JP2741284B2 - Stop position detecting display device and stop position detecting device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a stop position detecting display device provided with a reference member for displaying reference member information in a plan view at a station where a mobile vehicle travels automatically, And an apparatus for detecting a stop position of a mobile vehicle that has automatically traveled to a station based on the display information of the reference member, more specifically, based on read information of an imaging unit that reads display information of the reference member on the mobile vehicle. Deviation amount determination means for determining a deviation amount of the moving vehicle from the setting proper stop state with respect to the station,
The present invention relates to a stop position detecting device provided with moving means for automatically moving the image pickup means to the reading set position of the reference member.

[Conventional technology]

Conventionally, a display device for detecting a stop position has a reference member configured to be able to recognize appropriate information for position detection when the entire reference member is imaged by an imaging unit.

For this reason, the stop position detection device ensures that the display information of the reference member can be read even when the moving vehicle stops in a state that is far from the setting proper stop state with respect to the station. In order to satisfy the requirement of accurately detecting the shift amount, the shift amount is detected while changing the imaging field of view of the imaging means to be wide or narrow (see Japanese Patent Application No. 1-83058).

To add an explanation, the imaging unit is configured to be able to change its imaging field of view to be wide and narrow, and based on imaging information of the imaging unit in the state where the imaging field is widened, the position shift amount of the reference member with respect to the center of the visual field is determined. Determining means for determining, and correcting means for moving the imaging means in the horizontal direction such that the reference member is located on the center side of the field of view based on the information of the determining means are provided;
The apparatus is configured to determine the displacement amount based on imaging information of the imaging unit in a state where the imaging field of view is narrowed.

In other words, this conventional means has a point that the reference member can be reliably recognized in a wide imaging field of view even if the deviation amount from the setting appropriate stop state of the moving vehicle is large, and in a narrow imaging field of view,
In view of the fact that the reference member can be recognized with high resolution and the amount of displacement can be detected with high accuracy, the amount of displacement is detected while changing the imaging field of view of the imaging means to a wide or narrow range. By the way, by using an image pickup means capable of recognizing the reference member with high resolution even in a wide image pickup field, it is possible to omit changing the image pickup field to a wide or narrow area, but such an image pickup means is expensive and is not practical. It is difficult to do.

[Problems to be solved by the invention]

However, in the above prior art, even if the reading resolution is increased by setting a narrow imaging field of view, the reading resolution within the screen is limited by the inexpensive imaging means that is usually used, and therefore, the detection processing is not performed. However, the accuracy of detecting the positional deviation amount cannot be sufficiently improved.

The present invention has been made in view of the above circumstances,
Its purpose is to use an inexpensive imaging means, and also to ensure quick detection, while further improving the detection information, a display device for detecting a stop position,
Another object of the present invention is to provide a stop position detecting device that detects a stop position using the display device.

[Means for solving the problem]

The characteristic configuration of the display device for detecting a stop position according to the present invention includes:
The reference member includes a plurality of imaged units separated by a predetermined distance, and at least one of the plurality of imaged units displays information for specifying a position of the image pickup unit with respect to the whole of the imaged units. Further, it is characterized in that it is configured as a position-correction image-capturing part including a plurality of element parts that are two-dimensionally dispersed and arranged.

Further, a characteristic configuration of the stop position detecting device according to the present invention is that the moving means is provided on the moving vehicle by an image pickup unit having a plurality of image pickup units for separately picking up a plurality of image pickup units provided on the reference member. The imaging means for determining a shift amount of the moving vehicle from a setting stop state with respect to the station based on read information for the position-corrected imaging target when the moving vehicle is moved to the reading setting position by the means. Correction position discriminating means for discriminating a correction position at which the moving operation is to be performed, wherein the displacement amount discriminating means for discriminating the displacement amount is read by the imaging means when the moving means moves to the correction position. The apparatus is characterized in that a shift amount is determined based on information read by the imaging means at the reading setting position.

(Operation)

 The operation of the above two features is as follows.

In a state where the moving vehicle is stopped with respect to the station, first, the moving means for moving the imaging means is operated,
The imaging means is moved to a reading setting position corresponding to the reference member provided on the station side, and the display information of the reference member is read by the imaging means. Next, based on the read information, a correction position at which the imaging means should be moved and operated to determine the amount of displacement is determined, and the imaging means is automatically moved to the correction position to read the display information of the reference member. . Then, the shift amount is determined based on the read information at the correction position and the read information at the read setting position.

In the case of detecting the amount of displacement in this manner, an imaging unit having a plurality of narrow-field imaging units with high reading resolution is used to image a portion of the reference member separated by a predetermined distance, and the moving vehicle is stopped. At least one of the plurality of imaging units provided in the reference member is two-dimensionally distributed and arranged so that information on the reference member can be reliably read even when the amount of positional deviation is large. And a plurality of element portions, each of which is configured to display information for specifying its own arrangement position with respect to the entire position-corrected imaging target portion.

For this reason, the imaging unit reads any one of the element parts of the imaging part for position correction at the reading setting position, so that the correction position for positional deviation determination can be determined.

Then, the imaging unit is moved to the determined correction position for the positional deviation determination, and the deviation amount is determined at the corrected position based on the information read by the imaging unit. In this case, at least two of the plurality of imaging units, which are located far apart from each other, are configured to be imaged by the plurality of imaging units, and are shifted using the distance information of the reference member. Since the amount is determined, the detection accuracy can be improved.

In addition, since the reading operation at the correction position and the reading setting position is performed by using a narrow-field imaging unit, the accuracy of detecting the amount of displacement can be improved, and the correction position at which the imaging unit is moved is Since it corresponds to the part to be imaged in the reference member, the moving distance for moving the imaging means is short, and therefore the moving time is short, and the promptness of the detection operation is ensured.

〔The invention's effect〕

Therefore, the display device for detecting a stop position according to the present invention can more accurately and reliably detect the amount of displacement while using a low-priced image sensor having a narrow field of view, and also ensures quick detection operation. It is useful in
The stop position detecting device of the present invention can detect the stop position by taking advantage of the use of the display device.

〔Example〕

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

As shown in FIGS. 1 to 2 and FIG. 4, a work station is provided on a lateral side of a traveling path of a moving vehicle (A) equipped with a load transfer manipulator (1) as a moving means. A plurality of load transfer stations (ST) are installed. Then, as the mobile vehicle (A) stops at the designated station (ST), the load (N) is transferred between the station (ST) and the mobile vehicle (A) by the manipulator (1). The loading work is configured to be performed automatically.

Although not described in detail, the load (N) transferred to the moving vehicle (A) at one station (ST) is unloaded at another station (ST) or processed at the station (ST). Every time the work etc. is completed, it is transferred to the moving vehicle (A) again,
It will be transported to the next station (ST).

However, the moving vehicle (A) is configured to autonomously travel between stations (ST) without using a traveling guide or the like. The station (ST) when stopped at the station (ST) will be described in detail later.
, The amount of displacement (Y) in the vehicle width direction with respect to the reference position in plan view, the amount of displacement (X) in the vehicle longitudinal direction, and
The travel route to the next station (ST) can be automatically corrected based on each deviation amount information of the inclination (θ) in the vehicle longitudinal direction (see FIG. 5).

In the drawing, the stationary reference coordinate axes (hereinafter, referred to as layout coordinate axes) of the traveling control system for a mobile vehicle to which the present invention is applied are X ″, Y ″ axes, and reference coordinate axes fixed to the mobile vehicle (A). The X-axis is defined as the vehicle longitudinal direction, and the Y'-axis is defined as the vehicle width direction. And the center (AC) of the moving vehicle (A)
Is used as the origin of the X 'and Y' coordinate axes, and when the moving vehicle (A) stops in the proper stop state for the station (ST), the center (AC) is set to the reference position (LC) on the layout coordinate axis. And the X "axis and the X 'axis are parallel, and the Y" axis and the Y' axis are parallel.

The traveling route between the stations (ST) will be further described. As shown in FIG. 4, the vehicle longitudinal direction of the moving vehicle (A) is set as the X ″ axis, and the vehicle width direction is set as the Y ″ axis. I have. And two stations (ST
₁ ) and (ST ₂ ), based on the distance (l ₁ ) in the X ″ axis direction and the distance (l ₂ ) in the Y ″ axis direction between the (ST ₂ ) and the normal route for autonomously traveling the mobile vehicle (A). The information of (L ₀ ) is set and stored in advance. However, it is assumed that the moving vehicle (A) travels from one station (ST ₂ ) to the other station (ST ₁ ).

The normal route (L ₀ ) is a straight line section (T ₁ ), (T ₂ ), (T ₃ ) divided into a plurality of straight lines connecting the two stations (ST ₁ ) and (ST ₂ ). The respective distance information, the turning radii (R ₁ ), (R ₂ ) and the turning angle (θ ₁ ) for changing the direction at the connection point of each straight section (T ₁ ), (T ₂ ), and (T ₃ ) , (Θ ₂ ), and the distance information and the turning angle information are previously mapped and stored as travel control information for the mobile vehicle (A).

That is, the moving vehicle (A) moves from the one station (ST ₂ ) to the other station (ST ₁ ) on the basis of the stored traveling control information in the straight sections (T ₁ ) and (T ₁ ).
The vehicle travels autonomously while turning the set angle at the set radius at the connection point of each section so that (T ₂ ) and (T ₃ ) go straight in that order, and automatically stops at the next station (ST ₁ ) They are able to do that.

In FIG. 4, (r ₁ ) and (r ₂ ) are distances between the stations (ST ₁ ) and (ST ₂ ) and the regular route (L ₀ ) in the vehicle width direction.

As shown in FIGS. 1 to 2 and FIG. 6, when the moving vehicle (A) stops at the designated station (ST), the setting of the moving vehicle (A) with respect to the station (ST) is properly performed. The amount of deviation from the stop state is detected, and the operation amount of the manipulator (1) is automatically corrected, or the traveling route when the mobile vehicle (A) travels to the next station (ST) is automatically corrected. Or to make
The moving vehicle (A) is provided with an imaging unit (Sa) including two imaging units (Sai) for imaging a location separated by a predetermined distance (L) in the X-axis direction corresponding to the vehicle longitudinal direction. At the same time, the station (ST) includes two imaging units (3i) arranged so as to be individually imaged by the two imaging units (Sai), respectively. )
Is provided with a reference member (3) for displaying reference position information with respect to.

The mark (3) as the reference member has a mark shown in FIG.
As shown in FIG. 7C, one of the two imaged portions (3i) displays information for specifying its own arrangement position with respect to the entire imaged portion (3i). It has two types of element marks (3C) as element parts, and these two types of element marks (3C) have two predetermined radii centered on the center point (0 ') of the part to be imaged (3i). They are two-dimensionally distributed on the circumference. In addition, on one circumference of the above,
Only element marks of the same type (3C) are arranged.
In the drawing, the X axis is the longitudinal direction of the vehicle, the Y axis is the lateral direction of the vehicle,
The center point (0 ') is set as the origin of the X and Y coordinate axes.

One of the two types of element marks (3C)
Two circles having different diameters (a large circle and a small circle) are arranged at a predetermined distance on a straight line connecting their centers of gravity, and at a predetermined distance on the side of the larger diameter on the extension of this straight line, A center point (0 ') is located, and two pieces each are arranged on the X axis and the Y axis with the center point (0') as the center, that is, a total of four pieces are arranged.

In addition, of the two types of element marks (3C), three circles having different diameters (a large circle, a middle circle, and a small circle) are arranged on a straight line connecting their centers of gravity, and in order of size. And the straight line makes an angle of 45 ° with the X and Y axes, and the central point (0 ′) is located at a predetermined distance on the side with the larger diameter on the extension. In addition, a total of four are arranged in two directions each at an angle of 45 ° with respect to the X and Y axes around the center point (0 ').

Further, another imaged part (3i) of the mark (3)
Is a middle circle, the center of gravity of which is located at a predetermined distance (L) from the center point (0 ') on the X-axis and which is outside the position of the element mark (3C) ( It is arranged at a position near the end of 3).

In addition, in the center of the imaged portion (3i), that is, in the vicinity of the center point (0 '), it is possible to identify which station (ST) the mobile vehicle (A) is stopped at. , And address information assigned in advance is displayed at the same time.

As shown in FIG. 7 (D), the mark (3) is formed by setting a sheet-shaped prism-type light reflector (3a), which totally reflects incident light in the incident direction, to a predetermined size, and has a surface thereof. To
It is a black matte-coated resin flat plate (3b) attached. FIG. 7D shows a cross section taken along the X-axis in FIG. 7A.

The black plate (3b) has the station (ST)
, Four reference position marks (a) to (d) for displaying reference position information, and a plurality of address marks (e) to (e) for displaying the address information in the form of a binary code.
(L) and a plurality of through holes of the same diameter forming respective three types of marks, parity marks (m) to (p) for the address marks (e) to (l), are arranged in a predetermined arrangement. It is formed as follows. That is, the mark (3)
Is formed so that only the portion where the marks (3i), (3c), (a) to (p) are formed is reflected and looks brighter than the surroundings.

Here, an intersection of a line segment connecting diagonally the barycentric positions of the four reference position marks (a) to (d) is located at the center point (0 ') of the one imaged portion (3i). Try to match.

Also, in order to facilitate recognition of which mark, the four reference position marks (a) to (d) are respectively attached to the vertices of a square centered on the center point (0 '). One of the address marks (e) to (l) is divided into upper and lower parts in the X-axis direction along the vehicle front-rear direction inside the reference position marks (a) to (d). And the parity marks (m) to (p) are arranged so as to be aligned in the Y-axis direction along the vehicle width direction.
Are arranged on the lateral sides of the address marks (e) to (l) in the X-axis direction.

The reading of the marks (3i), (3c), (a) to (p) and the determination of the read information are as follows.
It will be described later.

As shown in FIGS. 1 and 2, the moving vehicle (A)
Are provided at a pair of left and right propulsion wheels (6) provided substantially at the center in the front-rear direction of the vehicle body and at respective front and rear end portions of the vehicle body in a state in which the pair of electric motors (5) are individually driven to stop and reversely rotate. And a pair of left and right idler wheels (7). That is, the moving vehicle (A) is configured to be able to change its direction on the spot.

The moving vehicle (A) is equipped with an optical fiber type gyro device (Sb), and detects a deviation of the traveling direction with respect to the regular route (L ₀ ) based on information of the gyro device (Sb). Thus, the pair of electric motors (5) are steered by changing the speed so that the rotational speeds of the pair of left and right propulsion wheels (6) are different.

In FIG. 1, (Sc) is a contact wheel type traveling distance detection sensor provided at a location that is a turning center of the pair of left and right propulsion wheels (6).

As shown in FIG. 3, between the ground-side central control device (8) that manages the operation of the mobile vehicle (A) and the mobile vehicle (A), destination information of the mobile vehicle (A) and the like. Wireless communication devices (9a) and (9b) for communicating various information such as operation command information of the manipulator (1) are provided on the ground side of the mobile vehicle (A). The communication device (9b) on the ground side is connected to the central control device (8), and the communication device (9a) on the mobile vehicle side runs the mobile vehicle (A) and activates the manipulator (1). Is connected to a mobile vehicle controller (10) using a microcomputer mounted on the mobile vehicle (A) to control the vehicle.

In FIG. 3, (11) denotes an image sensor (Sa) described later.
An image processing unit that performs image processing on the image pickup information and transmits the information on the mark (3) to the mobile vehicle controller (10);
(12) is a manipulator controller that controls the operation of the manipulator (1) based on a command from the mobile vehicle controller (10), and (13) is the left and right propulsion wheels (6).
A traveling controller for controlling the operation of a traveling motor (5) driven by a motor; (14) a traveling controller (13);
A driving device for driving the traveling motor (5) based on the instruction of (5). (15) is a device for manually setting destination information for the moving vehicle (A) and performing various operations to recover from an emergency stop or the like. A setting device for manually setting information.

The manipulator (1) will be described in the form of a so-called articulated type as shown in FIGS. 1 and 2, and a load gripper (2) is provided at its tip.
And a two-dimensional image sensor (Sa) as imaging means for reading display information of the mark (3). Although not described in detail, the manipulator (1)
Is operated based on information on an encoder for detecting the amount of operation of the electric motor provided in each joint and various kinds of control information stored in advance to perform a load transfer operation. .

Next, a description will be given of stop position detection for detecting a deviation amount (X, Y, θ) from a setting appropriate stop state of the mobile vehicle (A) in a state where the mobile vehicle (A) is stopped at the station (ST).

The manipulator (1) automatically moves the image sensor (Sa) to a reading set position corresponding to the mark (3) based on a command from the manipulator controller (12), where the image sensor (Sa) Based on the read information obtained by reading the mark (3), the correction position determining means (101) configured by using the moving vehicle controller (10) and the image processing unit (11) moves the image sensor (Sa). The correction position to be corrected is determined, and then the display information of the mark (3) is read by automatically moving the image sensor (Sa) to the correction position.

Then, a deviation amount discriminating means (100) configured using the moving vehicle controller (10) and the image processing unit (11).
However, based on the read information read by the image sensor (Sa) at the correction position and the read information read by the image sensor (Sa) at the read setting position corresponding to the mark (3), the shift amount (X, Y, θ). The image sensor (Sa) is configured to have a narrow imaging field of view so as to read the mark (3) with high resolution, and each of the coordinate axes x and y on the image of the image sensor (Sa) is a moving vehicle ( It is configured to be parallel to the coordinate axes X ', Y' of A).

The operation procedure for detecting the displacement will be described with reference to FIGS. 8 to 10. First, the manipulator (1) is operated with an operation amount set and stored in advance to mark the image sensor (Sa). Move to the reading setting position corresponding to (3).

Here, of the two imaging units (Sai) of the image sensor (Sa), one imaging unit (Sai) is one of the marks (3c) and (a) to (p) formed by the marks (3a) to (p). 3) 1
The imaging section (3i) is set to take an image, and the other imaging section (Sai) is set to take an image of the other imaging section (3i).

However, since the error due to autonomous driving is usually not 0, the XY axis of the mark (3) does not coincide with the XY axis of the imaging field of view (S1) of the image sensor (Sa), and the XY axis The center point (0 '), which is the origin of the XY axis, is also shifted from the origin (G) of the xy axis (see FIG. 8). In the state shown in the figure, the image sensor (Sa) is a narrow-field imaging unit, and the center point (0 ') of the mark (3) is not in the imaging field (S1) because the positional deviation is large. Indicates a state in which one of the element marks (3C) is captured.

Here, the imaging signal from the image sensor (Sa) is input to the image processing unit (11), is binarized based on the contrast of the imaging signal, and then is binarized in the element mark (S1) in the imaging visual field (S1). It is output as coordinate detection information for the entire imaging section (3i) to which 3C) belongs.

In the above example, only one type of element mark (3C) is in the field of view (S1), but two types of element marks (3C) are in the field of view (S1). If they are present, they can be prioritized, and the accuracy of coordinate detection can be increased using, for example, an element mark (3C) consisting of two circles near the center point (0 ').

8, among the three circles forming the element mark (3C), the center of gravity of the largest circle is P, and the center of gravity of the smallest circle is R.

As described above, the center point (0 ') which is the origin of the XY axis is on the extension line connecting the point P and the point R, and the line passing through the point O' and the point P is parallel to the x-axis and the y-axis, respectively. Assuming that the intersection of the minute is Q, a right triangle is formed by three points O ', P, and Q. The angle between the line segment O′P and the y axis is θ3, and the xy of the center of gravity P, R of the circle is
The coordinate values on the coordinate axes are (x ₁ , y ₁ ) and (x ₂ , y ₂ ), respectively.

Next, the information of the image processing unit (11) is input to the mobile vehicle controller (10).

From the figure, Therefore, the deviation angle θ4 between the X axis and the x axis is θ4 = 45 ° −θ
It becomes 3.

The coordinate value (x ₀ , y ₀ ) corresponding to the shift amount of the center point (0 ′) with respect to the origin (G) of the screen coordinate axis xy axis of the image sensor (Sa) is obtained by the following equation.

_{x 0 = O'Q + x 1 =} O'Psinθ3 + x 1 y 0 = QP + y 1 = O'Pcosθ3 + y 1 Here, since the segment O'P is predetermined on configuration of the mark (3), the coordinate values (x ₀ , y ₀ ) is determined as a specific detected information amount.

Finally, an image sensor (Sa)
Is the shift amount (x ₀ , y ₀ ) as a correction amount to be moved.
And the shift angle θ4 are given.

Next, x- of the imaging field of view (S1) of the image sensor (Sa)
The image sensor (Sa) is rotated by the shift angle θ4 about the origin (G) of the screen coordinate axis so that the y coordinate axis overlaps the XY coordinate axis of the mark (3), and further the shift amount (x ₀ , y ₀ ). However, the order of the rotation operation and the parallel movement operation can be arbitrarily set.

Then, the imaging visual field becomes S2 in FIG. Here, S3 is an imaging field of view of the imaging section (3i) formed of one circle, provided with another imaging section (Sai) for angle detection. Normally, even at this stage, the center point (0 ') is deviated from the screen coordinate axis origin (G) due to the measurement and operation errors, and the coordinate axes are not parallel.

In the state of S2, a coordinate value (x ₃ , y ₃ ) which is a shift amount between the center point (0 ′) and the screen coordinate axis origin (G) is obtained. Specifically, four reference position marks (a) to
The center of gravity of (d) is, therefore coincides with the central point (0 '), the amount of deviation between the center-of-gravity position and the screen coordinate origin (G) is the coordinate values (x _3, y ₃₎ ( (See Figure 10).

By adding the detection values obtained in the process of the above-described correction operation, the shift amount (x _g , y _g ) from the center point (0 ′) of the mark (3) to the origin of the screen coordinates can be calculated. It is accurately detected.

x _g = x ₀ + x ₃ y _g = y ₀ + y ₃ Also, the address mark (e) read on the S2 screen
To (l) and the parity marks (m) to (p)
Based on their size and the positional relationship with respect to the reference position marks (a) to (d) set and stored in advance, the presence or absence of the address marks (e) to (l) and the parity marks (m) to (p) And the address of the station (ST) where the mobile vehicle (A) is currently stopped can be determined based on the combination of the presence or absence of the mark.

Next, in order to detect the angle shift, as described above, the imaging field of view corresponding to the imaging section (3i) located at the treatment distance (L) on the X-axis from the center point (0 ') of the mark (3). In (S3), a coordinate value (x ₄ , y ₄ ) that is a shift amount between the center of gravity of the middle circle, which is the imaged portion (3i), and the origin of the screen coordinate axis is detected. Here, assuming that a deviation angle between the X coordinate axis of the mark (3) and the screen coordinate x axis is θ5, (See FIG. 9).

As a result, the deviation angle between the coordinate axis of the mark (3) and the screen coordinate axis can be obtained by adding the detection value θ4 at the set position for reading and the detection value θ5 after the correction operation, and θ = θ4 + θ5. Here, the initial angle shift θ4 is corrected by rotating the image sensor (Sa) as described above,
Since the correction has been made, the above θ5 is a value close to 0. For this reason, even when the angle shift amount is processed based on the screen coordinate values, the angle shift amount can be processed in an imaging region where the screen distortion is small, and a highly accurate result can be obtained. In addition, even if the deviation of the angle is abnormally large, if the image sensor (Sa) is moved to the correction position for the positional deviation detection, the detection operation can be performed without protruding from the imaging field of view.

On the other hand, the X axis corresponding to the vehicle front-rear direction of the mark (3) is attached so as to be parallel to the layout coordinate axis X ″ corresponding to the vehicle front-rear direction of the station (ST). Is configured so as to be parallel to the X 'axis corresponding to the coordinate system fixed on the vehicle body (A) in the vehicle longitudinal direction, and as a result, the vehicle body (A) with respect to the station (ST) Is given by θ.

Also, as described above, the coordinate value of the center (AC) of the moving vehicle (A) can be obtained by moving the image sensor (Sa) to the reading set position by the predetermined operation amount. The coordinate origin of the imaging screen and the center of the moving vehicle (A) (A
Since the arrangement relationship of C) is determined, the coordinate transformation (x _g , y _g ) corresponding to the distance between the center point (0 ′) of the mark (3) and the coordinate origin of the imaging screen is performed as a correction amount. Finally, the shift amount (X, Y) corresponding to the difference between the coordinates of the reference stop position (LC) on the layout coordinate axes and the center position (AC) of the moving vehicle (A) can be obtained. You can ask for it.

Therefore, by correcting the operation amounts of the respective joints which are set and stored in advance based on the values of the deviation amounts (X, Y) and the values of the inclinations (θ), when the moving vehicle (A) stops, Even if the posture at the position deviates from the setting proper stop state with respect to the station (ST), the load gripper (2) of the manipulator (1) removes the load (N) at a predetermined position with respect to the mark (3). It is designed so that it can be grasped properly.

Then, as the load transfer operation is completed, the next station (ST) stored in advance or instructed by the central control device (8) via the communication devices (9a) and (9b). And the reference stop position (L
Deviation (X, Y) of the center (AC) of the moving vehicle (A) with respect to C)
Then, based on the information on the inclination (θ), the traveling direction for traveling to the next station (ST) is corrected to start the automatic traveling.

To explain the correction of the traveling direction, as shown in FIG. 5, the moving vehicle (A) is connected to the station (ST).
Assuming that the vehicle is stopped in a state where there is a positional shift and a tilt in a direction approaching the, firstly, the shift amount (X, Y)
Based on the value of and the value of the inclination (θ), within a range where the moving vehicle (A) does not collide with the station (ST),
The maximum angle (θs) that can be changed in the direction of the normal route (L ₀ ) stored and stored, and the travel distance (Ts) to the contact point (0) with the normal route (L ₀ ) are obtained. The gyro device (Sb) is reset, and information on the detected traveling direction is initialized.

Next, based on the information of the gyro device (Sb), the left and right propulsion wheels (6) are reverse-rotated to spin-turn on the spot, and the inclination (θ) and the maximum changeable angle ( θs) is changed in the direction of the regular route (L ₀ ), and the traveling distance (Ts) is calculated at a low speed based on information from the traveling distance detection sensor (Sc). ) To travel straight ahead and stop at the contact point (0) with the regular route (L ₀ ). Thereafter, the maximum angle (θs) is changed to the station side by a spin turn, and the vehicle travels to the next station (ST) while traveling autonomously along the regular route (L ₀ ) at a set speed. It will start running.

After the automatic driving is started along the regular route (L ₀ ), as described above, the left and right propulsion wheels (6) are operated with a difference in rotational speed based on the information of the gyro device (Sb). The vehicle (A) on the regular route (L ₀ ) based on the information of the traveling distance detecting sensor (Sc).
Automatic stop will be performed when reaching T).

(Another embodiment)

In the above embodiment, the correction is made by the detected value (θ4) of the angle deviation when the operation is performed from the reading setting position to the correction position. However, if the angle deviation is relatively small, this operation is omitted and the operation is omitted. Can be simplified and speeded up.

In the above embodiment, the arrangement direction of the plurality of imaging units (Sai) included in the imaging unit (Sa) (this is the arrangement direction of the plurality of imaging units (3i) included in the reference member (3) at the same time) ) Is parallel to the vehicle front-rear direction (X-axis), but may be any direction, for example, in the vehicle width direction (Y-axis) for convenience of the device.

In the above embodiment, the number of the imaging units (Sai) included in the imaging unit (Sa) and the number of the imaging units (3) included in the reference member (3) are set.
Although the case where the number of i) is set to two is illustrated, the configuration may be three or more. In this case, the two imaging units (Sai) and the imaging unit (3i) correspond to each other. Since there are a plurality of combinations that make one set, the shift amounts (X, Y, θ) as described above are detected for each set, and the average value of the detected values is used as the final shift amount. Therefore, the accuracy of detecting the displacement of the moving vehicle (A) can be further improved.
In this case, the plurality of combinations may be arranged in different directions.

In the above embodiment, the mark (3i), (3c), (a) to (p) displayed on the reference member (3) is formed in a light-reflective manner. May be formed in white and the marks (3i), (3c), (a) to (p) may be formed in black, or may be formed by light projection using a light emitting diode or the like. , Mark (3i), (3c),
The specific shapes of (a) to (p) and the specific configuration of the reference member (3) can be variously changed.

Further, in the above-described embodiment, the case where the mobile vehicle (A) is configured to autonomously travel is exemplified. However, for example, the traveling vehicle (A) automatically travels using a traveling guide using a light reflecting tape, a magnetized guiding band, or the like. The specific configuration of each unit required for carrying out the present invention can be variously changed.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

Drawings show an embodiment of a display device for stop position detection and a stop position detection device according to the present invention, FIG. 1 is a plan view of a state in which a moving vehicle is stopped at a station, FIG.
FIG. 3 is a block diagram of a control configuration, FIG. 4 is an explanatory view of a traveling route, FIG. 5 is an explanatory view of correction of a displacement of a moving vehicle, FIG. 6 is a perspective view showing an imaging state, and FIGS. (D) is a plan view of a reference member, a partial plan view, a partial front sectional view, FIGS.
FIG. 10 is an explanatory diagram of position shift detection. (A)… Moving car, (ST)… Station, (Sa)…
... imaging means, (Sai) ... imaging section, (1) ... moving means, (3) ... reference member, (3i) ... imaging section, (3C)
... Element part (100).
Correction position determination means.

Claims (2)

(57) [Claims] 1. A stop position detecting display device, comprising: a reference member (3) for displaying reference position information in a plan view at a station (ST) in which a mobile vehicle (A) automatically travels;
The reference member (3) includes a plurality of imaged parts (3i) separated by a predetermined distance, and at least one of the plurality of imaged parts (3i) is provided with respect to the entire imaged part (3i). Display information for specifying the location of the self, and
A display device for detecting a stop position, comprising a position-corrected imaging target (3i) including a plurality of two-dimensionally dispersed element parts (3C). 2. A stop position detecting device for detecting a stop position of a moving vehicle (A) automatically traveling to a station (ST) based on display information on a reference member (3) according to claim 1. A moving means provided on the moving vehicle (A) with an imaging means (Sa) provided with a plurality of imaging parts (Sai) for separately imaging a plurality of imaging parts (3i) provided on the member (3); The setting proper stop state of the moving vehicle (A) with respect to the station (ST) based on the reading information for the position-corrected imaging target (3i) when the moving vehicle (A) is moved to the reading setting position by (1). Correction position determining means (101) for determining a correction position at which the imaging means (Sa) is to be moved and operated to determine the amount of deviation from the position; and a deviation amount determining means (100) for determining the deviation amount is provided. Moving to the correction position by the moving means (1). A stop position configured to determine a shift amount based on the read information of the imaging unit (Sa) when moved and the read information and the read information of the imaging unit (Sa) at the read setting position. Detection device.