JP3201050B2 - Unmanned vehicle guidance system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned vehicle guidance system for automatically driving a vehicle along a wall, for example.

[0002]

2. Description of the Related Art In production plants and the like, an automatic guided vehicle for automatically transporting parts and the like is used as one of the equipment. Automated guided vehicles used for this type of application are primarily intended for automatic transfer of conveyed goods, and it is necessary to accurately position them at predetermined stations and perform stop control, thus minimizing travel deviation. It is necessary, and the fixed route method of laying a guide wire is mainly used. That is,
The automatic guided vehicle detects the magnetism generated by the guidance line,
It is designed to run accurately along the guide line. In addition, unmanned guided vehicles of the type that lays reflective tape etc. along the track and travels while detecting light reflected from it have been developed, and this type can also run accurately on the track. It has become.

[0003]

In a production factory or the like, a visitor may be guided. In this case, it is conceivable to guide the visitor on an automatic guided vehicle. As the guidance system in such an application, it is conceivable to employ the above-described fixed route system, but such accuracy is not required, and laying a guide wire or an optical tape on a traveling road surface requires a large cost. Not valid.
In other words, even if the accuracy is somewhat poor, it is desired to use one that does not require fixed equipment. In addition, since the tour course is often changed, the fixed method is not suitable from this point of view.

[0004] On the other hand, in a production factory, a visitor usually does not enter a group of production facilities but tours along a wall. Therefore, an unmanned vehicle traveling along a wall is required. However, generally speaking, a wall has irregularities and curves, and the wall itself is discontinuous at an entrance or a step. In addition, equipment such as lockers may be arranged, which is rich in variety. In order to cope with such a situation, it is conceivable to install a visual recognition device on an unmanned mobile vehicle and perform automatic driving while recognizing an external situation. However, such a configuration is extremely expensive. , Not realistic.

The present invention has been made in view of the above-described circumstances, and enables an unmanned vehicle to be automatically driven along a wall without laying a guide line or the like and to be configured at a low cost. The purpose is to realize a vehicle guidance system.

[0006]

In order to solve the above-mentioned problems, the invention according to claim 1 comprises a measuring means for measuring a distance between an unmanned vehicle and a wall, and a distance measured by the measuring means. Traveling control means for controlling the steering of the unmanned vehicle to perform traveling control along the wall surface so as to maintain a predetermined value, and traveling control data according to the wall shape in the traveling direction of the unmanned vehicle. And a plurality of ID code transponders provided along the route of the unmanned vehicle, and traveling control data in the ID code transponder provided in the unmanned vehicle when approaching each of the ID code transponders. Reading ID code reading means, wherein the travel control means reads the travel control data when the ID code read means reads the travel control data , based on the travel control data.
The running control is performed by grasping the shape and determining the running mode according to the wall shape .

Further, in the invention according to claim 2,
Each of the ID code transponders is attached to a wall surface of a route of the unmanned vehicle.

According to the third aspect of the present invention, in the unmanned vehicle guidance system according to the first aspect, each of the ID code transponders stores a unique ID number as a part of travel control data. A passing order storing means for storing a passing order of the ID number corresponding to the route;
Route identification means for comparing the ID number read by the ID code reading means with the ID number in the passing order storage means to confirm whether or not the vehicle is traveling on a regular route. And

[0009]

The ID codes in the ID code transponder provided on the route are sequentially read out by ID code reading means.
The traveling control means controls traveling of the unmanned vehicle according to the read ID code. According to the second aspect of the present invention, since each of the ID code transponders is attached to the wall surface of the route, the configuration of the route is extremely easy. According to the third aspect of the present invention, each time the ID number is read, it is determined whether the vehicle is proceeding according to a regular route, so that reliable traveling control corresponding to the route can be performed.

[0010]

【Example】

A: Configuration of Embodiment Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a plan view showing a schematic configuration of an embodiment of the present invention. In the figure, reference numeral 1 denotes an unmanned vehicle, which has drive wheels and steered wheels, and is capable of running on the floor by itself. On the left and right side surfaces of the unmanned vehicle 1, a length measuring device UL, which measures the distance from the reflection time of the transmitted ultrasonic wave to the object to be measured,
A UR is provided. On the front surface and the rear surface of the unmanned vehicle 1, the same length measuring devices UF and UB as described above are provided, and the front and rear walls (or obstacles) are respectively provided.
It measures the distance to it. Note that the measurement distance range of each of the above-described length measuring devices is set to about 0 m to 3 m.

The left and right sides of the unmanned vehicle 1 are provided with ID code requesters TL and TR, respectively, so that information to be described later can be exchanged with an ID code transponder IDR mounted on the wall. Has become.

Here, a block diagram of a control circuit mounted on the unmanned vehicle 1 is shown in FIG. In the figure, reference numeral 10 denotes a CPU that controls each unit of the apparatus, and operates based on a program in the ROM 11. The ROM 11 stores course data to be described later. A RAM 12 temporarily stores various data.

An input unit 13 includes a keyboard and the like.
Input various commands and data. A transmission unit 14 receives instruction data from an external device or a central control room (not shown) and transfers the instruction data to the CPU 10. An optical gyro 15 detects the attitude angle of the unmanned vehicle 1. Reference numeral 16 denotes an encoder that detects the rotation of the drive wheel. The number of pulses output by the encoder 16 corresponds to the traveling distance of the unmanned vehicle 1. Reference numeral 17 denotes a steering control unit, which is a CPU 1
Based on the control of 0, the traveling direction of the steered wheels is controlled. The distance data detected by the length measuring devices UL, URUF, and UB are supplied to the CPU 10 as shown in the figure.
Data is exchanged with the PU 10.

Next, the ID code transponder IDR shown in FIG.
A predetermined number (ID number) is set as shown in FIG. 3, and when an ID code is requested from the ID requester TL or TR, the ID code including the ID number is transmitted. The unmanned vehicle 1 travels based on the ID code transmitted by the ID code transponder IDR. The ID code transponder IDR is provided immediately before the wall shape or state changes (approximately 200 mm before). ing. Further, the unmanned vehicle 1 is controlled so as to travel at a constant distance from the wall surface (details will be described later).

The ID code includes wall information, wall attribute 1 and wall attribute 2 in addition to the ID number.
Here, the wall surface information is information indicating the shape of the wall surface on the traveling direction side of the unmanned vehicle 1, and as shown in FIG. 3, “01” indicating the shape of a concave, a convex, an entrance, an ascending stair, a descending stair, etc. ",
Numerical data of “02”, “03”... Are set. Attribute 1 and attribute 2 are data indicating attributes of each shape. If the shape is a concave portion, the depth of the concave portion and the length of the concave portion (length in the traveling direction) are set. That is, when there is a recess as shown in FIG. 4A, the depth L1 is attribute 1
, The length L2 is set to the attribute 2 respectively. Similarly, FIG.
When there is a protrusion as shown in (b), the depth (projection length) L3 is set to attribute 1 and the length L4 is set to attribute 2.

FIG. 5B shows a case where there is an ascending staircase.
As shown in (2), since the ultrasonic wave transmitted from the length measuring device UL (or UR) is reflected in the middle of the stairs, the detection distance becomes suddenly longer than the side length to the wall surface. As data for dealing with such a case, the attribute 1 has a depth L5,
The width L6 of the stairs (see FIG. 5A) is set to the attribute 2.

On the other hand, when there are down stairs, FIG.
Since the ultrasonic wave transmitted by the length measuring device UL (or UR) is not reflected as shown in the above, data indicating the running mode is set in the attribute 1 as data to cope with this, and the width L7 of the staircase is set in the attribute 2. Set. The driving mode includes, for example, a mode in which the vehicle travels straight with a fixed steering angle, and a mode in which the vehicle travels along a reflective tape or the like laid on a road surface.

The above is the contents of the ID code. Therefore, for example, in the case of the ID code of “31 01 500 3000”, the ID number is “31”,
Immediately before, "01" indicates that the concave portion exists over a depth of 500 mm and a length of 3000 mm. In addition,
The ID code transmitted by the ID code transponder IDR is written in a RAM or the like backed up by a battery, and can be appropriately rewritten.

B: Operation of Embodiment Next, the operation of this embodiment having the above-described configuration will be described. Course 1, course 2, and course 3 shown in FIG.
Each of the courses is set in advance, and when the position of the ID number 12 is set as the start position, the ID numbers sequentially passed are as follows for each course. Course 1: ID (NO12), ID (NO13), I
D (NO14), ID (NO20), ID (NO2
1), ID (NO22) ... Course 2: ID (NO12), ID (NO13), I
D (NO14), ID (NO30) ... Course 3: ID (NO12), ID (NO13), I
D (NO14), ID (NO40) ...

In the ROM 11 shown in FIG. 2, the passing order of the ID numbers in each of the above-described courses is stored in advance. Is read out and referred to each time the vehicle passes through the position of each ID number. Note that an instruction to select a course may be issued from the central command room or the like via the transmission unit 14.

Now, the course 1 is selected, and the unmanned vehicle 1 has the ID
If you start running from the position of number 12, CP
U10 controls the steering control unit 17 so that the distance detected by the length measuring device UL is constant, that is, the distance to the left wall is kept constant. As a result, the unmanned vehicle 1 reaches the position of the ID number 13.

Next, when the ID code requesting unit TL requests an ID code from the ID code responding unit IDR having the ID number 13, the ID code responding unit IDR transmits the ID code stored therein to the ID code requesting unit. Transfer to TL. The CPU 10 stores the transferred ID number and the ROM 1
The course data in ID No. 1 is checked (in order of passing through the ID number), and since this is “13”, it is recognized that the course of Course 1 has been successfully advanced. Further, since the ID code in this case has the wall surface information indicating the shape of the recess and the data of attribute 1 and attribute 2, the CPU 10 knows that the shape of the wall is changed to the recess, and further determines the depth of the recess. Know the length. Then, one of the following controls is performed according to the length L2 of the concave portion.

First, when the length L2 of the concave portion is sufficiently longer than the length of the driverless vehicle 1, the unmanned vehicle 1 turns 90 ° counterclockwise at the entrance of the concave portion so as to travel along the shape of the concave portion. Then, after traveling a distance corresponding to the depth of the concave portion, it turns 90 ° clockwise and proceeds along the longitudinal direction of the concave portion. The traveling control described above is performed according to a traveling program stored in advance based on the depth L1 and the length L2.
In this case, the traveling distance is detected by counting the output pulse of the encoder 16, and the turning angle is controlled by controlling the steering control unit 17 while referring to the output signal of the optical gyro 15. The same control as described above is performed when exiting from the concave portion and returning to traveling along a normal wall surface.

On the other hand, when the length L2 of the concave portion is short, the unmanned vehicle 1 does not travel along the concave portion but goes straight. That is, while passing through the concave portion, the CPU 10
The vehicle travels so that the L detection distance is maintained at 500 mm + L1. The reason for performing such control is that, first, the concave portion is mounted on the unmanned vehicle 1.
When the length is shorter than the length, the unmanned vehicle 1 cannot enter the concave portion and therefore cannot travel along the concave portion. This is because if the steering No. 1 is frequently turned to the left or right, the ride quality deteriorates. After passing through the recess as described above, the unmanned vehicle 1 reaches the position of the ID number 14 (see FIG. 1), and receives the ID code from the ID code transponder IDR in the same manner as described above.

In this case, data indicating that there is an intersection in the traveling direction and data indicating the width of the intersection are received, and attributes (straight, right turn, left turn) for reaching the next ID number are received. Etc.) for all of courses 1-3. In this case, since the CPU 10 has already recognized that the course 1 has been selected, the CPU 10 selects an attribute for reaching the ID number 20, fixes the steering of the unmanned vehicle 1 and moves straight ahead, and proceeds through the intersection. Performs cruise control. When crossing the intersection, the ID code requester TL
From the ID code transponder IDR of ID number 20 to I
Upon receiving the D code, the CPU 10 recognizes that the vehicle has proceeded along the course of Course 1 from the received ID number. In this case, the wall surface information included in the ID code is data indicating a normal wall surface (flat wall surface).

The traveling control is performed as described above, and thereafter, the ID code transponders I of ID numbers 21 and 22 are controlled.
The ID code is sequentially received from the DR, and the traveling control is performed according to the ID code.

When the course 2 or 3 is selected, the vehicle is controlled to travel right or left after traveling a predetermined distance at the intersection, and to reach the next ID number. However, when the course 3 is selected, the next ID code is requested and received by the ID code requesting device TR provided on the right side of the unmanned vehicle 1. If there is a part of the course that passes the up stairs,
As shown in (b), the traveling control is performed so as to keep the distance of the fixed distance + L5, and when there is a portion that passes the descending stairs, for example, the vehicle goes straight with the steering angle fixed from the beginning of the descending stair opening.

Next, a description will be given of traveling control when the wall shape of the course is changed. For example, when an obstacle R such as a locker is placed on a wall surface between the ID number 20 and the ID number 21, an additional ID transponder IDR (not shown) is installed in front of the obstacle R. To ID
Send the code.

The ID code transmitted from the additional ID transponder IDR has the following configuration. That is, “(ID number), (identification flag indicating addition),
(Previous ID number), (later ID number), (wall surface information), (attribute 1), (attribute 2) ".

The ID number in this case is a new unique number, and the identification flag indicating addition indicates that the ID transponder IDR has been added. The previous ID number and the subsequent ID number are ID numbers located before and after the ID transponder IDR on the course of the course. Therefore, in the case of the above-mentioned example, they are "20" and "21". When the additional ID transponder IDR is installed as described above, when the unmanned vehicle 1 reaches the obstacle, the CPU 10 determines the shape and attribute of the obstacle from the ID code transmitted by the additional ID transponder IDR. Is recognized, and travel control is performed in accordance with this. Also, at this time, the CPU 10 confirms that the ID code has been added in the regular route from the data of (previous ID number) and (later ID number) in the ID code, and arrives next. Know the ID number to be used.

The method of adding an additional ID transponder IDR is suitable for traveling control when the state of the wall surface is changed in a short term, and when the state is changed in a long term, the method is adapted to the change. An ID transponder IDR may be provided, and course information (passing order of ID numbers) may be rewritten.

C: Modifications In the present invention, the following modifications are possible. When passing through the descending stairs, a reflective tape or a guide line may be laid on the road surface in advance, and the travel control may be performed so as to follow the tape. When a tile for guiding a visually impaired person is laid at the entrance of the stairs, an uneven surface of the tile may be detected and the tile may be driven along the tile. An iron plate may be laid under the tile for guiding the visually impaired. In this case, traveling can be controlled by detecting the iron plate using a magnetic sensor or the like.

Although the above-described embodiment is an example of an unmanned vehicle on which a visitor is placed in a factory, the present invention is directed to an automatic cleaning vehicle that performs cleaning while running along a wall of a station concourse. It can also be applied when controlling the traveling of the vehicle.

The present invention can also be applied to an amusement park attraction vehicle or an exhibition guide vehicle. In particular, it is suitable when there are many changes in the course and the like.

The ID transponder IDR may be fixed to a support jig provided near the wall surface.
As long as communication with the code requester TR is possible, it may be placed on the floor or mounted on the ceiling.

[0036]

As described above, according to the present invention, an unmanned vehicle can be automatically driven along a wall without laying a guide line or the like, and an inexpensive unmanned vehicle guidance system can be realized. it can.

[Brief description of the drawings]

FIG. 1 is a plan view showing a schematic configuration of an embodiment of the present invention.

FIG. 2 is a block diagram showing an electrical configuration of the embodiment.

FIG. 3 is a diagram showing contents of an ID code in the embodiment.

FIG. 4 is a diagram showing attributes when the wall shape is a concave portion and a convex portion in the embodiment.

FIG. 5 is a diagram showing attributes when there is an up staircase on a wall surface in the embodiment.

FIG. 6 is a diagram showing attributes when there is a descending staircase on a wall surface in the embodiment.

[Explanation of symbols]

 1 Unmanned vehicle 10 CPU (travel control means; route confirmation means) 11 ROM (passing order storage means) 17 Steering control section (travel control means) UL, UR Length measuring device (measuring means) TL, TR ID code requester (ID) Code reading means) IDR ID code transponder

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-57-155611 (JP, A) JP-A-4-291404 (JP, A) JP-A-4-162108 (JP, A) JP-A-4- 104306 (JP, A) JP-A-62-156705 (JP, A) JP-A-60-4814 (JP, A) JP-A-62-49412 (JP, A) (58) Fields investigated (Int. ⁷ , DB name) G05D 1/02

Claims (3)

(57) [Claims] 1. A measuring means for measuring a distance between an unmanned vehicle and a wall surface, and controlling a steering of the unmanned vehicle so that a distance measured by the measuring means maintains a predetermined value. Traveling control means for performing traveling control along a wall surface, storing traveling control data according to the wall shape in the traveling direction of the unmanned vehicle, a plurality of ID code transponders provided along the route of the unmanned vehicle, An ID code reading means provided in the unmanned vehicle, for reading travel control data in the ID code transponder when approaching each of the ID code transponders; When the drive control data is read, the data is read based on the drive control data .
Grasping the wall shape in the traveling direction, according to the wall shape
An unmanned vehicle guidance system, wherein a traveling mode is determined and traveling control is performed. 2. The unmanned vehicle guidance system according to claim 1, wherein each of the ID code transponders is mounted on a wall of a route of the unmanned vehicle. 3. Each ID code transponder has a unique ID.
The unmanned vehicle stores the pass number of the ID number corresponding to the route, and stores the ID number read by the ID code reading means and the pass number. I in the storage means
2. The unmanned vehicle guidance system according to claim 1, further comprising a route confirmation unit that confirms whether or not the vehicle is traveling on a regular route by comparing and collating with a D number.