the conventional unmanned conveyance system.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

[First embodiment]
In FIG. 1, the schematic block diagram of the automatic guided system 1A which concerns on 1st Embodiment of this invention is shown. As shown in the figure, an automatic guided system 1A according to the present embodiment includes a guide line 2A laid on a road surface of a travel route, and an automatic guided vehicle 3 that travels at a predetermined travel speed along the guide line 2A. I have.

  The guide line 2A has a plurality of colored regions 2a and 2b colored in a color that can be clearly distinguished from the road surface. Since the color of the road surface is often an achromatic color such as white, gray or black, it is preferable to select a chromatic color such as red, blue or green as the color of the colored regions 2a and 2b.

The induction line 2A is formed by applying a paint or applying a colored adhesive tape. In this embodiment, the guide line 2A having the red first colored region 2a and the blue second colored region 2b is formed by an adhesive tape colored so that red and blue appear alternately. A boundary line L (L _n , L _{n + 1} ,...) Between the first colored region 2a and the second colored region 2b is orthogonal to the guide line 2A.

  The automatic guided vehicle 3 optically images a certain area including the guide line 2A and generates image data of the area, such as an imaging unit 4a, 4b, and an image generated by the imaging unit 4a, 4b. The target speed setting unit 5 that sets the target speed from the data, the storage unit 6 that stores data to be referred to when setting the target speed, and the target speed set by the target speed setting unit 5 are matched. Are provided with a traveling control unit 7 that feedback-controls the traveling speed of the automatic guided vehicle 3 and wheels 8 that are provided at four corners of the vehicle body and are driven under the control of the traveling control unit 7. Two image pickup means 4a and 4b are provided along the guide line 2A, but normally only the image pickup means (4a in FIG. 1) on the traveling direction side is used, and image data is continuously displayed at regular intervals. Is generated.

  The target speed setting unit 5 is configured by a microcomputer or the like, and is based on the color information of the first and second colored areas 2a and 2b in the image data generated by the imaging means 4a and 4b. Set the target speed. In the present embodiment, the color information is the number of boundary lines L between the first colored region 2a and the second colored region 2b through which the automatic guided vehicle 3 has passed.

  The storage unit 6 is configured from a memory or the like. The storage unit 6 stores in advance data (see FIG. 2) indicating the relationship between the number of boundary lines L between the first colored region 2a and the second colored region 2b and the traveling speed of the automatic guided vehicle 3. In this data, for example, the number of boundary lines L and the traveling speed are related so that the traveling speed becomes low before reaching the curve of the guide line 2A. The target speed setting unit 5 refers to this data stored in the storage unit 6 and sets the traveling speed corresponding to the number of boundary lines L as the target speed.

  As shown in FIG. 3, the travel control unit 7 detects torque command value calculation means 9, an inverter 10 for driving a motor 11 that transmits driving force to the wheels 8, and a rotational speed ω of the motor 11. The rotation speed detection means shown in the figure.

  The torque command value calculation means 9 calculates the traveling speed of the automatic guided vehicle 3 from the rotational speed ω of the motor 11 detected by the rotational speed detection means, and calculates the traveling speed and the target speed set by the target speed setting unit 5. The torque command value is calculated by performing the PI calculation so that the deviation from is zero. The inverter 10 drives the motor 11 according to the torque command value calculated by the torque command value calculation means 9.

  Next, the control of the traveling speed of the automatic guided vehicle 3 when the automatic guided vehicle 3 turns a curve will be specifically described with reference to FIGS. 1 and 2 again.

The automatic guided vehicle 3 is traveling at the traveling speed V1 along the guide line 2A, and the first colored region 2a and the second colored region 2b between the start of traveling and the point shown in FIG. Assume that n-1 boundary lines L have passed. In the following description, the boundary line L between the first colored region 2a and the second colored region 2b on the traveling direction side of the automatic guided vehicle 3 is set to L _n , L _{n + 1} , L in order from the automatic guided vehicle 3. _{n + 2} ,..., and data indicating the relationship between the number of boundary lines L and the traveling speed shown in FIG.

First, when the AGV 3 reaches the boundary line L _n, the image data including the boundary line L _n is generated by the imaging means 4a. The target speed setting unit 5 specifies the boundary line L _n from the generated image data, calculates the number n of boundary lines L through which the automatic guided vehicle 3 passes, and calculates the calculated number n of boundary lines L and the storage unit 6. The target speed is set to V1 based on the data stored in. Since the target speed V1 is equal to the current travel speed V1, the automatic guided vehicle 3 travels while maintaining the travel speed V1 under the control of the travel control unit 7.

AGV 3 reaches the boundary line L _{n + 1,} the image data including the boundary line L _{n + 1} by the imaging means 4a is generated, the target speed setting unit 5, the boundary line from the generated image data L _{n + 1} is specified and the number n + 1 of boundary lines L through which the automatic guided vehicle 3 has passed is calculated. Based on the calculated number n + 1 of boundary lines L and the data stored in the storage unit 6, the target speed V2 (<V1). When the target speed is set to V2, the traveling control unit 7 feedback-controls the traveling speed so as to coincide with the target speed V2. For this reason, the automatic guided vehicle 3 is decelerated from the traveling speed V1 to the traveling speed V2 under the control of the traveling control unit 7.

AGV 3 reaches the boundary line L _{n + 2,} the image data including the boundary line L _{n + 2} by the imaging means 4a is generated in the same manner as described above, the target speed setting unit 5 a target speed Set to V3 (<V2), the traveling control unit 7 feedback-controls the traveling speed so as to coincide with the target speed V3. For this reason, the automatic guided vehicle 3 is further decelerated to the traveling speed V <b> 3 under the control of the traveling control unit 7.

AGV 3 reaches the boundary line L _{n + 3,} the image data including the boundary line L _{n + 3} by the imaging means 4a is generated in the same manner as described above, the target speed setting unit 5 a target speed Set to V3. Since the target speed V3 is equal to the current travel speed V3, the automatic guided vehicle 3 travels at a low speed while maintaining the travel speed V3 under the control of the travel control unit 7.

The AGV 3 reaches the boundary line L _{n + 4,} the image data including the boundary line L _{n + 4} by the imaging means 4a is generated in the same manner as described above, the target speed setting unit 5 goals The speed is set to V1, and the traveling control unit 7 feedback-controls the traveling speed so as to coincide with the target speed V1. For this reason, the automatic guided vehicle 3 is accelerated to the normal traveling speed V1 before reaching the curve under the control of the traveling control unit 7.

  As described above, according to the automatic guided system 1A according to the present embodiment, the target speed of the automatic guided vehicle 3 is set based on the number of boundary lines L between the first colored region 2a and the second colored region 2b. Since the traveling speed is feedback-controlled so as to match the target speed, the traveling speed of the automatic guided vehicle 3 can be freely controlled without providing the marker 24 unlike the conventional automatic guided system 21.

[Second Embodiment]
Next, an automated transport system 1B according to a second embodiment of the present invention will be described with reference to FIG.

  In the automatic transport system 1A according to the first embodiment, the target speed setting unit 5 sets the target speed based on the number of boundary lines L between the first coloring area 2a and the second coloring area 2b. In the automatic transport system 1B according to the present embodiment, the target speed setting unit 5 sets the target speed based on the colors of the first coloring area 2a and the second coloring area 2b. Therefore, in the present embodiment, the color itself of the first colored region 2a and the second colored region 2b is color information.

  As shown in FIG. 4, in the guide line 2B according to the present embodiment, the section in which the automatic guided vehicle 3 travels at a traveling speed lower than usual (for example, V2) is colored red (first colored region 2a), and the unmanned A section in which the transport vehicle 3 travels at a normal traveling speed (for example, V1) is colored in blue (second colored region 2b). The storage unit 6 stores the relationship between the red color of the first colored area 2a and the blue color of the second colored area 2b and the travel speed (the travel speed is V2 for red and the travel speed is V1 for blue). (Relationship) is stored in advance.

  When the automated guided vehicle 3 is traveling on the second colored area 2b of the guide line 2B, the image data of the second colored area 2b is generated by the imaging means 4a, and the target speed setting unit 5 generates the generated image. The blue color of the second colored area 2b is specified from the data, and the traveling speed V1 corresponding to the blue color of the second colored area 2b is set as a target speed with reference to the storage unit 6.

  On the other hand, when the automatic guided vehicle 3 is traveling on the first colored area 2a of the guide line 2B, image data of the first colored area 2a is generated by the imaging unit 4a, and the target speed setting unit 5 is generated. The red color of the first colored area 2a is specified from the obtained image data, and the traveling speed V2 corresponding to the red color of the first colored area 2a is set as a target speed with reference to the storage unit 6.

  When the target speed is set by the target speed setting unit 5, the traveling control unit 7 feedback-controls the traveling speed of the automatic guided vehicle 3 so as to coincide with the set target speed.

  As described above, according to the automatic guided system 1B according to the present embodiment, the target speed of the automatic guided vehicle 3 is set based on the colors of the first colored area 2a and the second colored area 2b, and matches the target speed. Thus, since the traveling speed is feedback-controlled, the traveling speed of the automatic guided vehicle 3 can be controlled without providing the marker 24 unlike the conventional automatic guided system 21.

  Further, in the automatic transport system 1B according to the present embodiment, the target speed corresponding to the color of the first colored area 2a is replaced with the target speed corresponding to the length of the first colored area 2a under a predetermined condition. The traveling speed of the automatic guided vehicle 3 can be controlled more finely. Specifically, when the length of the first colored area 2a is increased, the number of times of continuous generation of image data including the first colored area 2a is increased, so that the number of continuous generation of image data including the first colored area 2a is predetermined. Data for replacing the traveling speed from V2 to V3 is stored in the storage unit 6 in advance when the number of times is exceeded. Thereby, when the length of the first colored region 2a through which the automatic guided vehicle 3 passes exceeds a predetermined length, and the number of continuous generations of the image data including the first colored region 2a is equal to or greater than the predetermined number, the target speed setting unit No. 5, the traveling speed V3 is set as a target speed, and the traveling speed of the automatic guided vehicle 3 is reduced from V2 to V3 under the control of the traveling control unit 7.

  In the automatic guided system 1B according to the present embodiment, as described later, the traveling speed of the automatic guided vehicle 3 is controlled more finely by adding a colored region (see FIG. 5B) of a different color. be able to.

  As mentioned above, although preferable embodiment of this invention was described, this invention is not limited to the said structure, Various modifications can be considered.

  For example, FIG. 5 is a diagram illustrating a modification of the guide line 2A in the first embodiment, in which (A) is a plan view of the guide line 2C in the first modification, and (B) is in the second modification. It is a top view of guidance line 2D.

  As shown in FIG. 5A, the guide line 2C in the first modified example has a predetermined boundary line L ′ between the first colored region 2a and the second colored region 2b with respect to the line orthogonal to the guide line 2C. The guide line 2A is common to the guide line 2A in the first embodiment, except that it is inclined at an angle (for example, 30 ° to 60 °). According to the guide line 2C in this modification, since the boundary line L ′ is longer than the boundary line L of the guide line 2A, there is a wide range of dirt and chipping that cannot be recognized by the guide line 2A. Even if it occurs, the boundary line L ′ may be recognized. That is, by using the guide line 2C in this modification, an unmanned conveyance system that is more resistant to dirt and chipping can be provided.

  On the other hand, the guide line 2D in the second modification shown in FIG. 5B has a third colored region 2c colored in a different color (for example, yellow) from the first colored region 2a and the second colored region 2b. In other respects, it is common to the guide line 2A in the first embodiment. For this reason, the guide line 2D in this modification is used for the unmanned conveyance system 1B according to the second embodiment, and the traveling speed corresponding to the yellow color of the third colored region 2c is V1 ′ (however, V1> V1 ′> V2 )), The traveling speed of the automatic guided vehicle 3 can be controlled in three stages.

  Further, the direction of the automatic guided vehicle 3 is specified by coloring the guide line 2D so that the red color of the first colored area 2a, the blue color of the second colored area 2b, and the yellow color of the third colored area 2c appear in order. can do. Specifically, data indicating the relationship between the color order and the traveling direction is stored in the storage unit 6 in advance, and the first to third colored regions 2a included in the image data generated by the imaging units 4a and 4b. The history of the colors ˜2c is also stored in the storage unit 6, and a traveling direction specifying unit that specifies the traveling direction with reference to the storage unit 6 is provided in the automatic guided vehicle 3. Thereby, the traveling direction specifying unit refers to the color history stored in the storage unit 6 to determine whether the color order is in the order of red, blue, yellow or yellow, blue, red. Further, the direction in which the automatic guided vehicle 3 is traveling can be specified based on the order of the colors and the data stored in the storage unit 6 in advance.

  In the automatic transport system 1A according to the first embodiment, the boundary line L is specified from the image data including the boundary line L and the number of boundary lines L through which the automatic guided vehicle 3 passes is calculated. When the image data including the boundary line L is not generated by the above, the generated image data is changed from the image data of the first colored region 2a to the image data of the second colored region 2b or the image data of the second colored region 2b. The target speed setting unit 5 may determine that the automatic guided vehicle 3 has passed through the boundary line L at the time when the image data of one colored area 2a is changed, and the number of boundary lines L may be calculated.

  Further, in the unmanned transport systems 1A and 1B according to the first and second embodiments, the guide lines 2A and 2B are configured by a single adhesive tape colored so that red and blue appear alternately. And two blue adhesive tapes.

1A, 1B Unmanned transport system 2A, 2B, 2C, 2D Guide line 2a First colored area 2b Second colored area 2c Third colored area 3 Automated guided vehicle 4a, 4b Imaging means 5 Target speed setting section 6 Storage section 7 Travel control Part 8 Wheel 9 Torque command value calculation means 10 Inverter 11 Motor

Claims (1)

An unmanned transport system comprising a guide line laid on a road surface and an automatic guided vehicle that travels along the guide line at a predetermined travel speed,
The guide line has three kinds of colored areas colored so that three different colors appear in order,
The automatic guided vehicle is
Imaging means for generating image data of an area including the guide line;
A target speed setting unit that sets a target speed based on the color of the colored region in the generated image data;
A travel control unit that feedback-controls the travel speed so as to match the target speed;
A traveling direction identifying unit that identifies a traveling direction based on the order of the colors of the three types of colored regions in the continuously generated image data;
The relationship between the color of the colored area and the running speed, the order of the colors of the three types of colored areas and the running direction are stored in advance, and the color of the colored area in the generated image data A storage unit for storing the history of
Have
The target speed setting unit refers to the storage unit, sets a traveling speed corresponding to the color of the colored region as the target speed,
The unmanned transport system, wherein the traveling direction specifying unit refers to the storage unit and specifies a traveling direction based on the latest color order of the three types of colored regions.

Images