JP2018092532A - Automatic carrier vehicle control system, and travel area coordinate setting method - Google Patents
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Abstract
Description
本発明は、走行経路の変更があっても、走行する際の誘導体等の撤去、及び再設置を必要としない自動搬送車（ＡＧＶ：Ａｕｔｏｍａｔｉｃ Ｇｕｉｄｅｄ Ｖｅｈｉｃｌｅ）コントロールシステム、及び該自動搬送車コントロールシステムにおける走行領域の座標の設定方法に関する。 The present invention relates to an automatic guided vehicle (AGV) control system that does not require removal and re-installation of a derivative or the like when traveling, even if the travel route is changed, and the automatic transport vehicle control system. The present invention relates to a method for setting coordinates of a travel area.
オペレータが直接操縦せず、所定の荷物を目的地まで自動的に搬送する自動搬送車（ＡＧＶ）は、１９８０年代頃から普及しており、生産現場等を中心に幅広く活用されている。また、生産現場だけでなく、製品の保管・出荷を行う物流センター、或いは病院といった製造業以外の分野にも幅広く導入が進められているところである（例えば、特許文献１を参照。）。 An automatic transport vehicle (AGV) that automatically transports a predetermined baggage to a destination without being directly operated by an operator has been widespread since the 1980s, and is widely used mainly in production sites. In addition to the production site, a wide range of applications are being promoted not only in the manufacturing industry, such as distribution centers for storing and shipping products, or hospitals (see, for example, Patent Document 1).
自動搬送車の自動走行を実現するためには、該自動搬送車を目的地まで誘導するコントロールシステムが必要であり、該システムを構成する誘導方式としては、例えば、走行を予定している経路に敷設され該自動搬送車を直接目的地に誘導する磁気テープ、磁気マーカー等を使用した磁気誘導式が主流となっている。 In order to realize automatic traveling of the automatic guided vehicle, a control system that guides the automatic guided vehicle to the destination is necessary. As a guidance method that constitutes the system, for example, on a route planned to travel A magnetic induction type using a magnetic tape, a magnetic marker, or the like that is laid and directly guides the automated guided vehicle to a destination is the mainstream.
また、その他の誘導方式としては、バーコード誘導方式、レーザー誘導方式等の何らかの誘導体を用いたシステムや、ジャイロセンサーやレーザーを使用した自己位置推定方式等が知られ、様々な現場で導入が検討されている（例えば、特許文献２、３を参照。）。 As other guidance methods, there are known systems using some derivatives such as barcode guidance method and laser guidance method, self-position estimation method using gyro sensor and laser, etc. (For example, refer to Patent Documents 2 and 3).
上述した誘導体を用いて自動搬送車をコントロールするシステムにおいては、自動搬送車を目的地に導くための何らかの誘導体（磁気テープ等の誘導ライン、磁気マーカー、バーコード、反射板等）を搬送経路に沿った床面や、周囲の壁等に設置する必要があるが、自動搬送車が導入される生産現場の搬送経路は、自動搬送車だけでなく、大型のフォークリフト、ハンドリフト（手動フォークリフト）、或いは作業者等が頻繁に該搬送経路を通過する。よって、床や壁面に設置される該誘導体が徐々に摩耗、損傷して自動搬送車の走行に支障をきたすという問題があり、自動搬送車の正しい走行を確保するためには、該誘導体を定期的にメンテナンスすることが欠かせない。また、生産工程の見直しや、生産現場のレイアウトの変更等を行う場合は、自動搬送車の搬送経路も変更になることから、レイアウトが変更される前の該誘導体を撤去した上で、新しいレイアウトに合わせて新たな搬送経路を設計し、該搬送経路に対応した誘導体を改めて設置し直す必要があり、自動搬送車の経路の変更にも相当の時間を要するという問題がある。 In the system that controls the automated guided vehicle using the derivatives described above, any derivative (guide line such as magnetic tape, magnetic marker, barcode, reflector, etc.) for guiding the automated guided vehicle to the destination is used as the transport path. It is necessary to install it on the floor along the floor, surrounding walls, etc., but the transfer route of the production site where the automated guided vehicle is introduced is not only the automated guided vehicle, but also a large forklift, hand lift (manual forklift), Alternatively, an operator or the like frequently passes through the conveyance path. Therefore, there is a problem that the derivative installed on the floor or the wall gradually wears and damages and hinders the traveling of the automated guided vehicle. In order to ensure the correct traveling of the automated guided vehicle, the derivative is periodically used. Maintenance is essential. In addition, when reviewing the production process, changing the layout of the production site, etc., the transport route of the automated guided vehicle will also be changed. Therefore, after removing the derivative before the layout is changed, a new layout will be provided. Therefore, it is necessary to design a new transport route in accordance with this, and to newly install a derivative corresponding to the transport route, and there is a problem that it takes a considerable time to change the route of the automatic transport vehicle.
また、ジャイロセンサーを使用したジャイロ誘導方式に基づく自動搬送車のコントロールシステムでは、自動搬送車に搭載されたジャイロセンサーにより自動搬送車の姿勢角の変化を検出すると共に走行距離を積算することで自己位置を計算し、コンピュータ上で設定された走行経路に沿って走行するように制御されるが、自動搬送車の個体差（走行精度）や、走行面の微小な凹凸等の影響により該計算により推定される自己位置と、実際の位置とにずれが生じることを完全に除去することができず、定期的に自己位置の確認や補正が必要になるという問題がある。 In addition, in a control system for an automated guided vehicle based on a gyro guidance system using a gyro sensor, the gyro sensor mounted on the automated guided vehicle detects changes in the attitude angle of the automated guided vehicle and integrates the distance traveled. The position is calculated and controlled so as to travel along the travel route set on the computer, but due to the individual differences (travel accuracy) of the automated guided vehicle and the influence of minute irregularities on the travel surface, There is a problem that it is not possible to completely eliminate the occurrence of a deviation between the estimated self-position and the actual position, and it is necessary to periodically check and correct the self-position.
さらに、自己位置推定方式の一つとして、自動搬送車から周辺に対してレーザー光線を照射し、その反射光を解析することで自己位置を推定し走行する手法も提案されているが、このシステムに基づき自動搬送車を走行させるためには、走行予定の搬送経路において十分な試し走行を行い、該試し走行によって学習した情報から、コンピュータ上に電子地図を作成する必要があり、やはり、現場の環境の変化に伴って、その都度、該電子地図の再作成が必要となり、煩に堪えないという問題がある。 In addition, as one of the self-position estimation methods, a method has been proposed in which a self-position is estimated by running a laser beam from the automated guided vehicle to the surroundings and analyzing the reflected light. In order to run the automatic guided vehicle based on the information, it is necessary to make a sufficient trial run on the planned transportation route, and to create an electronic map on the computer from the information learned by the trial run. With this change, it is necessary to re-create the electronic map each time.
本発明は、上記事実に鑑みなされたものであり、その主たる技術課題は、該誘導体の設置、修復などの必要がなく、また、自動搬送車が走行すべき経路の変更があっても、自動搬送車が走行する搬送経路の再設定に多大な時間を要することなく、搬送経路に沿って走行させることが可能な自動搬送車のコントロールシステム、及びを提供することにある。 The present invention has been made in view of the above-mentioned facts, and its main technical problem is that there is no need to install or repair the derivative, and even if there is a change in the route on which the automated guided vehicle travels, An object of the present invention is to provide a control system for an automatic transport vehicle that can travel along a transport route without requiring much time to reset the transport route on which the transport vehicle travels.
上記主たる技術課題を解決するため、本発明によれば、自動搬送車をコントロールする自動搬送車コントロールシステムであって、道標を認識する道標認識手段を備えた自動搬送車と、該自動搬送車の自動走行を制御する制御手段とから少なくとも構成され、該制御手段は、走行領域を含む環境から選定される不変的な特徴点を道標とする座標を記憶する座標記憶部と、該座標に基づいて設定される走行経路を記憶する走行経路記憶部と、該走行経路に基づいて該自動搬送車が到達すべき目的地を設定する目的地設定部と、を備え、該自動搬送車は、該道標を認識して走行経路を走行して該目的地に到達する自動搬送車コントロールシステム、及び自動搬送車のコントロールシステムが提供される。 In order to solve the above main technical problem, according to the present invention, there is provided an automatic guided vehicle control system for controlling an automatic guided vehicle, comprising an automatic guided vehicle provided with a signpost recognition means for recognizing a signpost, And at least a control means for controlling automatic travel, the control means based on the coordinates, and a coordinate storage section for storing coordinates having a fixed feature point selected from an environment including a travel area as a guide. A travel route storage unit that stores a travel route to be set; and a destination setting unit that sets a destination to be reached by the automatic transport vehicle based on the travel route. And an automatic guided vehicle control system that travels along a travel route to reach the destination, and an automatic guided vehicle control system.
また、本発明によれば、上記自動搬送車コントロールシステムにおける座標記憶部に記憶される座標の設定方法であって、自動搬送車が走行する走行領域を設定する走行領域設定ステップと、該走行領域を含む環境から不変的な特徴点を選定する特徴点選定ステップと、複数の該特徴点を道標として走行領域の座標を作成する座標作成ステップと、を少なくとも備えた自動搬送車コントロールシステムにおける走行領域の座標の設定方法が提供される。 Further, according to the present invention, there is provided a method for setting coordinates stored in the coordinate storage unit in the automatic guided vehicle control system, the traveling region setting step for setting a traveling region in which the automatic guided vehicle travels, and the traveling region A traveling region in an automatic guided vehicle control system comprising at least a feature point selecting step for selecting an invariant feature point from an environment including a coordinate creating step for creating a coordinate of the traveling region using the plurality of feature points as a guide A method for setting the coordinates is provided.
なお、本発明の「不変的な特徴点」とは、自動搬送車が走行する走行経路を変更し、新たな走行経路を設定する必要がある場合であっても、なんら変更する必要のない走行領域における特徴点を示すものである。 The “invariant feature point” of the present invention refers to a travel that does not need to be changed even when it is necessary to change the travel route on which the automatic guided vehicle travels and to set a new travel route. It shows feature points in the region.
本発明の自動搬送車コントロールシステムは、自動搬送車が、道標を認識する道標認識手段を備え、該自動搬送車の自動走行を制御する制御手段は、走行領域を含む環境から選定される不変的な特徴点を道標とする座標を記憶する座標記憶部と、該座標に基づいて設定される走行経路を記憶する走行経路記憶部と、該走行経路に基づいて該自動搬送車が到達すべき目的地を設定する目的地設定部と、該自動搬送車は、該道標を認識して走行経路を走行して該目的地に到達することから、自動搬送車が走行するための誘導体を搬送経路に設置する必要がなく、例えば、生産現場に適用される場合であれば、生産工程の変更や、現場のレイアウトが変更になっても、該誘導体の撤去や、再敷設の必要がなく、容易に新たな搬送経路の設定が可能であり、生産効率が向上する。 The automatic guided vehicle control system according to the present invention includes a signpost recognition means for the automatic guided vehicle to recognize a signpost, and the control means for controlling the automatic traveling of the automatic guided vehicle is selected from an environment including a traveling area. A coordinate storage unit that stores coordinates having a characteristic point as a signpost, a travel route storage unit that stores a travel route that is set based on the coordinates, and a purpose that the automatic transport vehicle should reach based on the travel route Since the destination setting unit that sets the ground and the automatic transport vehicle recognize the signpost and travel along the travel route to reach the destination, a derivative for the automatic transport vehicle to travel is used as the transport route. There is no need to install, for example, if it is applied to the production site, even if the production process is changed or the layout of the site is changed, it is not necessary to remove the derivative or to re-lay it easily. A new transfer route can be set. Ri, thereby improving the production efficiency.
さらに、本発明の自動搬送車コントロールシステムにおける走行領域の座標の設定方法によれば、走行領域を含む環境から選定される不変的な特徴点を道標とする座標を効率よく設定することができる。 Furthermore, according to the method for setting the coordinates of the travel area in the automatic guided vehicle control system of the present invention, it is possible to efficiently set the coordinates using the invariant feature points selected from the environment including the travel area as a guide.
以下、本発明による自動搬送車のコントロールシステム、及び座標の設定方法について添付図面を参照して、更に詳細に説明する。 Hereinafter, a control system for an automatic guided vehicle and a coordinate setting method according to the present invention will be described in more detail with reference to the accompanying drawings.
図１には、本発明に基づいて構成された自動搬送車コントロールシステムに適用される自動搬送車１０の概略図が示されており、（ａ）は側面図、（ｂ）は平面図である。自動搬送車１０は、例えば、横幅が略１ｍ、前後方向の長さが略１．５ｍ程度の寸法であって、四輪で走行するように構成され、操舵輪である前輪１１ａと駆動輪である後輪１１ｂを備えている。図中（ａ）、（ｂ）に示すように、搬送荷物を積載する積載面となる上面１０ａの前方側には、自動搬送車１０を操作するための操作パネル１２が配設され、下面１０ｂ側の前方側及び後方側には、本発明の道標認識手段として配設される鉄筋探査手段１３ａ、１３ｂが配設されている。また、下面１０ｂの中央には、自動搬送車１０とは別途設けられる制御手段が構築されるコンピュータと無線通信するためのアンテナ１４が配設されている。自動搬送車１０の内部における該操作パネル１２の近傍には、自動搬送車１０に備えられる種々の装置を作動させるためのコンピュータ１５が配設されている。なお、自動搬送車１０には、これらの他に、前輪１１ａを自動で操舵するための自動操舵機構、駆動輪１１ｂを駆動するための駆動モータ及びバッテリー、さらには、障害物に接近したことを検知して自動搬送車１０を停止させるための近接センサ、非常停止ボタン等が配設されているが、自動搬送車１０に備えられる一般的な装置については図示を省略している。 FIG. 1 shows a schematic diagram of an automated guided vehicle 10 applied to an automated guided vehicle control system constructed according to the present invention, where (a) is a side view and (b) is a plan view. . The automated guided vehicle 10 has dimensions of, for example, a width of about 1 m and a length in the front-rear direction of about 1.5 m, and is configured to travel with four wheels, and includes a front wheel 11 a that is a steering wheel and a drive wheel. A certain rear wheel 11b is provided. As shown in FIGS. 4A and 4B, an operation panel 12 for operating the automatic guided vehicle 10 is disposed on the front side of the upper surface 10a serving as a loading surface on which the load is loaded, and the lower surface 10b. Reinforcing bar exploration means 13a and 13b arranged as signpost recognition means of the present invention are arranged on the front side and the rear side of the side. In addition, an antenna 14 for wireless communication with a computer in which control means provided separately from the automatic guided vehicle 10 is constructed is disposed in the center of the lower surface 10b. A computer 15 for operating various devices provided in the automatic conveyance vehicle 10 is disposed in the vicinity of the operation panel 12 inside the automatic conveyance vehicle 10. In addition to the above, the automatic guided vehicle 10 includes an automatic steering mechanism for automatically steering the front wheels 11a, a drive motor and a battery for driving the drive wheels 11b, and a fact that an obstacle has been approached. A proximity sensor, an emergency stop button, and the like for detecting and stopping the automatic transport vehicle 10 are provided, but illustration of a general device provided in the automatic transport vehicle 10 is omitted.
該自動搬送車１０の鉄筋探査手段１３ａ、１３ｂについてより具体的に説明する。自動搬送車１０の下面１０ｂの前方側、及び後方側には、上述したように、走行を予定する床面内部に埋設された鉄筋の組み付け形態を検知するための鉄筋探査手段１３ａ、１３ｂが配設されている。該鉄筋探査手段１３ａ、１３ｂとしては、コンクリートの内部を検査する非破壊検査の手段として知られている種々の方法を採用することができるが、本実施形態の鉄筋探査手段１３ａ、１３ｂにおいては、例えば、電磁レーダー法を実施する構成を採用することができる。本発明の自動搬送車１０は、走行しながら該鉄筋探査手段１３ａ、１３ｂを構成する送信アンテナから電磁波をコンクリートの床面に向けて放射する。その電磁波は床面を構成するコンクリートを透過して床面内部に埋設された鉄筋で反射され、再びコンクリート表面に出て鉄筋探査手段１３ａ、１３ｂに内蔵された受信アンテナにて受信され、各々の鉄筋の位置を検出することができる。また、この送信から受信に至るまでの時間から、反射物体までの距離、すなわち鉄筋までの深さも同時に知ることができる。鉄筋検査手段１３ａ、１３ｂによって検出された鉄筋の位置情報は随時アンテナ１４から送信され、制御手段が構築されたコンピュータに送られ、床面内部の鉄筋の組み付け形態を認識する。 The reinforcing bar exploration means 13a and 13b of the automatic transport vehicle 10 will be described more specifically. As described above, reinforcing bar exploration means 13a and 13b for detecting the manner of assembling reinforcing bars embedded in the floor surface on which traveling is planned are arranged on the front side and the rear side of the lower surface 10b of the automatic guided vehicle 10. It is installed. As the reinforcing bar exploration means 13a and 13b, various methods known as non-destructive inspection means for inspecting the inside of concrete can be adopted. However, in the reinforcing bar exploration means 13a and 13b of the present embodiment, For example, the structure which implements an electromagnetic radar method is employable. The automated guided vehicle 10 of the present invention radiates electromagnetic waves from a transmitting antenna constituting the reinforcing bar exploration means 13a and 13b toward a concrete floor surface while traveling. The electromagnetic waves are transmitted through the concrete constituting the floor surface and reflected by the reinforcing bars embedded in the floor surface. The electromagnetic waves again come out on the concrete surface and are received by the receiving antennas incorporated in the reinforcing bar exploration means 13a and 13b. The position of the reinforcing bar can be detected. Further, from the time from transmission to reception, the distance to the reflecting object, that is, the depth to the reinforcing bar can be known at the same time. Reinforcing bar position information detected by the reinforcing bar inspection means 13a, 13b is transmitted from the antenna 14 at any time and sent to the computer in which the control means is constructed, and the assembling form of the reinforcing bars inside the floor surface is recognized.
本発明の自動搬送車コントロールシステムは、上述した自動搬送車１０の走行を制御する制御手段２０を備えている（図２を参照。）。制御手段２０は、例えば、生産現場の事務所等に配設されるコンピュータにより構成され、制御プログラムに従って演算処理する中央演算処理装置（ＣＰＵ）と、制御プログラム等を格納するリードオンリメモリ（ＲＯＭ）と、検出した検出値、演算結果等を一時的に格納するための読み書き可能なランダムアクセスメモリ（ＲＡＭ）と、入力インターフェース、及び出力インターフェースとを備えている（詳細についての図示は省略。）。制御手段２０は、座標記憶部２０１、走行経路設定部２０２、目的地設定部２０３、交信部２０４、及び走行コントロール部２０５を少なくとも備えており、この制御手段２０の作用については、おって詳述する。 The automatic guided vehicle control system of the present invention includes control means 20 for controlling the traveling of the automatic guided vehicle 10 described above (see FIG. 2). The control means 20 is composed of, for example, a computer disposed in a production site office or the like, and a central processing unit (CPU) that performs arithmetic processing according to a control program, and a read-only memory (ROM) that stores the control program and the like. And a readable / writable random access memory (RAM) for temporarily storing detected values and calculation results, an input interface, and an output interface (details are not shown). The control unit 20 includes at least a coordinate storage unit 201, a travel route setting unit 202, a destination setting unit 203, a communication unit 204, and a travel control unit 205. The operation of the control unit 20 will be described in detail. To do.
本発明は、自動搬送車の走行領域に含まれる不変的な特徴点を道標とし、該道標に基づいて走行領域上の位置を特定するための座標を設定する方法を含むものであり、以下に、該座標の設定方法について説明する。 The present invention includes a method of setting an invariant feature point included in a travel area of an automated guided vehicle as a signpost and setting coordinates for specifying a position on the travel area based on the signpost. A method for setting the coordinates will be described.
本実施形態では、コンクリート床面に網目状に組んで埋設された鉄筋の組み付け形態として網目形状を道標とする。より具体的には、図３の（ａ）に示すように、コンクリートが流し込まれ床面２を形成する空間に、点線で示す鉄筋２１が略２０ｃｍ間隔の網目形状に組まれ埋設されている。この鉄筋２１を組む作業は、コンクリートが流し込まれる前に、通常人手の作業にて行われるため、網目状を形成する鉄筋の間隔は相応のばらつきを含んでおり、厳密に見ればいずれの場所においても一定の形状ではなく、一旦床面２を形成したならば、床面２が破壊されない限り、各網目の形状は変化することがない。そこで、本実施形態では、このばらつきを有する各所の網目形状を鉄筋の組み付け形態として検出し、これを不変的な特徴点として選定し、この網目形状を基に座標を設定する。なお、本発明における「鉄筋の組み付け形態」としては、上記鉄筋の網目形状に限定されるものではなく、網目形状に鉄筋を組み付ける際の交点の間隔や、交点を留める針金の結び目の形状等、床面内の位置によって異なる特徴を示し、道標として外部から認識可能なものであれば、どのようなものでも採用することができる。 In this embodiment, a mesh shape is used as a signpost as an assembling form of reinforcing bars embedded in a mesh form on a concrete floor surface. More specifically, as shown in (a) of FIG. 3, the reinforcing bars 21 indicated by dotted lines are embedded and embedded in a mesh shape at intervals of approximately 20 cm in a space where concrete is poured and forms the floor surface 2. Since the operation of assembling the reinforcing bars 21 is usually performed manually before the concrete is poured, the interval between the reinforcing bars forming the mesh pattern includes a corresponding variation. However, once the floor surface 2 is formed, the shape of each mesh does not change unless the floor surface 2 is destroyed. Therefore, in the present embodiment, the mesh shape of each part having this variation is detected as an assembling form of the reinforcing bar, this is selected as an invariant feature point, and coordinates are set based on this mesh shape. The `` rebar assembling form '' in the present invention is not limited to the mesh shape of the reinforcing bar, the interval between the intersection points when assembling the reinforcing bars to the mesh shape, the shape of the wire knot that holds the intersection point, etc. Any feature can be used as long as it shows different characteristics depending on the position on the floor and can be recognized as a signpost from the outside.
上記した座標の設定方法について、より具体的に説明する。本実施形態では、生産現場を新設するに際し、生産設備等の装置を搬入する前に、すなわち、床面２上に何もない状態で座標の設定を実行する。図３（ａ）には、生産現場を構成する床面２（１００ｍ×１００ｍ）が示されており、オペレータは、自動搬送車の走行領域を規定する領域の座標を設定すべく、当該床面２の所定領域を走行領域として制御手段２０上に設定する（走行領域設定ステップ。）。上述したように、床面２の内部には、点線で示す網目形状に組まれた直径が略１ｃｍ程度の鉄筋２１が埋設されており、その深さは略１５ｃｍであって、床面２の上方からはその位置が目視できない状態となっている。 The coordinate setting method described above will be described more specifically. In the present embodiment, when a production site is newly established, coordinates are set before carrying in an apparatus such as a production facility, that is, with nothing on the floor 2. FIG. 3A shows a floor surface 2 (100 m × 100 m) constituting the production site, and the operator can set the coordinates of the area that defines the traveling area of the automated guided vehicle. Two predetermined areas are set on the control means 20 as a running area (running area setting step). As described above, a reinforcing bar 21 having a diameter of about 1 cm and embedded in a mesh shape indicated by a dotted line is embedded in the floor surface 2 and has a depth of about 15 cm. The position is not visible from above.
該走行領域設定ステップにより走行領域の外縁が確定されたならば、特徴点選定ステップを実行する。より具体的には、図３（ｂ）に示されているように、特徴点設定開始地点（自動搬送車１０が位置付けられている地点。）から自動搬送車１０を作動して、図中矢印で示す方向にスタートさせる。自動搬送車１０をスタートさせると同時に、鉄筋探査手段１３ａ、１３ｂから、コンクリートを透過し、鉄筋２１で反射する電磁波を照射して、反射された電磁波を受信する。このようにして受信した電磁波を演算処理することによって、図３（ｃ）に示すように、床面２内部に埋設された鉄筋２１の網目形状を検出することができる。この網目形状は、設置段階において既にばらつきを有しているため、各所で検出される網目形状が、検出した位置を示す不変的な特徴点となる。このような網目形状を床面２全面から抽出すべく、自動搬送車１０を、図３（ｂ）の実線及び矢印で示す経路上を走行させ、検出される網目形状を制御手段２０に随時所定時間間隔で記憶する。なお、図３（ｂ）では、説明の都合上、自動搬送車１０が走行して鉄筋２１の検査を実行する経路を概略で示しているが、鉄筋検出手段１３ａ、１３ｂの検出幅が自動搬送車１０の幅と同様に略１ｍであるため、床面２全体の鉄筋２１を検出するためには、少なくとも１００往復の走行を必要とする。こうして、走行領域を形成する床面２の全面を自動搬送車１０が走行して、走行領域に埋設された鉄筋２１による全ての網目形状が検出できたならば、各網目形状を合成し、図３（ｄ）に示すような床面２全体の網目形状を生成する（特徴点選定ステップ。）。なお、図３に示す鉄筋２１による網目形状は、説明の都合上、床面２との本来の寸法比よりも間隔を大きく表記しており、実際の寸法比に従えば図示したものよりもより細かい網目形状となる。 If the outer edge of the travel area is determined by the travel area setting step, the feature point selection step is executed. More specifically, as shown in FIG. 3B, the automatic guided vehicle 10 is operated from the feature point setting start point (the point where the automatic guided vehicle 10 is positioned), and the arrow in the figure. Start in the direction indicated by. At the same time as the automatic guided vehicle 10 is started, an electromagnetic wave that passes through the concrete and is reflected by the reinforcing bar 21 is irradiated from the reinforcing bar searching means 13a and 13b, and the reflected electromagnetic wave is received. By calculating the received electromagnetic waves in this manner, the mesh shape of the reinforcing bars 21 embedded in the floor 2 can be detected as shown in FIG. Since this mesh shape has already varied at the installation stage, the mesh shape detected at various places becomes an invariant feature point indicating the detected position. In order to extract such a mesh shape from the entire floor surface 2, the automatic transport vehicle 10 is caused to travel on the route indicated by the solid line and the arrow in FIG. 3B, and the detected mesh shape is determined by the control means 20 as needed. Remember at time intervals. For convenience of explanation, FIG. 3B schematically shows a route on which the automated guided vehicle 10 travels and inspects the reinforcing bar 21. However, the detection width of the reinforcing bar detecting units 13a and 13b is automatically conveyed. Since it is about 1 m like the width of the car 10, at least 100 reciprocations are required to detect the reinforcing bars 21 on the entire floor 2. Thus, if the automatic guided vehicle 10 travels over the entire surface of the floor 2 forming the travel region and all the mesh shapes by the reinforcing bars 21 embedded in the travel region can be detected, the respective mesh shapes are synthesized, and FIG. A mesh shape of the entire floor surface 2 as shown in 3 (d) is generated (feature point selection step). Note that the mesh shape of the reinforcing bars 21 shown in FIG. 3 is shown with a larger interval than the original dimensional ratio with the floor surface 2 for convenience of explanation, and according to the actual dimensional ratio, it is more than the illustrated one. It becomes a fine mesh shape.
該特徴点選定ステップにより走行領域全体の網目形状が検出されたならば、複数の該特徴点、すなわち各網目形状を道標として、走行領域の座標を作成する。より具体的には、上述した特徴点選定ステップにおいて形成された床面２全体の網目形状の画像情報上に、図３（ｄ）に示すように座標を作成する。該座標は、図中横方向をＸ軸方向、縦方向をＹ軸方向とし、各網目形状の交点のうち、最も左下の交点の座標を、該座標の基準となる（Ｘ１1，Ｙ１1）とし、各網目形状の交点に対し、座標（Ｘ１1，Ｙ１1）〜（Ｘｑｎ，Ｙｍｐ）を付して、該網目形状の画像情報に関連付けて、画像情報と共に該座標情報を該座標記憶部２０１に記憶する(座標作成ステップ）。なお、図３（ｃ）で示される網目形状は、図３（ｄ）における点線Ｗで示す範囲を示しており、該座標作成ステップにより作成された座標を図３（ｃ）にも示している。以上により、本発明に基づく座標の設定方法が完了する。 When the mesh shape of the entire travel area is detected by the feature point selection step, the coordinates of the travel area are created using the plurality of feature points, that is, each mesh shape as a guide. More specifically, coordinates are created as shown in FIG. 3D on the mesh-shaped image information of the entire floor surface 2 formed in the above-described feature point selection step. In the figure, the horizontal direction in the figure is the X-axis direction, the vertical direction is the Y-axis direction, and the coordinate of the lower left intersection among the intersections of each mesh shape is the reference of the coordinates (X 11 , Y 11 ) The coordinates (X 11 , Y 11 ) to (X qn , Y mp ) are attached to the intersections of each mesh shape, and the coordinate information is associated with the image information together with the image information of the mesh shape. It memorize | stores in the memory | storage part 201 (coordinate preparation step). The mesh shape shown in FIG. 3C indicates the range indicated by the dotted line W in FIG. 3D, and the coordinates created by the coordinate creation step are also shown in FIG. . The coordinate setting method based on the present invention is thus completed.
該座標の設定が行われ、座標記憶部２０１に鉄筋２１により形成された網目形状に関連付けられた座標の情報が記憶されたならば、該座標に基づいて走行経路を設定可能な状態となる。上述した座標の設定がなされた後は、床面２上に構成される生産設備等の搬入を行い、レイアウトを確定させる。床面２上における生産設備のレイアウトが確定したならば、該生産設備を避けて、自動搬送車１０を走行させる走行経路Ｒの設定を行う。より具体的には、図４に示すように、該座標の情報に基づいて自動搬送車１０を走行させる走行経路Ｒをオペレータが設定する。この際、図４では省略されているが、生産設備のレイアウトを該走行領域の画像に重ね合わせ、該生産設備を避けるように走行経路Ｒの設定を行うことが好ましい。このようにして走行経路Ｒを設定したならば、該走行経路Ｒの情報は、該座標の情報と共に走行経路設定部２０２に記憶される。このように、床面２の位置を特定するための座標が生成され、走行経路Ｒが設定されたならば、実際に自動搬送車１０が自動走行することが可能な状態となる。 If the coordinates are set and the coordinate information associated with the mesh shape formed by the reinforcing bars 21 is stored in the coordinate storage unit 201, the travel route can be set based on the coordinates. After the above-described coordinates are set, the production equipment configured on the floor surface 2 is carried in to determine the layout. If the layout of the production facility on the floor 2 is determined, the travel route R for traveling the automatic guided vehicle 10 is set while avoiding the production facility. More specifically, as shown in FIG. 4, the operator sets a travel route R for traveling the automatic guided vehicle 10 based on the information on the coordinates. At this time, although omitted in FIG. 4, it is preferable to set the travel route R so as to avoid the production facility by superimposing the layout of the production facility on the image of the travel region. If the travel route R is set in this way, the information on the travel route R is stored in the travel route setting unit 202 together with the coordinate information. As described above, when the coordinates for specifying the position of the floor surface 2 are generated and the travel route R is set, the automatic guided vehicle 10 can actually automatically travel.
上述したように、床面２上を該座標の情報に基づいて走行経路Ｒの設定がなされ自動搬送車の走行が可能な状態となったならば、オペレータによって自動搬送車が到達すべき目的地が設定される。図５に基づいて、３台の自動搬送車１０Ａ、１０Ｂ、１０Ｃが目的地Ｐ１、Ｐ２、Ｐ３に自動走行する過程を説明する。 As described above, when the travel route R is set on the floor surface 2 based on the coordinate information and the automatic transport vehicle can travel, the destination to which the automatic transport vehicle should reach by the operator Is set. Based on FIG. 5, a process in which the three automatic transport vehicles 10A, 10B, and 10C automatically travel to the destinations P1, P2, and P3 will be described.
図５（ａ）に示すように、自動搬送車１０Ａ〜１０Ｃは、搬送作業を実行しない状態では、搬送すべき部品などの荷物がストックされている待機位置に位置付けられる。この状態で、搬送すべき荷物が搭載され、該荷物を搬送する際には、オペレータが制御手段２０の目的地設定部２０３に対し、自動搬送車１０Ａに対しての目的地Ｐ１、自動搬送車１０Ｂに対しての目的地Ｐ２、自動搬送車１０Ｃに対しての目的地Ｐ３を設定し記憶する。そして、各自動搬送車１０Ａ〜１０Ｃが各目的地Ｐ１〜Ｐ３に向かうための最短経路を演算し、走行コントロール部２０５によって各自動搬送車１０Ａ〜１０Ｃに対して必要な走行指示を決定し、交信部２０４を介して走行指示情報を送信する。なお、走行コントロール部２０５により決定される走行指示は、走行速度（加速、減速、停止を含む）、前進、後進、左折、右折等である。 As shown in FIG. 5A, the automatic transport vehicles 10A to 10C are positioned at a standby position where goods such as parts to be transported are stocked in a state where the transport work is not executed. In this state, a load to be transported is loaded, and when the load is transported, the operator sends the destination P1 for the automatic transport vehicle 10A, the automatic transport vehicle to the destination setting unit 203 of the control means 20. The destination P2 for 10B and the destination P3 for the automated guided vehicle 10C are set and stored. And the shortest path | route for each automatic conveyance vehicle 10A-10C heading to each destination P1-P3 is calculated, a travel instruction | indication required with respect to each automatic conveyance vehicle 10A-10C is determined by the traveling control part 205, and communication is carried out. The travel instruction information is transmitted via the unit 204. The travel instructions determined by the travel control unit 205 are travel speed (including acceleration, deceleration, and stop), forward, reverse, left turn, right turn, and the like.
該走行コントロール部２０５により決定され送信された走行指示に基づき、各自動搬送車１０Ａ〜１０Ｃが走行を開始する。走行が開始されると同時に、鉄筋検出手段１３ａ、１３ｂを作動して、床面２に対する電磁波の送信、反射された電磁波の受信を行い、床面２内部に埋設された鉄筋の検出を行う。該検出が実施されると、図３（ｃ）に示すような床面２内部の鉄筋の網目形状が検出される。上述したように、該網目形状は、設置された時点でその間隔にばらつきがあり、検出場所によって、その形状が異なる。よって、現在位置の床面２に埋設された鉄筋２１によって形成される網目形状が検出されたならば、画像認識処理を実行することにより、座標記憶部に記憶された網目形状のいずれの位置と一致するのか画像の照合を実施し、各自動搬送車１０Ａ〜１０Ｃの現在位置と方向とが座標上に特定される。このような処理を所定時間毎（例えば、０．１秒毎）に繰り返すことにより、最短経路として演算された搬送経路上のいずれの位置にいるのかを常に確認しながら、走行コントロール部２０５から走行指示が送信され、目的地Ｐ１〜Ｐ３に向けて走行を継続する（図５（ｂ）を参照。）。そして、目的地Ｐ１〜Ｐ３に近づいたならば、徐々に減速し、目的地Ｐ１〜Ｐ３にて停止動作を行い、各目的地Ｐ１〜Ｐ３にいる作業者が搬送された荷物の搬入作業を行い、作業者による搬入完了指示が各自動搬送車１０Ａ〜１０Ｃに対して実施される。該搬入完了指示がなされた各自動搬送車１０Ａ〜１０Ｃは、次の目的地があればその目的地に向かって走行を再開し、目的地の指示がなければ、上述した待機位置に向けて帰還する。 Based on the travel instruction determined and transmitted by the travel control unit 205, each of the automatic transport vehicles 10A to 10C starts traveling. Simultaneously with the start of traveling, the reinforcing bar detecting means 13a and 13b are operated to transmit electromagnetic waves to the floor surface 2 and receive reflected electromagnetic waves, and detect the reinforcing bars embedded in the floor surface 2. When the detection is carried out, the mesh shape of the reinforcing bars inside the floor surface 2 as shown in FIG. As described above, the mesh shape varies in the interval when it is installed, and the shape varies depending on the detection location. Therefore, if the mesh shape formed by the reinforcing bars 21 embedded in the floor 2 at the current position is detected, any position of the mesh shape stored in the coordinate storage unit can be determined by executing image recognition processing. The images are checked to see if they match, and the current position and direction of each of the automatic transport vehicles 10A to 10C are specified on the coordinates. By repeating such processing every predetermined time (for example, every 0.1 second), the vehicle travels from the travel control unit 205 while constantly checking which position on the transport route calculated as the shortest route. The instruction is transmitted, and the traveling is continued toward the destinations P1 to P3 (see FIG. 5B). Then, when approaching the destinations P1 to P3, the vehicle gradually decelerates, stops at the destinations P1 to P3, and the workers at the respective destinations P1 to P3 carry in the packages that have been transported. A carry-in completion instruction by the operator is performed on each of the automatic transport vehicles 10A to 10C. Each of the automated guided vehicles 10A to 10C instructed to carry-in resumes traveling toward the destination if there is a next destination, and returns to the standby position described above if there is no instruction for the destination. To do.
上述したように、本実施形態における自動搬送車１０Ａ〜１０Ｃは、床面２内に埋設された鉄筋２１によって形成される網目形状を道標として認識し、該網目形状に基づいて規定された座標で床面２上の位置及び方向が特定され、該座標に基づいて目的地までの走行を行う。この床面２内の鉄筋２１の位置は、床面が破壊されない限り変化しない不変的な特徴点であり、床面２上を自動搬送車１０Ａ〜１０Ｃ以外の、例えばフォークリフト、手動のハンドリフト、或いは作業者がいくら通行しても、摩耗したり、損傷したりする恐れがなく、また、床面２上の表面が多少破損しても、或いは塗料等が塗布されて模様が変化しても影響を受けることがない。よって、床面２上に設置される生産設備のレイアウトが変更になっても、誘導体の撤去、再設置の必要がなく、また、座標作成ステップを繰り返し実施する必要もなく、新たなレイアウトになった後に、既に記憶されている鉄筋２１の網目形状に基づく座標に基づいて、制御手段２０によって走行経路Ｒを設定するだけで、自動搬送車を走行させる新たな走行経路Ｒを再設定することができる。なお、該鉄筋検査手段１３ａ、１３ｂは自動搬送車１０の前後にそれぞれ配設されていることから、１箇所で検出する場合に比して、自動搬送車の向きを含む現在位置の認識精度を向上させることができる。 As described above, the automated guided vehicles 10A to 10C in the present embodiment recognize the mesh shape formed by the reinforcing bars 21 embedded in the floor surface 2 as a guidepost, and have coordinates defined based on the mesh shape. The position and direction on the floor surface 2 are specified, and the vehicle travels to the destination based on the coordinates. The position of the reinforcing bar 21 in the floor surface 2 is an invariant feature point that does not change unless the floor surface is destroyed. For example, forklifts, manual handlifts, and the like other than the automatic transport vehicles 10A to 10C on the floor surface 2. Or, no matter how much the operator passes, there is no risk of being worn or damaged, even if the surface on the floor 2 is slightly damaged, or even if the pattern is changed by applying paint or the like. Not affected. Therefore, even if the layout of the production equipment installed on the floor 2 is changed, there is no need to remove and re-install the derivative, and there is no need to repeat the coordinate creation step, resulting in a new layout. After that, based on the coordinates based on the mesh shape of the reinforcing bars 21 already stored, it is possible to reset the new traveling route R for traveling the automatic guided vehicle only by setting the traveling route R by the control means 20. it can. Since the reinforcing bar inspection means 13a and 13b are respectively arranged before and after the automatic conveyance vehicle 10, the accuracy of recognizing the current position including the direction of the automatic conveyance vehicle can be improved as compared with the case where detection is performed at one place. Can be improved.
また、複数の自動搬送車１０Ａ〜１０Ｃを走行させる場合は、各自動搬送車の位置をお互いに無線通信により知らせることで、必要により迂回路を設定することもできる。さらに、本実施形態では、走行コントロール部２０５を、自動搬送車とは別に配設されるコンピュータに制御手段２０に構築することにしたが、本発明はこれに限定されない。上記した制御手段２０の機能を、自動搬送車１０Ａ〜１０Ｃに積載されるコンピュータ１５に構築することもできる。すなわち、上述した座標作成ステップにおいて作成した床面２の座標情報を自動搬送車１０Ａ〜１０Ｃのコンピュータ１５に記憶させる。そして、自動搬送車１０Ａ〜１０Ｃが認識する現在の位置情報に基づいて演算される走行指示を、自動搬送車１０Ａ〜１０Ｃに搭載されるコンピュータ１５から行う。このようにすれば、床面２上を走行する自動搬送車の数が多くなっても、複数の自動搬送車を同時に管理するコンピュータの演算負荷が過大になることがなく、スムースに走行経路を走行させることができる。このようにすると、自動搬送車自身で完全に自走することができるため、走行開始から目的地に到着するまで無線通信に頼ることなく荷物を搬送させることができるという効果も得られる。 When traveling a plurality of automatic transport vehicles 10A to 10C, a detour can be set if necessary by notifying the positions of the respective automatic transport vehicles by wireless communication with each other. Furthermore, in the present embodiment, the traveling control unit 205 is constructed in the control means 20 in a computer that is arranged separately from the automatic guided vehicle, but the present invention is not limited to this. The function of the above-mentioned control means 20 can also be constructed in the computer 15 loaded on the automatic transport vehicles 10A to 10C. That is, the coordinate information of the floor surface 2 created in the coordinate creation step described above is stored in the computer 15 of the automated guided vehicles 10A to 10C. And the driving | running | working instruction | indication calculated based on the present position information which automatic conveyance vehicle 10A-10C recognizes is performed from the computer 15 mounted in automatic conveyance vehicle 10A-10C. In this way, even if the number of automated guided vehicles traveling on the floor surface 2 increases, the computational load of a computer that simultaneously manages a plurality of automated guided vehicles does not become excessive, and the traveling route can be set smoothly. It can be run. In this way, since the automated guided vehicle itself can be completely self-propelled, it is possible to obtain an effect that the package can be conveyed without depending on wireless communication from the start of traveling to the arrival at the destination.
上記した実施形態では、道標となる不変的な特徴点を床面内に埋設される鉄筋の網目形状から得ていたが、本発明はこれに限定されない。床面内に特徴点となるような鉄筋を埋設できないような床面、例えば、病院の廊下等であれば、位置によって柄が異なるように描画されたカーペット等を用いてもよい。この場合は、道標認識手段としては、鉄筋検出手段ではなく、自動搬送車に搭載されるカメラを用いて床面を撮像して特徴点選定ステップ、座標作成ステップを実行し、該特徴点によって特定される座標の情報に基づいて走行経路を設定した後は、該カメラによって得られた撮像情報に含まれる特徴点に基づき自動搬送車の位置及び進行方向を認識し、設定された目的地に到達するように走行を制御する。 In the above-described embodiment, the invariant feature points serving as signposts are obtained from the mesh shape of reinforcing bars embedded in the floor surface, but the present invention is not limited to this. In the case of a floor surface that cannot embed a reinforcing bar as a feature point in the floor surface, for example, a corridor in a hospital, etc., a carpet or the like drawn with a pattern different depending on the position may be used. In this case, the signpost recognition means is not a reinforcing bar detection means, but uses a camera mounted on an automated guided vehicle to capture the floor surface and execute a feature point selection step and a coordinate creation step. After setting the travel route based on the coordinate information, the position and the traveling direction of the automatic guided vehicle are recognized based on the feature points included in the imaging information obtained by the camera, and the set destination is reached. To control the running.
本実施形態では、自動搬送車に搭載し床面を構成するコンクリート内の鉄筋を検出する手段として、電磁波を照射してその位置を検出する電磁レーザー法を実施したが、本発明はこれに限定されず、床面に対してＸ線を照射して内部の鉄筋を検出する方法や、検出用のコイルに交流電流を流すことによってできる磁界内に、検出対象物である鉄筋を位置付ける事によって床面内部の鉄筋を検出する方法等、コンクリート内の鉄筋の配設状況を検出する非破壊検査で用いられる種々の方法を採用することができる。 In the present embodiment, the electromagnetic laser method for detecting the position by irradiating electromagnetic waves is performed as means for detecting the reinforcing bars in the concrete constituting the floor surface mounted on the automated guided vehicle, but the present invention is limited to this. However, it is not possible to detect the internal rebar by irradiating the floor with X-rays, or by positioning the rebar as the object to be detected in the magnetic field generated by passing an alternating current through the detection coil. Various methods used in the non-destructive inspection for detecting the arrangement state of the reinforcing bars in the concrete, such as a method for detecting the reinforcing bars in the surface, can be adopted.
２：床面
１０、１０Ａ、１０Ｂ、１０Ｃ：自動搬送車
１０ａ：上面
１０ｂ：下面
１１ａ：前輪
１１ｂ：後輪
１２：操作パネル
１３ａ、１３ｂ：鉄筋検出手段（道標認識手段）
１４：アンテナ
１５：コンピュータ
２０：制御手段
２１：鉄筋
Ｒ：走行経路
2: Floor surfaces 10, 10A, 10B, 10C: Automatic transport vehicle 10a: Upper surface 10b: Lower surface 11a: Front wheel 11b: Rear wheel 12: Operation panel 13a, 13b: Rebar detection means (signpost recognition means)
14: Antenna 15: Computer 20: Control means 21: Rebar R: Traveling route
Claims (4)
道標を認識する道標認識手段を備えた自動搬送車と、該自動搬送車の自動走行を制御する制御手段と、から少なくとも構成され、
該制御手段は、走行領域を含む環境から選定される不変的な特徴点を道標とする座標を記憶する座標記憶部と、該座標に基づいて設定される走行経路を記憶する走行経路記憶部と、該走行経路に基づいて該自動搬送車が到達すべき目的地を設定する目的地設定部と、を備え、
該自動搬送車は、該道標を認識して走行経路を走行して該目的地に到達する自動搬送車コントロールシステム。 An automated guided vehicle control system for controlling an automated guided vehicle,
An automatic conveyance vehicle provided with a signpost recognition means for recognizing a signpost, and a control means for controlling automatic travel of the automatic conveyance vehicle,
The control means includes a coordinate storage unit that stores coordinates using invariant feature points selected from an environment including a travel region as a guide, and a travel route storage unit that stores a travel route set based on the coordinates. A destination setting unit for setting a destination to be reached by the automated guided vehicle based on the travel route,
The automatic guided vehicle control system that recognizes the signpost and travels along a travel route to reach the destination.
該自動搬送車が備えた道標認識手段は、鉄筋探査手段により床面下の鉄筋の組み付け形態を認識して道標とする請求項１に記載の自動搬送車コントロールシステム。 The signpost is a reinforcing bar embedded in a mesh form in the concrete constituting the floor surface,
2. The automatic guided vehicle control system according to claim 1, wherein the signpost recognition means provided in the automatic conveyance vehicle recognizes the assembling form of the reinforcing bars below the floor surface by the reinforcing bar searching means and uses it as a signpost.
該自動搬送車が備えた道標認識手段は、カーペットの柄を不変的な特徴点と認識して道標とする請求項１に記載の自動搬送車コントロールシステム。 The signpost is a carpet handle arranged on the floor,
2. The automatic conveyance vehicle control system according to claim 1, wherein the signpost recognition means provided in the automatic conveyance vehicle recognizes the pattern of the carpet as an invariant feature point and uses it as a signpost.
自動搬送車が走行する走行領域を設定する走行領域設定ステップと、
該走行領域を含む環境から不変的な特徴点を選定する特徴点選定ステップと、
複数の該特徴点を道標として走行領域の座標を作成する座標作成ステップと、
を少なくとも備えた自動搬送車コントロールシステムにおける走行領域の座標の設定方法。 A method for setting coordinates stored in a coordinate storage unit in the automatic guided vehicle control system according to claim 1,
A travel region setting step for setting a travel region in which the automated guided vehicle travels;
A feature point selection step of selecting an invariant feature point from the environment including the travel region;
A coordinate creation step for creating a coordinate of a travel region using a plurality of the feature points as a guide;
A method for setting coordinates of a travel area in an automatic guided vehicle control system comprising at least
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