JP6332510B2 - Position detection method for automated guided vehicles - Google Patents

Description

  The present invention relates to a position detection method for an automatic guided vehicle.

As a conventional technique related to the position detection method of the automatic guided vehicle, for example, an automatic guided vehicle disclosed in Patent Document 1 is known.
The automatic guided vehicle disclosed in Patent Document 1 includes a vehicle body that can load a load on the upper portion thereof, includes steering wheels on the left and right sides of the front side of the vehicle body, and driving wheels on the left and right sides of the rear side.
The vehicle body is provided with an attitude angle sensor 4 for detecting the attitude angle of the vehicle body and a travel distance sensor for detecting a travel distance.
Further, the vehicle body is provided with a steering angle sensor for detecting the steering angle of the steering wheel, and the steering angle sensor is disposed in the vicinity of the steering wheel and directly detects the steering angle of the steering wheel.
Further, a front and rear lower part of the vehicle body is provided with a pair of front and rear traveling position correction sensors that detect a pair of front and rear traveling position correction markers installed on the traveling line.
In the controller provided in the vehicle body, each of the vehicle body posture angle detected by the posture angle sensor, the travel distance detected by the travel distance sensor, and the steering angle of the steered wheels detected by the steering angle sensor are input and input. The travel position is obtained by calculation based on the data.
Further, the controller obtains a steering command to the steering wheel based on the obtained traveling position, and outputs the obtained steering command to the steering wheel to cause the vehicle body to travel.

In the automatic guided vehicle disclosed in Patent Document 1, the posture angle of the vehicle body is detected by the posture angle sensor, and the vehicle body is caused to travel based on the detected posture angle.
Then, a pair of front and rear traveling position correction markers installed at predetermined locations on the traveling line are detected by a pair of front and rear traveling position correction sensors, and lateral displacement amounts with respect to the traveling line on the front side and the rear side of the vehicle body are detected.
At this time, the detection of the front travel position correction marker by the front travel position correction sensor is performed finely a plurality of times in the travel direction to detect a plurality of lateral shift amounts on the front side.
In addition, the back side travel position correction marker is detected by the back side travel position correction sensor finely multiple times in the travel direction to detect a plurality of lateral shift amounts on the back side.
Then, in the controller, the maximum value among the values detected a plurality of times by the front traveling position correction sensor is set as the lateral deviation amount on the front side, and the maximum value among the values detected a plurality of times by the rear traveling position correction sensor. The value is the amount of lateral deviation on the back side.
Based on the amount of lateral deviation with respect to the travel line on the front and rear sides of the detected vehicle body, the vehicle body travel is corrected along the travel line, and the actual posture angle of the vehicle body is calculated from the lateral displacement amount on the front side and the rear side. The detected value of the posture angle of the vehicle body detected by the posture angle sensor is corrected.

JP 2003-67053 A

However, in the automatic guided vehicle disclosed in Patent Document 1, the travel position correction sensor detects the lateral deviation amount a plurality of times, and the maximum value among the detected values is set as the lateral deviation amount.
That is, even if the travel position correction sensor detects the lateral deviation amount a plurality of times, only one point at which the detected value is maximum is determined as the lateral deviation amount.
For this reason, if the lateral deviation amount based on the maximum value includes a detection error of the traveling position correction sensor, there is a problem that the position of the automatic guided vehicle cannot be detected with high accuracy.
In particular, when the marker is detected by magnetism, a detection error of the traveling position correction sensor is likely to occur due to variations in the magnetic distribution in the marker.

  The present invention has been made in view of the above problems, and an object of the present invention is to detect the position of the automatic guided vehicle with higher accuracy even if a marker detection error is generated by the position detection sensor during traveling. The present invention provides a position detection method for an automatic guided vehicle.

In order to solve the above-described problems, the present invention detects a plurality of markers provided on a travel line by a position detection sensor provided on the vehicle body when the automatic guided vehicle travels, and the position detection sensor detects the plurality of markers on the travel line of the vehicle body. In the position detection method of the automatic guided vehicle for detecting a lateral deviation amount, when the specific marker among the plurality of markers passes through the position detection sensor when the automatic guided vehicle travels , the specific marker is used as the position detection sensor. periodically repeatedly detected traveling direction by, the particular the lateral deviation amount of each detected marker to detect respectively, more multiple the lateral deviation amount to smoothing by the least squares method is a regression analysis, the specific markers There obtaining a straight line is estimated to have actually passes through the position detection sensor trajectory, calculates the corrected correction amount of lateral deviation, the correction amount of lateral deviation , And estimating the true lateral deviation relative to the vehicle body of the running line of the running.

In the present invention, when a specific marker among a plurality of markers passes through the position detection sensor during traveling of the automatic guided vehicle , the specific marker is periodically detected in the traveling direction by the position detection sensor, and the specific marker The amount of lateral deviation with respect to the travel line of the vehicle body for each detection is detected.
More smoothing by least square method a plurality of lateral shift amount detected is regression analysis, to obtain a straight line is estimated to trajectory passing through the actual position detection sensor is a specific marker, is corrected corrected lateral deviation Calculated.
The calculated corrected lateral deviation amount is estimated as the lateral deviation amount with respect to the travel line of the vehicle body that is traveling.
According to the present invention, even if it contains a detection error of the position detection sensor to a plurality of lateral shift amount, more smoothing by the least squares method is a regression analysis for a plurality of lateral displacement quantity detected, specific markers A straight line estimated as a trajectory actually passing through the position detection sensor is obtained and corrected, and a corrected lateral deviation amount in which an error is eliminated can be calculated.
For this reason, it is possible to detect the position of the automatic guided vehicle with higher accuracy by estimating the corrected lateral displacement amount as the lateral displacement amount with respect to the travel line of the vehicle body that is traveling.

Furthermore, complement since the positive lateral shift amount is calculated from the smoothed by the least squares method, it is excellent in the processing speed of calculation accuracy and the correction amount of lateral deviation correction amount of lateral deviation.

In the position detection method of the automatic guided vehicle described above, the correction lateral deviation amount of the specific marker at the reference point may be calculated using the center in the width direction with respect to the traveling direction of the position detection sensor as a reference point.
In this case, since the reference point in the position detection sensor is the center in the width direction with respect to the traveling direction of the position detection sensor, it can be a more accurate lateral deviation with respect to the travel line of the vehicle body.

  ADVANTAGE OF THE INVENTION According to this invention, even if the detection error of the marker by the sensor at the time of driving | running | working occurs, the position detection method of the automatic guided vehicle which can perform the position detection of the automatic guided vehicle with higher precision can be provided.

It is a side view of the automatic guided vehicle concerning a 1st embodiment. It is a top view of the automatic guided vehicle concerning a 1st embodiment. It is a block block diagram which shows the outline | summary of the control of position detection in an automatic guided vehicle. It is explanatory drawing explaining the process which smoothes several lateral deviation amount about the specific marker detected by the position detection sensor, and several lateral deviation amount by the least squares method.

(First embodiment)
Hereinafter, the automatic guided vehicle and the automatic guided vehicle position detection method according to the first embodiment will be described with reference to the drawings.
An automatic guided vehicle 10 shown in FIG. 1 is a large automatic guided vehicle for transporting a large container C in a port facility.
On the upper part of the vehicle body 11 of the automatic guided vehicle 10, a loading platform 12 capable of mounting a large container C is formed.
A pair of left and right front wheels 13 are provided on the lower front side of the vehicle body 11, and a pair of left and right rear wheels 14 are provided on the lower rear side of the vehicle body 11.
The front wheel 13 and the rear wheel 14 are steerable wheels.
The front wheel 13 has a function as a drive wheel to which a driving force of a traveling drive source (not shown) mounted on the vehicle body 11 is transmitted.
The forward or backward movement of the automatic guided vehicle 10 is realized by driving the front wheels 13.

As shown in FIG. 2, the vehicle body 11 is provided with an azimuth angle sensor 15 that detects the azimuth angle of the vehicle body 11.
The vehicle body 11 is provided with a distance sensor 16 that measures the travel distance of the automatic guided vehicle 10. The distance sensor 16 detects the rotation of the front wheel 13 and the rear wheel 14 and measures the travel distance.

A controller 17 that controls each part of the automatic guided vehicle 10 is mounted on the vehicle body 11.
Although not shown, the controller 17 includes an arithmetic processing unit that executes programs and performs various data processing, and a memory that stores programs and data.
The controller 17 of this embodiment issues a steering command to the front wheels 13 and the rear wheels 14 in addition to issuing a drive control command to the traveling drive source.
As shown in FIG. 3, the controller 17 is connected to the azimuth angle sensor 15 and the distance sensor 16, and receives output signals from the azimuth angle sensor 15 and the distance sensor 16.
The controller 17 also receives information on the steering angles of the front wheels 13 and the rear wheels 14 separately.

Incidentally, a travel line L is set in advance on the road surface on which the automatic guided vehicle 10 travels.
A plurality of markers 18 are embedded in the travel line L along the travel line L.
The markers 18 of this embodiment are magnetic markers, and ID information (position information of X and Y coordinates) for each marker is held in these markers 18.
A position detection sensor 20 is provided on the lower front side of the vehicle body 11 of the automatic guided vehicle 10, and the same position detection sensor 20 is separately provided on the lower rear side.
The position detection sensor 20 detects the magnetism of the marker 18 installed on the travel line L, and detects the relative position of the marker 18 with respect to the position detection sensor 20 as a positional deviation amount of the vehicle body 11 with respect to the travel line L.
The position detection sensor 20 of the present embodiment has a function of periodically and repeatedly detecting the marker 18 passing through the position detection sensor 20 when the automatic guided vehicle 10 travels, and acquiring a lateral deviation amount for each detection of the marker 18. Have.
The detection control cycle of the position detection sensor 20 with respect to the specific marker 18 is set in advance at a cycle of detecting a plurality of times at a constant cycle.
For this reason, when the position detection sensor 20 passes the specific marker 18, the number of times the position detection sensor 20 detects the specific marker 18 varies depending on the traveling speed of the automatic guided vehicle 10.
For example, when the automated guided vehicle 10 is traveling fast, the number of times that the position detection sensor 20 detects the marker 18 is smaller than when the automated guided vehicle 10 is traveling slowly.

As shown in FIG. 3, the position detection sensor 20 is connected to the controller 17, and the controller 17 receives the output signal of the lateral shift amount from the position detection sensor 20.
The controller 17 performs a process of calculating the corrected lateral deviation amount of the automatic guided vehicle 10 based on the lateral deviation amount output signal from the position detection sensor 20.
In the process of calculating the corrected lateral deviation amount of the automatic guided vehicle 10, the controller 17 performs a process of smoothing a plurality of lateral deviation amounts received from the position detection sensor 20 by the least square method as a regression analysis.
The process of smoothing a plurality of lateral deviation amounts by the least square method is a process for eliminating as much as possible a lateral deviation amount detection error of the position detection sensor 20 when the marker 18 is detected.
The controller 17 sets a plurality of smoothed lateral deviation amounts as corrected lateral deviation amounts, estimates the corrected lateral deviation amounts as true lateral deviation amounts of the vehicle body 11 with respect to the travel line L, and corrects the position of the vehicle body 11. Do.
In this embodiment, paying attention to the fact that the true lateral deviation amount with respect to the travel line L of the automated guided vehicle 10 is a linear model of a linear function in the relationship between the detection time and the true lateral deviation amount, a plurality of detected lateral deviations The quantity is smoothed by the method of least squares.

FIG. 4 is an explanatory diagram for explaining a plurality of lateral deviation amounts for a specific marker 18 detected by the position detection sensor 20 and a process for smoothing the plurality of lateral deviation amounts by the least square method.
In FIG. 4, the vertical direction coincides with the traveling direction of the automatic guided vehicle 10.
4 corresponds to the width direction of the automatic guided vehicle 10, and the lateral displacement amount of the vehicle body 11 with respect to the travel line L is detected from the relative position of the marker 18 with respect to the position detection sensor 20.

As shown in FIG. 4, the position detection sensor 20 is set with a detection region E that enables detection of the marker 18.
A reference point 21 is set in the detection region E of the position detection sensor 20.
The reference point 21 is the center in the width direction with respect to the traveling direction of the detection region E in the position detection sensor 20, and lastly the same marker 18 as the position where the specific marker 18 is first detected in the traveling direction of the automatic guided vehicle 10. This is an intermediate position from the detected position.
In FIG. 4, when the marker 18 is detected at one side of the reference point 21 in the width direction, the lateral deviation amount is a positive value, and when it is detected at the other side of the reference point 21, the lateral deviation amount is a negative value. It is said.
The controller 17 calculates a corrected lateral deviation amount at the reference point 21 based on the smoothed lateral deviation amounts.
Then, the controller 17 issues a steering command to at least one of the front wheels 13 and the rear wheels 14 based on the calculated corrected lateral deviation amount of the reference point 21 so that the lateral deviation amount with respect to the travel line L of the vehicle body 11 becomes zero. .

In FIG. 4, as an example, the position detection sensor 20 detects the specific marker 18 ten times, and shows the relative position (P1 to P10) of the marker 18 with respect to the position detection sensor 20 for each detection. The amount is being detected.
At the relative position (P1 to P10) of the marker 18 in the position detection sensor 20, the amount of lateral deviation output from the position detection sensor 20 is affected by electrical noise, the traveling speed of the automatic guided vehicle 10, the control cycle for detecting the marker 18, and the like. In response to the detection error.
In the present embodiment, since the marker 18 is a magnetic marker, it includes a detection error due to variations in the magnetic field distribution.
For this reason, the relative positions (P1 to P10) of the markers 18 vary from one another.

In this embodiment, after the relative position P10 of the marker 18 is detected, a process of smoothing a plurality of lateral deviation amounts of the marker 18 detected by the position detection sensor 20 by the least square method is performed as shown in FIG. A straight line M passing through the position detection sensor 20 is obtained.
Then, the lateral deviation amount of the relative position (P1 to P10) of the marker 18 is corrected by smoothing by the least square method, and the corrected lateral deviation amount is calculated.
In FIG. 4, the detected relative position (P1 to P10) of the marker 18 is corrected so as to be positioned on the straight line M by the smoothing by the least square method.
The corrected lateral deviation amount indicated by the straight line M is estimated as the true lateral deviation amount of the vehicle body 11 with respect to the travel line L from which the detection error is eliminated.
Accordingly, the straight line M is estimated as a trajectory in which the marker 18 has actually passed through the position detection sensor 20.

The true lateral deviation amount at the reference point 21 is obtained from the distance in the width direction between the straight line M and the reference point 21.
The controller 17 issues a steering command to at least one of the front wheels 13 and the rear wheels 14 of the automatic guided vehicle 10 based on the true lateral deviation amount at the reference point 21.
The automatic guided vehicle 10 travels so that the true lateral deviation amount of the vehicle body 11 with respect to the travel line L is zero by at least one of the front wheels 13 and the rear wheels 14 steered by the steering command.
And if the position detection sensor 20 detects another marker 18 by the automatic guided vehicle 10 continuing driving | running | working, the position detection sensor 20 will detect another marker 18 periodically, and the lateral deviation amount for every detection will be detected. To detect.
The controller 17 calculates a corrected lateral deviation amount by performing a process of smoothing a plurality of lateral deviation amounts by the least square method.
The controller 17 causes the automatic guided vehicle 10 to travel so that the true lateral deviation amount of the vehicle body 11 with respect to the travel line L is zero based on the corrected lateral deviation amount.

This embodiment has the following effects.
(1) Even when the detection error of the position detection sensor 20 is included in a plurality of lateral deviation amounts, the corrected lateral deviation amount is corrected by smoothing by the least square method on the detected plural lateral deviation amounts, and the error is eliminated. Can be calculated. For this reason, it is possible to detect the position of the automated guided vehicle 10 with higher accuracy by estimating the corrected lateral displacement amount as the true lateral displacement amount with respect to the travel line L of the vehicle body 11 that is traveling.
(2) Since the corrected lateral deviation amount is calculated by smoothing a plurality of lateral deviation amounts by the least square method, the correction lateral deviation amount is excellent in accuracy of the corrected lateral deviation amount and the processing speed of calculating the corrected lateral deviation amount. Therefore, it is possible to quickly issue a steering command to at least one of the front wheels 13 and the rear wheels 14 so that the lateral deviation amount is accurately zero based on the corrected lateral deviation amount.

(3) The center of the width direction with respect to the traveling direction of the detection region E in the position detection sensor 20 is set as the reference point 21, and the corrected lateral deviation amount at the reference point 21 is calculated. For this reason, the corrected lateral deviation amount at the reference point 21 can be the lateral deviation amount of the vehicle body 11 with respect to the more accurate travel line L.
(4) Since the corrected lateral deviation amount corrected by smoothing a plurality of lateral deviation amounts by the least square method is calculated, the influence of the detection error is reduced as the number of detections of the marker 18 by the position detection sensor 20 is increased. be able to.

( First reference example )
Next, the position detection method of the automatic guided vehicle according to the first reference example will be described.
Since the automatic guided vehicle of the present reference example is the same as that of the first embodiment, the description of the first embodiment is used and common reference numerals are used.

In this reference example , the controller 17 weights the lateral displacement amount of the relative position of the marker 18 in consideration of the detection sensitivity of the position detection sensor 20, and calculates a corrected lateral displacement amount that reflects the weighting.
When the detection sensitivity of the position detection sensor 20 is high, the weighting is increased, and when the detection sensitivity of the position detection sensor 20 is low, the weighting is decreased.
Specifically, when the lateral shift amount X (mm) and the detection sensitivity S in which the weight is not reflected are assumed, the corrected lateral shift amount in which the weight is reflected is expressed by the following formula 1.

That is, the corrected lateral deviation amount in the above mathematical formula 1 is obtained by calculating a weighted average value of the plurality of lateral deviation amounts X.
The controller 17 weights the plurality of lateral deviation amounts X according to the detection sensitivity S, and sets the corrected lateral deviation amount that reflects the weights as the corrected lateral deviation amount as the true lateral deviation amount of the vehicle body 11 with respect to the travel line L. I do.

In the present reference example , the corrected lateral deviation amount that reflects the weighting according to the detection sensitivity S can be calculated. Therefore, the lateral deviation amount X having a small detection sensitivity S detected by the position detection sensor 20 is equal to the corrected lateral deviation amount. Reflection is reduced.
On the contrary, the lateral deviation amount X having a large detection sensitivity S detected by the position detection sensor 20 has a higher degree of reflection in the corrected lateral deviation amount.
Therefore, the corrected lateral deviation amount can sufficiently eliminate the influence of the detection error, and the position of the automatic guided vehicle 10 can be detected with higher accuracy.
In addition, since the lateral shift amount is weighted according to the detection sensitivity, even when the number of the markers 18 detected by the position detection sensor 20 is small, the influence of the detection error can be reduced.
Furthermore, since the corrected lateral deviation amount can be calculated by a simple calculation formula, the processing speed does not slow down.

( Second reference example )
Next, the position detection method of the automatic guided vehicle according to the second reference example will be described.
Since the automatic guided vehicle of the present reference example is the same as that of the first embodiment, the description of the first embodiment is used and common reference numerals are used.

In the present embodiment, the controller 17 weights the detection sensitivity of the position detection sensor 20 with respect to the lateral shift amount of the relative position of the marker 18 and also considers the number of detections of the marker 18 of the position detection sensor 20 as weighting.
Then, the controller 17 calculates a corrected lateral deviation amount in which the detection sensitivity and the number of detections are reflected as weights.
When the detection sensitivity of the position detection sensor 20 is high, the weighting is increased, and when the detection sensitivity of the position detection sensor 20 is low, the weighting is decreased.
In addition, the weighting is increased when the number of detections of the position detection sensor 20 is large, and the weighting is decreased when the number of detections of the position detection sensor 20 is small.
Specifically, when the lateral deviation amount X (mm) in which the weight is not reflected, the detection sensitivity S, and the number of detections, the corrected lateral deviation amount in which the weight is reflected is expressed by the following Equation 2.

That is, the corrected lateral deviation amount in the above-described formula 2 is based on the weighted average value calculation of the plurality of lateral deviation amounts X.
The controller 17 performs weighting according to the detection sensitivity for the plurality of lateral deviation amounts, and performs processing for setting the corrected lateral deviation amount reflecting the weights as the true lateral deviation amount of the vehicle body 11 with respect to the travel line L. .

In this reference example , the correction lateral deviation amount reflecting the number of detections in addition to the weighting according to the detection sensitivity can be calculated. Therefore, the lateral deviation amount with a small detection sensitivity detected by the position detection sensor 20 is the corrected lateral deviation amount. The degree of reflection is small.
On the contrary, the lateral deviation amount having a large detection sensitivity detected by the position detection sensor 20 is reflected on the corrected lateral deviation amount.
Further, the amount of lateral deviation detected by the position detection sensor 20 is less reflected in the corrected lateral deviation amount. Conversely, the amount of lateral deviation detected by the position detection sensor 20 is larger than the corrected lateral deviation. The degree of reflection on the quantity increases.
Accordingly, since the number of detections of the position detection sensor 20 is weighted in addition to the detection sensitivity of the position detection sensor 20, the influence of the detection error can be sufficiently eliminated in the corrected lateral deviation amount as compared with the second embodiment. The position of the automatic guided vehicle 10 can be detected with high accuracy.

  The present invention is not limited to the above-described embodiment, and various modifications are possible within the scope of the gist of the invention. For example, the following modifications may be made.

In the above embodiment, the marker provided on the travel line is a magnetic marker. However, the marker is not limited to the magnetic marker, and a marker other than the magnetic marker may be employed. When a marker other than the magnetic marker is used, the position detection sensor uses a detection type sensor corresponding to the marker other than the magnetic marker.
In the above embodiment, the reference point is the center in the width direction with respect to the traveling direction of the position detection sensor. However, the reference point may be set to a position other than the center in the width direction with respect to the traveling direction of the position detection sensor .

DESCRIPTION OF SYMBOLS 10 Automated guided vehicle 11 Car body 12 Cargo bed part 13 Front wheel 14 Rear wheel 15 Azimuth angle sensor 16 Distance sensor 17 Controller 18 Marker 20 Position detection sensor 21 Reference point C Large container L Traveling line E Detection area M Straight line S Detection sensitivity X Side shift amount P1 ~ P10 Marker relative position

Claims (2)

A plurality of markers provided on the travel line are detected by a position detection sensor provided on the vehicle body when the automated guided vehicle travels,
In the position detection method of the automatic guided vehicle for detecting a lateral deviation amount of the vehicle body with respect to the travel line by the position detection sensor,
Among the plurality of markers, when a specific marker passes through the position detection sensor during traveling of the automatic guided vehicle, the specific marker is periodically and repeatedly detected in the traveling direction by the position detection sensor, and the specific marker Detect the lateral deviation amount for each marker detection,
More a plurality of the lateral deviation amount to smoothing by the least squares method is a regression analysis, to obtain a straight line the particular marker is estimated to actually track that has passed through the position detecting sensor, the corrected correction amount of lateral deviation Calculate
A position detection method for an automatic guided vehicle, wherein the corrected lateral deviation amount is estimated as a true lateral deviation amount with respect to the traveling line of the vehicle body during traveling. The center of the width direction with respect to the traveling direction of the position detection sensor as a reference point,
The position detection method of the automatic guided vehicle according to claim 1 , wherein a correction lateral deviation amount at the reference point of the specific marker is calculated .

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