JP3244642B2 - Mobile body guidance equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile object guidance system capable of self-propelling a target.

[0002]

2. Description of the Related Art Heretofore, the following systems have been known as guidance systems for mobile bodies. a. Electromagnetic induction method An electric wire is laid along the traveling path of the self-propelled transport vehicle (moving body), an alternating current flows to generate a magnetic field, and the self-propelled transport vehicle is provided with a sensor for detecting a magnetic field generated from the electric wire, It travels along the detected magnetic field.

B. Magnetic guidance system A magnetic tape is laid on the floor along the traveling path of the self-propelled transport vehicle (moving body) to generate magnetism, and the self-propelled transport vehicle has a sensor that detects the magnetism generated from this magnetic tape. , And travels along the detected magnetism.

C. Color line guidance system A tape of a color different from the floor surface is laid on the floor along the traveling path of the self-propelled transport vehicle (moving body), and a color different from the floor surface is detected on the self-propelled transport vehicle. Thus, the tape is detected, and the tape runs along the detected color tape.

D. GPS-based guidance system A GPS is installed on a self-propelled transport vehicle (moving body) to recognize its own position and travel while correcting the deviation from the traveling route.

E. Autonomous Guidance Method Obtains the traveling distance from the rotation of the wheels, calculates the traveling direction from the difference between the rotational speeds of the left and right wheels, calculates the own position by integrating the traveling direction and the traveling distance, and corrects the deviation from the traveling route While traveling.

[0007]

However, in the above-described mobile body guidance equipment, in the electromagnetic induction type, the magnetic induction type, and the color line induction type, the traveling route is fixed, and it is difficult to change the traveling route. However, there has been a problem that it is not possible to cope with the change of the floor surface, and further, it is affected by the material and properties of the floor surface. Further, it has not been possible to transfer a load to and from a truck stopped at an arbitrary position away from the traveling route. Further, in the magnetic induction method and the color line induction method, the moving body sometimes runs on a magnetic tape or a color tape, and there is a risk that these tapes may be damaged by the moving body.

[0008] In addition, the GPS-based guidance system has a problem that it cannot be used when the traveling route of the moving object is in the shadow of the satellite. Further, in the autonomous guidance system, there is a problem that some position correction means must be provided because an accumulated error occurs.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a moving object guiding apparatus which does not require a guide wire and a tape and enables the moving object to travel with respect to a target object indoors. .

[0010]

In order to achieve the above-mentioned object, the present invention is directed to a guidance apparatus for a mobile body which is self-propelled with respect to a target, wherein the target is provided with at least three equally spaced objects.
Light reflecting means are provided horizontally and the at least three light
One of the reflection means is one light reflection front side or rear side of the target.
A light irradiating means for attaching a slit to the irradiating means, irradiating the moving body with light rays horizontally over the entire circumference while rotating,
An optical sensor for detecting reflected light from said light reflecting means of said light beam, an angle sensor for detecting a rotational angle of the light irradiation unit, the output of the optical sensor takes the slit
With recognition means for recognizing the light reflecting means is, when detecting the reflected light by the optical sensor, and stores the rotation angle of the light irradiation means which is detected by the angle sensor, the recognition means
Of light reflecting means with slits recognized by
The orientation of the target is recognized based on the knowledge, and the rotation angle stored when each of the light reflecting means is detected and the recognized eye.
The orientation of the target object, recognizes the rotational angle of the target of the light reflecting means, calculates the angle between the arranged light reflecting means at the same distance the light reflection means for the recognized target and on both sides thereof, both angles are the same A traveling direction setting means for setting the traveling direction of the moving body so as to satisfy the following condition.

With the above arrangement, when the reflected light is detected by the optical sensor, the rotation angle of the light irradiating means detected by the angle sensor is stored, so that each light reflecting means centered on the rotation center of the light irradiating means. The placement angle is detected
You. Also, by recognizing the light reflecting means with a slit
The direction of the target is recognized, for example, the third light beam from the front.
Even when the shooting means is targeted, the direction of the target
Without recognizing which light reflecting means is the third from the front
The arrangement angle of the target light reflecting means can be recognized. The angle between the arrangement angle of the target light reflection means and the arrangement angle of the light reflection means arranged at the same distance on both sides thereof is calculated,
The traveling direction of the moving body is set so that both angles are the same. Therefore, even when the direction of the target is reversed, the moving body travels toward the target from the direction perpendicular to the target to the target light reflecting means position of the target. Therefore, when the target is a truck for transporting a load and the moving body is a forklift, the load can be transferred without the forklift switching back to the transfer position of the truck.

[0012]

[0013]

[0014]

Embodiments of the present invention will be described below with reference to the drawings. (Embodiment 1) FIG. 1 is a plan view of a loading / unloading area provided with a moving object guiding device according to Embodiment 1 of the present invention, and FIG. 2 is a configuration diagram of a forklift equipped with the guiding device.

In FIG. 1, reference numeral 1 denotes an automatic forklift (an example of a moving body) equipped with a guidance facility, and a truck 2 (an example of a target) stopped at an arbitrary position in a loading / unloading area.
The pallet 4 loaded with the load 3 is transferred. On the side surface of the truck 2, corner cubes (corner reflectors) 5, which are light reflecting means, are horizontally mounted at three points of a center point A of the cargo bed and points L and B at the distance L from the center point A. . The corner cube 5 is a triangular pyramid-shaped prism composed of three flat reflecting surfaces which are orthogonal to each other as if one corner of a cube was cut off. It works to send it back in the direction of incidence.

The center of irradiation of the forklift 2 with a laser beam to be described later is defined as point X. Forklift 1
A guiding device, a laser beam generating means for generating a parallel laser beam, a rotating mirror means for irradiating the laser beam horizontally over the entire circumference, a capturing means for capturing the laser beam reflected from the corner cube 5, and a forklift One position detecting means is provided.

As shown in FIG. 2, the laser beam generating means includes a semiconductor laser 11 for vertically irradiating the laser beam and a driving circuit 12 thereof, and a collimator lens for converting the laser beam emitted from the semiconductor laser 11 into a parallel beam.
It consists of thirteen.

With this configuration, the laser beam emitted from the semiconductor laser 11 is converted into a parallel laser beam by the collimator lens 13 and is emitted above the collimator lens 13.

The rotating mirror means comprises a vertical cylindrical conduit 14 serving as a path for the laser beam emitted from the collimator lens 13, and the conduit 14 is connected below the center and mounted on a ring-shaped bearing 15. And a first reflection mirror 17 that refracts the laser beam guided from the conduit 14 into a horizontal beam and guides the laser beam to a window 16A provided on a side surface of the cylinder 16. A concave lens 18 for expanding the laser beam guided from the first reflecting mirror 17, a first pulley 19 fitted around the conduit 14 to rotate the conduit 14, and D
A C motor 20, a drive circuit 21 for the DC motor 20, a second pulley 22 directly connected to the rotation shaft of the DC motor 20,
Belt that transmits the torque of pulley 22 to first pulley 19
Consists of 23.

With this configuration, the DC motor 20
When driven by 21, the rotational force of the DC motor 20 is transmitted to the conduit 14 via the second pulley 22, the belt 23, and the first pulley 19, and the conduit 14 rotates.
The reflection mirror 17 rotates, and the laser beam applied to the inside of the conduit 14 is applied to the entire circumference of the forklift 1 around the center position of the conduit 14 by the rotation of the first reflection mirror 17.

[0021] The capturing means may include the first reflecting mirror.
A second reflection mirror, which is fixed to the conduit 14 opposite to 17 and horizontally refracts reflected light from the corner cube 5 guided through the window 16A of the cylindrical body 16, the concave lens 18, and the first reflection mirror 17. 25, a convex lens 26 for converging the reflected light guided by the second reflection mirror 25, and an interference filter 27; a photodiode 28 for receiving the reflected light converged by the convex lens 26 and the interference filter 27; It comprises a light receiving circuit 29 for detecting the corner cube 5 based on the light receiving signal of the diode 28.

With this configuration, the rotation of the conduit 14 causes the second reflection mirror 25 to rotate together with the first reflection mirror 17, and the reflection from the corner cube 1 and the light reflection sheet 6 guided through the first reflection mirror 17. The light is incident on the photodiode 28 via the convex lens 26 and the interference filter 27 by the second reflection mirror 25, and this photodiode 28
Corner cube 5 by light receiving circuit 29 by light receiving signal of 28
Is detected. That is, the first laser beam irradiation
When the reflection mirror 17 faces the corner cube 5, the photodiode 28 detects light, and the light receiving circuit 29 detects the corner cube 5.

The position detecting means is connected to the conduit 14 and detects a rotation angle of the conduit 14 by a first encoder 31.
A mirror rotation angle detector 32 that adds the pulse signals output from the first encoder 31 to measure the rotation angle (irradiation angle of the laser beam) of the first reflection mirror 17 that makes the traveling direction 0 °; Second and third encoders 34 and 35 connected to the axles of the left and right wheels 33, and these encoders 34 and 35
It comprises a traveling direction detector 36 for measuring the difference between the rotational speeds of the left and right wheels 33 from the pulse signal to determine the traveling direction, and an arithmetic processing unit 37 comprising a computer. The arithmetic processing unit 37 receives the data of the mirror rotation angle Θ output from the mirror rotation angle detector 32, the data of the traveling direction output from the traveling direction detector 36, and the detection signal output from the light receiving circuit 29. And the mirror rotation angle に
Is stored, that is, angles counterclockwise from the traveling direction of the forklift 1 of the corner cube 5 and a steering signal is output from these angles.

A method of setting a steering signal in the arithmetic processing unit 37 will be described with reference to FIG. In FIG. 3, ΘB is the rotation angle when point B is detected, and ΘA is A
The rotation angle when the point is detected, ΔC is the rotation angle when the point C is detected.

First, the arithmetic processing unit 37 calculates the angle α ｛between the point A and the point B = absolute value ({B− A)} and the angle βＡ between the point A and point C = absolute value ({A−｝ C)}. And the angles α and β
Is output, that is, the steering signal is output in a direction in which the angle is small, that is, a direction in which the angle is small (the direction of the angle α in FIG. 3).

Next, when the angles α and β match, a steering signal is output so that the traveling direction and the rotation angle ΘA when the point A is detected, ie, the rotation angle 回 転 A = 0.

Further, it is confirmed whether or not the output steering signal has been executed based on the traveling direction data output from the traveling direction detector 36. The forklift 1 stops in front of the truck 2 without colliding with the truck 2 by the operation of the approach detection means (for example, a proximity switch, an ultrasonic sensor, a contact switch, etc.).

With the configuration of the above-mentioned guidance equipment, when the laser beam is irradiated over the entire circumference of the forklift 1 and the light reflected by the corner cube 5 is detected by the light receiving circuit 29, the mirror is detected by the rotation angle detector 31. By storing the rotation angle Θ, the arrangement angles ΘA, ΘB, Θ of each corner cube 5 about the forklift 1 are stored.
C is detected, and from these arrangement angles 配置 A, ΘB, ΘC, A
Angles α and β between the point and the point B and between the point A and the point C are obtained, and a steering signal is output in the direction of the smaller angle. When the angles α and β match, a steering signal is output so that the traveling direction matches the rotation angle ΘA when the point A is detected (so that ΘA = 0). Therefore,
The forklift 1 approaches the center A of the truck 2 from a direction perpendicular to the longitudinal direction of the truck 2 as indicated by a chain line. Therefore, the forklift 1 can transfer the pallet 4 without performing an operation of changing the direction (such as a turning operation).

As described above, the work efficiency can be improved by moving the pallet 4 without performing the operation of changing the direction by self-propelling to the bed position of the truck 2 based on the measured angle of the corner cube 5. And the following excellent effects can be obtained.

1. The transfer of the pallet 4 between the tracks 2 stopped at an arbitrary position can be automated. 2. The transfer of the pallet 4 can be automated even in an area such as a construction site where the stop position of the truck 2 cannot be determined precisely.

3. It can automate logistics even in areas where it is difficult to lay guide wires, such as outdoors, clean rooms, and steel floors. 4. Floor construction is not required. (Embodiment 2) FIG. 4 is a plan view of a loading / unloading area provided with a mobile object guiding facility according to Embodiment 2 of the present invention. The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

The transfer positions (points D to L) of the pallets 4 on nine loading platforms arranged at equal intervals are provided on both side surfaces of the truck 2.
(Points), corner cubes (corner reflectors) 41D to 41L, which are light reflecting means, are attached, and are arranged at equal intervals outside the transfer positions (points D and L) of the pallet 4 at both ends. A corner cube 42 provided with a vertical slit and a corner cube 43 provided with a horizontal slit are attached to the front end point of the track 2 and the rear end point N of the track 2 respectively. I have. Therefore, in order from the front, as shown in FIG. 5 (a), the vertical cube corner cube 42, the non-filter corner cubes 41D to 41L, and the horizontal slit corner cube 43 are arranged at equal intervals in the horizontal direction. Truck 2 in line
Is provided. Corner cube 42, 43 with slit
Recognizes the direction of the track 2 and transfers the pallet 4 even if the direction of the track 2 is reversed (points D to L
Point).

The light receiving circuit 29 of the forklift 1 is provided with a recognition function for discriminating the corner cubes 42 and 43 with slits. The light receiving circuit 29 outputs recognition data to the arithmetic processing unit 37 together with a light receiving signal. Arithmetic processing unit 37
Receives the data of the mirror rotation angle Θ output from the mirror rotation angle detector 32, the data of the traveling direction output from the traveling direction detector 36, and the light receiving signal and recognition data output from the light receiving circuit 29. The mirror rotation angle Θ is stored for each light receiving signal, and the mirror rotation angle ΘM of the corner cube 42 is confirmed by the recognition data of the corner cube 42 having a vertical slit, and the recognition data of the corner cube 43 having a horizontal slit is also provided. Thereby, the mirror rotation angle ΘN of the corner cube 43 is confirmed.

Next, by designating the transfer position (points D to L) of the pallet 4 of the loading platform on which the load 3 is transferred, the corner cubes 41D to 41L at the target transfer positions (points D to L) are designated. In addition, two corner cubes 41D to 41L, 42, and 43 are selected according to Table 1, and each mirror rotation angle Θ is obtained. The corner cubes 41D to 41L to be selected are the farthest corner cubes 41D to 41L at the same distance on both sides of the target transfer position (points D to L) in order to increase the difference in arrangement angle described later and increase accuracy. 41
L, 42 and 43 are selected. For example, when the target transfer position is point D, points M and E are selected, and the rotation angles of these three points are obtained. As shown in FIG. 6, the first stored rotation angle from the rotation angle ΘM is selected as the rotation angle ΘD of the point D, and the second rotation angle stored from the rotation angle ΘM as the rotation angle ΘE of the point E on both sides. The selected rotation angle is selected.

[0035]

[Table 1]

Next, as in the first embodiment, when the angle between three points, for example, the point D is designated as the target transfer position, the arithmetic processing unit 37 determines the angle α ｛between the points D and M. = Absolute value (ΘD-ΘM)｝ and angle β between point D and point E = absolute value (ΘD-ΘE), and the direction in which the angles α and β coincide, that is, the direction in which the angle is small (FIG. 6) Then, the steering signal is output in the direction of the angle α).

Next, when the angles α and β match, a steering signal is output so that the traveling direction and the rotation angle ΘD when the point D is detected, ie, the rotation angle ΘD = 0.

Further, it is confirmed whether or not the output steering signal has been executed based on the traveling direction data output from the traveling direction detector 36. With the configuration of the above-mentioned guidance equipment, when the laser beam is irradiated over the entire circumference of the forklift 1 and the light reflected by the corner cubes 41D to 41L, 42, and 43 is detected by the light receiving circuit 29, the rotation angle detector 31 detects the light. By storing the calculated mirror rotation angle and recognizing the front end corner cube 42 and the rear end corner cube 43, the arrangement angle of each of the corner cubes 41D to 41L, 42, 43 around the forklift 1 is obtained. Is detected. Next, according to the designation of the transfer positions (points D to L), according to Table 1, the other two corner cubes 41D to 41L,
42 and 43 are selected, and these are the three corner cubes 41D
Ｌ41L, 42, 43 are obtained. That is, the arrangement angle of the transfer position and the arrangement angle of the transfer positions on both sides of the transfer position are obtained, and the difference between the arrangement angle of the transfer position designated from these arrangement angles and the arrangement angles on both sides matches. Thus, a steering signal is output. And
If the angles match, a steering signal is output so as to match the traveling direction with the arrangement angle of the designated transfer position. Therefore, the forklift 1 can transfer the pallet 4 without approaching the target transfer position of the truck 2 from the direction perpendicular to the longitudinal direction of the truck 2 and changing the direction (turning operation).

As described above, the corner cubes 41D to 41L,
By moving the pallet 4 by self-propelling to the bed position of the truck 2 according to the measured angles of 42 and 43, in addition to the effect of the first embodiment, in addition to the effect of the first embodiment, any of the truck 2 stopped at an arbitrary position An excellent effect that the transfer of the pallet 4 at the transfer position can be automated can be obtained. Further, the pallet 4 can be transferred between the designated positions of the loading platform without being affected by the direction of the truck 2.

In the present embodiment, corner cubes having slits are arranged at points M and N. However, corner cubes having slits may be arranged only at one of them.
Further, as shown in FIG.
A slit different from at least the adjacent corner cube may be provided in 41L, 42, and 43 so that each rotation angle can be recognized.

In the present embodiment, the automatic forklift 1 is used as a moving body, but the present invention can be applied to a bogie that runs on the floor by itself.

[0042]

As described above, according to the present invention , moving
The body is recognized by the light reflecting means with slits.
The direction of the target can be recognized, and when the direction of the target is
Also, the light reflecting means positioned in the target of the target can be accessible from a direction perpendicular to the target to target, therefore, a carriage target carries the load, when the moving body is a forklift, the forklift truck It is possible to transfer the load without switching back to the transfer position, thereby improving work efficiency.

[0043]

[Brief description of the drawings]

FIG. 1 is a plan view of a loading / unloading area in which mobile object guidance equipment according to Embodiment 1 of the present invention is arranged.

FIG. 2 is a configuration diagram of a forklift equipped with the guidance equipment.

FIG. 3 is an explanatory diagram of a calculation processing unit of a forklift equipped with the guidance equipment.

FIG. 4 is a plan view of a loading / unloading area in which mobile object guidance equipment according to Embodiment 2 of the present invention is arranged.

FIG. 5 is an explanatory diagram of a corner cube arranged on a truck of the guidance equipment.

FIG. 6 is an explanatory diagram of a calculation processing unit of a forklift equipped with the guidance equipment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Automatic forklift (moving body) 2 Truck (target) 3 Load 4 Pallet 5 Corner cube (light reflecting means) 11 Semiconductor laser 13 Collimator lens 14 Pipe 16 Cylindrical body 17, 25 Reflection mirror 19, 22 Pulley 20 DC motor 23 Belt 27 Interference filter 28 Phototransistor 29 Photodetector circuit 31, 34, 35 Encoder 32 Rotation angle detector 36 Travel direction detector 37 Processing unit 41 Corner cube 42 Corner cube with vertical slit 43 Corner cube with horizontal slit

Continuing from the front page (72) Inventor Toshihiro Tsumura 3-7-21 Abiko, Sumiyoshi-ku, Osaka-shi, Osaka (72) Inventor Hisatoshi Narazaki 1-15-10, Kyomachibori, Nishi-ku, Osaka-shi, Osaka Toyo Hakko Co., Ltd. (72) Inventor Kazushi Hiraoka 5-3-28 Nishikujo, Konohana-ku, Osaka-shi, Japan Inside Hitachi Zosen Corporation (72) Inventor Hirotoshi Shimoda 5-3-28, Nishikujo, Konohana-ku, Osaka-shi, Osaka Hitachi Zosen Corporation In-company (72) Inventor Yoshihiro Igaki 5-2-2, Nishikujo, Konohana-ku, Osaka-shi, Osaka Hitachi Zosen Corporation (56) References JP-A-2-122307 (JP, A) (58) Survey Field (Int.Cl. ⁷ , DB name) G05D 1/00-1/12

Claims (1)

(57) [Claims] 1. A guidance system for a mobile body that is self-propelled with respect to a target, wherein the target is provided with at least three light reflecting means horizontally at equal intervals, and the at least three light reflecting means Of the said target
A slit is attached to one light reflecting means on the front side or the rear side, a light irradiating means for irradiating the moving body with a light beam horizontally over the entire circumference while rotating, and a reflected light of the light beam from the light reflecting means. An optical sensor for detecting, an angle sensor for detecting a rotation angle of the light irradiating means, and the slit attached by an output of the optical sensor.
Recognition means for recognizing light reflecting means, and when the reflected light is detected by the optical sensor, stores the rotation angle of the light irradiating means detected by the angle sensor, and the light provided with the slit recognized by the recognition means.
The rotation angle stored when the direction of the target is recognized by the recognition of the reflection means and the light reflection means is detected.
Wherein the orientation of the recognized target, recognizes the rotational angle of the target of the light reflecting means, calculates the angle between the arranged light reflecting means at the same distance the light reflection means for the recognized target and on both sides thereof and, A guidance apparatus for a moving body, comprising a traveling direction setting means for setting a traveling direction of the moving body so that both angles are the same.