JP2013025394A5

JP2013025394A5 -

Info

Publication number: JP2013025394A5
Application number: JP2011156972A
Authority: JP
Filing date: 2011-07-15
Publication date: 2013-03-14
Anticipated expiration: 2031-07-15

Description

また、自動走行車の走行位置を検出するために、自動走行車に誘導用センサとは別のガイド用センサを設け、走路上に誘導線に沿って複数の永久磁石を組み合わせコード化して床面に埋設し、磁気マーキングをセンサで検知し走行車自体の位置計測を行っている（特許文献１）。
また、ガイド用センサが検知する誘導体を、バーコードを用いて形成することで、誘導体を停止、減速、増速、分岐等の意味付けをした各種コード情報とし、自動走行車の制御情報に用いている（特許文献２）。 In addition, in order to detect the traveling position of the automatic traveling vehicle, the automatic traveling vehicle is provided with a guide sensor that is different from the guidance sensor, and a plurality of permanent magnets are combined and coded along the guiding line on the traveling path to encode the floor surface. The position of the traveling vehicle itself is measured by detecting the magnetic marking with a sensor (Patent Document 1).
In addition, by forming the derivative detected by the guide sensor using a bar code, the derivative is used as various code information with meanings such as stop, deceleration, acceleration, branching, etc. (Patent Document 2).

また、共通の誘導線を用いて複数の自動走行車を誘導する場合、上記ガイドのカウント値に基づく各自動走行車の走行経路は、自動走行車ごとに別々にプログラムされる。このため、何らかのトラブルによってある自動走行車が停止すべきでない位置で停止した場合、その自動走行車をトラブル停止位置から再び発車させて正確な経路を走行させ、目的位置に到達させることは容易でない。このような場合、トラブルが発生した自動走行車を基準位置に移動させた後に、再発車させる必要がある。 When a plurality of automatic traveling vehicles are guided using a common guide line, the traveling route of each automatic traveling vehicle based on the count value of the guide is programmed separately for each automatic traveling vehicle. For this reason, when an automated traveling vehicle stops at a position where it should not be stopped due to some trouble, it is not easy to start the automated traveling vehicle again from the trouble stopping position, travel on an accurate route, and reach the target position. . In such a case, after moving the automatic vehicle a trouble occurs in the reference position, it is necessary to Ru re departure.

さらに、ガイドとして複数の永久磁石やバーコードを使用する場合は、ガイド専用の複数の永久磁石やバーコードの作成に手間がかかる上、複数の永久磁石やバーコードから取得した情報を解析するためのプログラムを必要とし、簡易に自動搬送等のシステムを構築することが難しい。 Furthermore, when using multiple permanent magnets and barcodes as guides, it takes time to create multiple permanent magnets and barcodes dedicated to guides, and to analyze information obtained from multiple permanent magnets and barcodes. It is difficult to construct a system such as automatic transport easily.

本発明は、ノイズの影響を低減した状態で走行制御を行うことができる自動走行車および自動走行システムを提供する。 The present invention provides an automatic vehicle and automatic cruise system capable of performing running control while reducing the influence of noise.

本発明の自動走行車は、誘導線に沿って走行する。該自動走行車は、誘導線を検出し、かつ該誘導線に設けられた制御情報を検出する誘導線センサと、誘導線が設けられた位置とは異なる位置に設けられた色情報を検出する色情報検出センサと、誘導線センサにより検出された誘導線に沿って該自動走行車を走行させる制御を行い、かつ誘導線センサにより検出された制御情報と色情報検出センサにより検出された色情報とに応じて該自動走行車の走行制御を行うコントローラとを有することを特徴とする。 Automatic vehicle of the present invention travels along the guide line. The automatic traveling vehicle detects a guide line, detects a control information provided on the guide line, and detects color information provided at a position different from the position where the guide line is provided. The color information detection sensor and the control information detected by the guide line sensor and the color information detected by the color information detection sensor are controlled so as to travel along the guide line detected by the guide line sensor. And a controller for controlling the traveling of the automatic traveling vehicle according to the above.

本発明によれば、ノイズの影響を低減した状態で走行制御を行うことができる自動走行車および自動走行システムを提供することができる。 According to the present invention, it is possible to provide an automatic vehicle and automatic cruise system capable of performing running control while reducing the influence of noise.

搬送車１は、ＣＰＵやＭＰＵ等により構成されるコントローラ４を有する。コントローラ４は、誘導線センサ２により検出された誘導線２１に沿って、すなわち誘導線２１をトレースしながら車台部１０を走行させるようこれを制御する。また、コントローラ４は、誘導線２１に設けられた制御情報を読み取る情報読み取り部を備える。本実施例では、情報読み取り部のヘッダとして、誘導線センサ２を兼用する。 The transport vehicle 1 has a controller 4 configured by a CPU, an MPU, or the like. The controller 4 controls the vehicle body 10 to travel along the guide wire 21 detected by the guide wire sensor 2, that is, while tracing the guide wire 21. Further, the controller 4 includes an information reading unit that reads control information provided on the guide wire 21. In this embodiment, as the header information reading unit, also serves as a guide wire sensor 2.

図１に示したコントローラ４は、色センサ３により検出された色ガイド３１，３２の色（複数の色の組み合わせ）と、情報読み取り部により読み取った制御情報（分岐選択情報２４、停止位置情報２５）とに応じて車台部１０の誘導制御および停止制御を行う。
The controller 4 shown in FIG. 1 has the color of the color guides 31 and 32 detected by the color sensor 3 (a combination of a plurality of colors) and control information (branch selection information 24, stop position information 25 ) read by the information reading unit. ), The guidance control and the stop control of the chassis unit 10 are performed.

Claims

An autonomous vehicle that runs along a guide line,
A guide wire sensor for detecting the guide wire and detecting control information provided on the guide wire;
A color information detection sensor for detecting color information provided at a position different from the position where the guide wire is provided;
The color information detected by the control information detected by the guide line sensor and the color information detected by the color information detection sensor, which controls the automatic vehicle to travel along the guide line detected by the guide line sensor. And a controller for controlling the traveling of the autonomous traveling vehicle according to the above .

An autonomous vehicle that runs along a guide line,
A guide wire sensor for detecting the guide wire;
A control information detection sensor for detecting control information provided on the guide wire;
A color information detection sensor for detecting color information provided at a position different from the position where the guide wire is provided;
The control information that is detected by the control information detection sensor and the color information that is detected by the color information detection sensor, and controls the automatic vehicle to travel along the guide line detected by the guide line sensor. An automatic traveling vehicle comprising: a controller that performs traveling control of the automatic traveling vehicle according to information .

3. The controller according to claim 1, wherein the controller determines whether to enable or disable the control information detected after the color information in accordance with the detected color information . 4. Autonomous vehicle.

The control information is information given using colors,
3. The automatic traveling vehicle according to claim 1 , wherein the controller performs the traveling control when a color of the detected control information and the color information are associated with each other . 4.

5. The automatic traveling vehicle according to claim 4 , wherein the controller invalidates the control information when the color of the detected control information and the color information are not associated with each other. 6. .

The color information, the automatic traveling vehicle claimed in any one of 5, which is a combination of a plurality of colors.

The automatic travel vehicle according to any one of claims 1 to 6, wherein the travel control is stop, branch guidance, reverse travel, and turning of the automatic travel vehicle.

The autonomous vehicle according to any one of claims 1 to 7 ,
The guide wire;
The control information provided on the guide wire;
An automatic traveling system comprising: the color information provided at a position different from a position where the guide line is provided .

  The autonomous vehicle according to any one of claims 1 to 7,
  The guide wire provided in common to a plurality of the autonomous vehicles; and
  An automatic traveling system having the color information provided for each of the automatic traveling vehicles or in common with the plurality of automatic traveling vehicles and at a position different from the position where the guide line is provided. .