JP7056591B2 - Driving control system - Google Patents

Description

The present invention relates to a travel control system.

As a conventional traveling control system, for example, a technique as described in Patent Document 1 is known. The travel control system described in Patent Document 1 is set to a laser distance sensor that emits a laser and detects the reflected light to measure the distance to an object, and an address and a travel area of the travel area on which an automatic guided vehicle travels. The current position of the automatic guided vehicle is estimated by matching the data memory that stores the correspondence information with the coordinates and the measurement data from the laser distance sensor and the map data, and the automatic guided vehicle is estimated based on the estimation result. It is equipped with a processing unit that travels according to route data.

Japanese Unexamined Patent Publication No. 2011-253414

When estimating the position of a moving body as in the above-mentioned conventional technique, it is necessary to specify the position coordinates and reset the position of the moving body when the moving body is started or when the position of the moving body is out of order and becomes a lost state. be. However, when an obstacle such as a truck exists in the vicinity, even if the position of the moving object is reset, the obstacle becomes a disturbance, so that it may not be possible to accurately estimate the position of the moving object. .. In this case, the user has no choice but to carry out the recovery work, which increases the burden on the user.

An object of the present invention is to provide a traveling control system capable of improving the estimation accuracy of the position of a moving body by correctly resetting the position of the moving body when the position of the moving body is estimated.

The travel control system according to one aspect of the present invention is a travel control device for traveling a moving body along a travel path, and is installed on the floor so as to follow the travel path to instruct a reset of the position of the moving body. The travel control device includes a plurality of reset instruction marks, and the travel control device has a position estimation unit that estimates the position of the moving body, a storage unit that stores the position of the reset instruction mark, and an estimation of the moving body obtained by the position estimation unit. The reset instruction mark is detected by the travel control unit that controls the drive unit of the moving body so that the moving body travels along the travel path based on the position, the mark detection unit that detects the reset instruction mark, and the mark detection unit. A reset position setting unit that sets the position of the reset instruction mark as the reset position of the moving body is provided, and the position estimation unit moves based on the reset position of the moving body set by the reset position setting unit. The position of the body is reset, and the reset position setting unit compares the reset position of the moving body with the estimated position of the moving body obtained by the position estimation unit, and whether the reset of the position of the moving body is successful or unsuccessful. When it is determined whether or not the reset of the position of the moving object has failed, when the mark detection unit detects the next reset instruction mark, the position of the next reset instruction mark is set as the reset position of the moving object. do.

In such a traveling control system, the position of the moving body is estimated by the position estimation unit, and the driving unit of the moving body controls the moving body so that the moving body travels along the traveling path based on the estimated position of the moving body. Will be done. If the reset instruction mark is detected while the moving body is traveling, the position of the reset instruction mark is set as the reset position of the moving body. Then, the position estimation unit resets the position of the moving body based on the reset position of the moving body. At this time, when the reset position of the moving body is compared with the estimated position of the moving body and it is determined that the reset of the position of the moving body has failed, the next reset is performed when the next reset instruction mark is detected. The position of the instruction mark is set as the reset position of the moving body. Then, the position estimation unit resets the position of the moving body again. Due to the existence of obstacles such as trucks around the moving body in this way, even if the reset instruction mark fails to reset the position of the moving body, the position of the moving body is reset again by the next reset instruction mark. Will be. As a result, when the position of the moving body is estimated, the position of the moving body is reset correctly, so that the estimation accuracy of the position of the moving body is improved.

The travel control device further includes a deceleration control unit that controls a drive unit to decelerate the moving body when the reset position of the moving body is set by the reset position setting unit, and the reset position setting unit is a moving body. When it is determined that the position reset is successful, even if the next reset instruction mark is detected by the mark detection unit, it is not necessary to set the reset position of the moving body. In such a configuration, when the reset of the position of the moving body is successful, even if the next reset instruction mark is detected, the reset position of the moving body is not set, so that it is not necessary to decelerate the moving body. Therefore, it leads to a reduction in cycle time.

The reset position setting unit determines whether the absolute value of the difference between the reset position and the estimated position is less than or equal to the specified value, and moves when the absolute value of the difference between the reset position and the estimated position is less than or equal to the specified value. It may be determined that the reset of the body position is successful. In such a configuration, it is possible to realize whether or not the reset of the position of the moving body is successful or unsuccessful by a simple calculation process.

The travel path has a real guide line that is installed on the floor and is physically detectable, and a virtual guide line that is virtually set to follow the actual guide line on the data. , A guide detection unit that detects the actual guide line is further provided, the storage unit stores the reset instruction mark and the position of the virtual guide line, and the traveling control unit actually stores the moving body based on the detection value of the guide detection unit. The drive unit is controlled so as to travel along the guide line, and the drive unit is controlled so that the moving body travels along the virtual guide line based on the estimated position of the moving body obtained by the position estimation unit. , A plurality of reset instruction marks may be installed on the floor so as to follow the actual guide line. In such a configuration, the position of the moving body is reset before the traveling section of the moving body is switched from the section where the actual guide line is installed to the section where the virtual guide line is set. It can be run along a virtual guide line.

The actual guide wire may be a magnetic guide wire, the reset instruction mark may be a magnetic mark, and the guide detection unit and the mark detection unit may be a magnetic sensor. With such a configuration, the travel control system can be realized at low cost.

According to the present invention, when the position of a moving body is estimated, the accuracy of estimating the position of the moving body can be improved by correctly resetting the position of the moving body.

It is a schematic block diagram which shows the traveling control system which concerns on one Embodiment of this invention. It is a block diagram which shows the structure of the traveling control device shown in FIG. It is a flowchart which shows the detail of the arithmetic processing procedure executed by the SLAM controller shown in FIG. It is a flowchart which shows the detail of the control processing procedure executed by the traveling control unit shown in FIG. It is a flowchart which shows the detail of the setting processing procedure executed by the reset position setting part shown in FIG. It is a flowchart which shows the detail of the control processing procedure executed by the deceleration control unit shown in FIG. It is a conceptual diagram which shows how the position of a moving body is reset.

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

FIG. 1 is a schematic configuration diagram showing a travel control system according to an embodiment of the present invention. In FIG. 1, the travel control system 1 of the present embodiment is a system in which a moving body 2 such as a forklift is unmanned to travel from a start point 3A to a destination point 3B. The travel control system 1 includes a travel control device 4 that automatically travels the moving body 2 along the travel path 3 from the start point 3A to the destination point 3B.

The traveling path 3 has a magnetic guide line 5 which is a physical guide line installed on the floor and is physically detectable, and a virtual guide line 6 which is virtually set on the data. The virtual guide line 6 is set closer to the destination point 3B than the magnetic guide line 5 so as to follow the magnetic guide line 5 on the data.

The section in which the magnetic guide line 5 is installed is a magnetic guidance section P in which a magnetic guidance system is carried out in which the moving body 2 travels along the magnetic guide line 5. The section in which the virtual guide line 6 is set is a virtual guidance section Q in which a virtual guidance system for traveling the moving body 2 along the virtual guide line 6 is implemented.

The position of the traveling path 3 including the start point 3A and the destination point 3B is represented by two-dimensional coordinates (XY coordinates). Here, the two-dimensional coordinates of the starting point 3A are (0,0). The two-dimensional coordinates of the destination point 3B are (100,0). Although the traveling route 3 is a straight route in FIG. 1, it may be a curved route.

On the floor surface of the magnetic induction section P, a plurality of (here, two) reset instruction marks 7 for instructing the reset of the position of the moving body 2 are installed along the magnetic guide line 5. The reset instruction mark 7 is a physically detectable magnetic mark. The reset instruction mark 7 is embedded beside the magnetic guide wire 5 on the floor surface. Here, the first reset instruction mark 7 from the start point 3A is referred to as the reset instruction mark 7A, and the second reset instruction mark 7 from the start point 3A is referred to as the reset instruction mark 7B.

Further, although not particularly shown, magnetic marks, which are travel instruction marks, are installed on the floors of the magnetic guidance section P and the virtual guidance section Q. The travel instruction mark is associated with travel instruction data for the moving body 2 to travel. The travel instruction data includes, for example, an acceleration instruction, a stop instruction, a right turn instruction, a left turn instruction, and the like. The reset instruction mark 7 may be configured as a part of the travel instruction mark.

FIG. 2 is a block diagram showing the configuration of the travel control device 4. In FIG. 2, the travel control device 4 is mounted on the moving body 2. The travel control device 4 includes a position estimation unit 10, two magnetic guide sensors 11, a magnetic mark sensor 12, and an automatic travel control unit 13.

The position estimation unit 10 is a position estimation unit that estimates the position of the moving body 2. The position estimation unit 10 resets the position of the moving body 2 based on the reset position (described later) of the moving body 2 set by the automatic traveling control unit 13, and then estimates the position of the moving body 2.

The position estimation unit 10 estimates the self-position of the mobile body 2 by using, for example, a SLAM (simultaneous localization and mapping) method. SLAM is a self-position estimation technique that performs self-position estimation using sensor data and map data. SLAM uses a laser range scanner or the like to estimate the self-position and create an environmental map at the same time.

The position estimation unit 10 has a laser sensor 14 and a SLAM controller 15. The laser sensor 14 irradiates the periphery of the moving body 2 with a laser and receives the reflected light of the laser to detect the distance to the object around the moving body 2. As the laser sensor 14, for example, a laser range finder is used.

The SLAM controller 15 is composed of a CPU, RAM, ROM, an input / output interface, and the like. The SLAM controller 15 performs an estimation calculation of the position of the moving body 2 based on the detected value of the laser sensor 14. The position of the moving body 2 is represented by two-dimensional coordinates (X, Y) and an orientation θ.

FIG. 3 is a flowchart showing the details of the arithmetic processing procedure executed by the SLAM controller 15. This process is executed when the power of the mobile body 2 is turned on.

In FIG. 3, the SLAM controller 15 first determines whether or not the initial position data (described later) from the automatic traveling control unit 13 has been input (procedure S101). When the SLAM controller 15 determines that the initial position data has been input, the SLAM controller 15 sets the initial position as the current position of the moving body 2 (procedure S102).

Subsequently, the SLAM controller 15 acquires the detected value of the laser sensor 14 (procedure S103). Then, the SLAM controller 15 performs an estimation calculation of the position of the moving body 2 (procedure S104). Specifically, the SLAM controller 15 matches the distance to the object around the moving body 2 detected by the laser sensor 14 with the map of the surrounding environment of the moving body 2, and estimates the position of the moving body 2. I do. As a result, the estimated position of the moving body 2 can be obtained. Then, the SLAM controller 15 outputs the estimated position data of the moving body 2 to the automatic traveling control unit 13 (procedure S105).

Subsequently, the SLAM controller 15 determines whether or not the reset position data from the automatic traveling control unit 13 has been input (procedure S106). When the SLAM controller 15 determines that the reset position data has not been input, the SLAM controller 15 re-executes the procedures S103 to S105.

When the SLAM controller 15 determines that the reset position data has been input, the SLAM controller 15 resets the position of the moving body 2 by setting the reset position as the current position of the moving body 2 (procedure S107). Then, the SLAM controller 15 executes the procedures S103 to S105 again.

Returning to FIG. 2, the magnetic guide sensor 11 is attached to the front and rear of the lower part of the moving body 2 (see FIG. 1). Note that FIG. 1 schematically shows the position of the magnetic guide sensor 11. The magnetic guide sensor 11 is a magnetic sensor (guide detection unit) that detects the magnetic guide wire 5. The magnetic guide sensor 11 extends in the width direction (left-right direction) of the moving body 2. By providing the moving body 2 with two magnetic guide sensors 11 in the front-rear direction, not only the amount of deviation in the position coordinates between the moving body 2 and the magnetic guide line 5 but also the amount of deviation in the direction between the moving body 2 and the magnetic guide line 5 can be obtained. It can be detected.

The magnetic guide sensor 11 outputs an electric signal corresponding to the position overlapping the magnetic guide wire 5 as a detection value. For example, the output value of the magnetic guide sensor 11 in a state where the central portion of the magnetic guide sensor 11 in the longitudinal direction overlaps the magnetic guide wire 5 and a state in which the end portion of the magnetic guide sensor 11 in the longitudinal direction overlaps the magnetic guide wire 5. (Detected value) is different. Therefore, it is possible to determine the positional relationship between the magnetic guide sensor 11 and the magnetic guide wire 5 based on the detection value of the magnetic guide sensor 11.

The magnetic mark sensor 12 is attached to the lower part of the rear end of the moving body 2 (see FIG. 1). The magnetic mark sensor 12 is a magnetic sensor (mark detection unit) that detects the reset instruction mark 7.

The automatic traveling control unit 13 performs predetermined processing based on the position of the moving body 2 estimated by the position estimation unit 10 and the detection values of the magnetic guide sensor 11 and the magnetic mark sensor 12, and sets the moving body 2 as a starting point. The traveling motor 16 and the steering motor 17 are controlled so as to automatically travel from 3A to the destination point 3B.

The traveling motor 16 is a motor that rotates the traveling wheels (not shown) of the moving body 2. The steering motor 17 is a motor that steers the steering wheel (not shown) of the moving body 2. The traveling motor 16 and the steering motor 17 form a driving unit of the moving body 2.

The automatic driving control unit 13 is composed of a CPU, RAM, ROM, an input / output interface, and the like. The automatic travel control unit 13 includes a storage unit 18, a first deviation amount calculation unit 19, a second deviation amount calculation unit 20, a travel control unit 21, an initial position setting unit 22, and a reset position setting unit 23. It has a deceleration control unit 24.

The storage unit 18 stores information related to the travel of the moving body 2, such as the positions of the travel route 3, the reset instruction mark 7, and the travel instruction mark (not shown), travel instruction data, and the like. The storage unit 18 stores the positions of the traveling path 3 and the reset instruction mark 7 as two-dimensional coordinates.

The first deviation amount calculation unit 19 calculates the deviation amount between the magnetic guide line 5 and the moving body 2 based on the detected value of the magnetic guide sensor 11. At this time, the first deviation amount calculation unit 19 determines the deviation amount between the position coordinates of the magnetic guide line 5 and the position coordinates of the moving body 2 and the deviation amount between the direction of the magnetic guide line 5 and the direction of the moving body 2. calculate.

The second deviation amount calculation unit 20 sets the virtual guide line 6 and the moving body 2 based on the position of the virtual guide line 6 stored in the storage unit 18 and the estimated position of the moving body 2 obtained by the position estimation unit 10. Calculate the amount of deviation from. At this time, the second deviation amount calculation unit 20 determines the deviation amount between the position coordinates of the virtual guide line 6 and the position coordinates of the moving body 2 and the deviation amount between the direction of the virtual guide line 6 and the direction of the moving body 2. calculate.

The travel control unit 21 is a traveling motor so as to travel the moving body 2 along the magnetic guide line 5 based on the deviation amount between the magnetic guide line 5 and the moving body 2 calculated by the first deviation amount calculating unit 19. 16 and the steering motor 17 are controlled. Further, the traveling control unit 21 causes the moving body 2 to travel along the virtual guide line 6 based on the deviation amount between the virtual guide line 6 and the moving body 2 calculated by the second deviation amount calculating unit 20. It controls the traveling motor 16 and the steering motor 17. Further, the travel control unit 21 controls the travel motor 16 and the steering motor 17 so as to travel the moving body 2 according to the travel instruction data associated with the travel instruction mark (not shown).

Here, the first deviation amount calculation unit 19, the second deviation amount calculation unit 20, and the travel control unit 21 traverse the moving body 2 based on the estimated position of the moving body 2 obtained by the position estimation unit 10. A traveling control unit that controls the traveling motor 16 and the steering motor 17 so as to travel along the above is configured.

FIG. 4 is a flowchart showing the details of the control processing procedure executed by the traveling control unit 21. This process is also executed when the power of the mobile body 2 is turned on, similar to the arithmetic process by the SLAM controller 15. In this process, the control according to the travel instruction mark is omitted.

In FIG. 4, the traveling control unit 21 first determines whether or not the traveling section of the moving body 2 has switched from the magnetic induction section P to the virtual induction section Q based on the detection value of the magnetic guide sensor 11 (procedure S111). The travel control unit 21 determines that, for example, when the magnetic guide line 5 is not continuously detected by the magnetic guide sensor 11 for a predetermined time, the travel section of the moving body 2 is switched from the magnetic induction section P to the virtual induction section Q.

When the traveling control unit 21 determines that the traveling section of the moving body 2 has not switched from the magnetic induction section P to the virtual induction section Q, the traveling control unit 21 and the magnetic guide line 5 calculated by the first deviation amount calculating unit 19 and the moving body. The amount of deviation from 2 is acquired (procedure S112). Then, the traveling control unit 21 outputs a control signal to the traveling motor 16 and the steering motor 17 so that the amount of deviation between the magnetic guide line 5 and the moving body 2 becomes 0 (procedure S113). As a result, the position coordinates and orientation of the moving body 2 come closer to the magnetic guide line 5.

When the travel control unit 21 determines in step S111 that the travel section of the moving body 2 has switched from the magnetic induction section P to the virtual induction section Q, the travel control unit 21 moves with the virtual guide line 6 calculated by the second deviation amount calculation unit 20. The amount of deviation from the body 2 is acquired (procedure S114). Then, the travel control unit 21 outputs a control signal to the travel motor 16 and the steering motor 17 so that the amount of deviation between the virtual guide line 6 and the moving body 2 becomes 0 (procedure S115). As a result, the position coordinates and orientation of the moving body 2 come closer to the virtual guide line 6.

The travel control unit 21 determines whether or not the moving body 2 has reached the destination point 3B after the procedure S113 or the procedure S115 is executed (procedure S116). When the traveling control unit 21 determines that the moving body 2 has not reached the destination point 3B, the traveling control unit 21 executes the procedure S111 again. When the traveling control unit 21 determines that the moving body 2 has reached the destination point 3B, the traveling control unit 21 ends this process.

Returning to FIG. 2, the initial position setting unit 22 sets the position saved in the backup memory (not shown) when the power of the moving body 2 is turned off, or the position input by the input device such as a touch panel to the initial position of the moving body 2. It is set as a position, and the initial position data is output to the SLAM controller 15.

When the reset instruction mark 7 is detected by the magnetic mark sensor 12, the reset position setting unit 23 sets the position of the reset instruction mark 7 as the reset position of the moving body 2, and outputs the reset position data to the SLAM controller 15. do.

FIG. 5 is a flowchart showing the details of the setting processing procedure executed by the reset position setting unit 23. This process is also executed when the power of the mobile body 2 is turned on, similar to the arithmetic process by the SLAM controller 15. Before the execution of this process, the position reset flag is set to 0.

In FIG. 5, the reset position setting unit 23 first determines whether or not the reset instruction mark 7A is detected by the magnetic mark sensor 12 (procedure S121). When the reset position setting unit 23 determines that the reset instruction mark 7A has been detected, the reset position setting unit 23 acquires the position of the reset instruction mark 7A from the storage unit 18 and sets the position of the reset instruction mark 7A as the reset position of the moving body 2. (Procedure S122). Then, the reset position setting unit 23 outputs the reset position data to the SLAM controller 15 (procedure S123).

Subsequently, the reset position setting unit 23 acquires the estimated position of the moving body 2 obtained by the position estimation unit 10 (procedure S124). Then, the reset position setting unit 23 determines whether or not the absolute value of the difference between the reset position and the estimated position is equal to or less than the specified value (procedure S125).

When the reset position setting unit 23 determines that the absolute value of the difference between the reset position and the estimated position is equal to or less than the specified value, the reset position setting unit 23 determines that the position of the moving body 2 has been successfully reset by the position estimation unit 10, and determines that the position has been successfully reset. The reset flag is set to 1 (procedure S126).

When the reset position setting unit 23 determines that the absolute value of the difference between the reset position and the estimated position is not equal to or less than the specified value, that is, the absolute value of the difference between the reset position and the estimated position is larger than the specified value, the position estimation unit 23 estimates the position. It is determined that the reset of the position of the moving body 2 by the unit 10 has failed, and the position reset flag is left set to 0 (procedure S127).

After that, the reset position setting unit 23 determines whether or not the next reset instruction mark 7B is detected by the magnetic mark sensor 12 (procedure S128). When the reset position setting unit 23 determines that the next reset instruction mark 7B has been detected, the reset position setting unit 23 determines whether or not the position reset flag is 0 (procedure S129).

When the reset position setting unit 23 determines that the position reset flag is 0, the reset position setting unit 23 acquires the position of the reset instruction mark 7B from the storage unit 18 and sets the position of the reset instruction mark 7B as the reset position of the moving body 2. (Procedure S130). Then, the reset position setting unit 23 outputs the reset position data to the SLAM controller 15 (procedure S131), and ends this process.

When the reset position setting unit 23 determines that the position reset flag is 1 instead of 0, the reset position setting unit 23 ends this process without executing steps S130 and S131.

Returning to FIG. 2, the deceleration control unit 24 controls the traveling motor 16 so as to decelerate the moving body 2 when the reset position of the moving body 2 is set by the reset position setting unit 23. The deceleration of the moving body 2 referred to here includes the stop of the moving body 2.

FIG. 6 is a flowchart showing details of the control processing procedure executed by the deceleration control unit 24. This process is also executed when the power of the mobile body 2 is turned on, similar to the arithmetic process by the SLAM controller 15.

In FIG. 6, the deceleration control unit 24 first determines whether or not the reset instruction mark 7 is detected by the magnetic mark sensor 12 (procedure S141). When the deceleration control unit 24 determines that the reset instruction mark 7 has been detected, the deceleration control unit 24 determines whether or not the position reset flag is 0 (procedure S142).

When the deceleration control unit 24 determines that the position reset flag is 0, the deceleration control unit 24 outputs a control signal for decelerating the moving body 2 to the traveling motor 16 (procedure S143). As a result, the rotation speed of the traveling motor 16 decreases, and the moving body 2 decelerates. The reason for decelerating the moving body 2 is to take into consideration the calculation time of the position estimation when the position of the moving body 2 is reset by the position estimation unit 10.

After that, the deceleration control unit 24 determines whether or not a predetermined time has elapsed since the control signal for decelerating the moving body 2 is output to the traveling motor 16 (procedure S144). When the deceleration control unit 24 determines that the specified time has elapsed, the deceleration control unit 24 outputs a control signal for accelerating the moving body 2 to the traveling motor 16 (procedure S145). As a result, the rotation speed of the traveling motor 16 becomes high, and the moving body 2 accelerates to travel at the original speed. Then, the deceleration control unit 24 executes the procedure S141 again.

When the deceleration control unit 24 determines in the procedure S142 that the position reset flag is 1 instead of 0, the deceleration control unit 24 re-executes the procedure S141 without executing the procedures S143 to S145. As a result, the moving body 2 travels at a constant speed without decelerating.

In the travel control system 1 configured as described above, when the moving body 2 is traveling in the magnetic induction section P, the reset instruction mark 7A is set by the magnetic mark sensor 12 as shown in FIG. 7A. When detected, the position of the reset instruction mark 7A is set as the reset position of the moving body 2. Then, the reset position data is sent from the automatic traveling control unit 13 to the position estimation unit 10, and the moving body 2 decelerates.

Then, the position estimation unit 10 resets the position of the moving body 2 based on the reset position. Then, the estimated position of the moving body 2 obtained by the position estimation unit 10 is sent to the automatic traveling control unit 13. The automatic traveling control unit 13 compares the reset position with the estimated position, and determines whether the reset of the position of the moving body 2 is successful or unsuccessful.

When it is determined that the reset of the position of the moving body 2 has failed, the reset instruction mark 7B is detected when the next reset instruction mark 7B is detected by the magnetic mark sensor 12, as shown in FIG. 7B. Is set as the reset position of the moving body 2. Then, the reset position data is sent from the automatic traveling control unit 13 to the position estimation unit 10, and the moving body 2 decelerates. The position estimation unit 10 resets the position of the moving body 2 again based on the reset position.

When it is determined that the reset of the position of the moving body 2 is successful, even if the next reset instruction mark 7B is detected by the magnetic mark sensor 12, the position of the reset instruction mark 7B is set as the reset position of the moving body 2. Will not be reset. Therefore, the reset position data is not sent from the automatic traveling control unit 13 to the position estimation unit 10. Further, as shown in FIG. 7C, the moving body 2 passes through the reset instruction mark 7B as it is without decelerating.

As described above, in the present embodiment, the position of the moving body 2 is estimated by the position estimation unit 10, and the moving body 2 travels along the traveling path 3 based on the estimated position of the moving body 2. The traveling motor 16 and the steering motor 17 are controlled. If the reset instruction mark 7 is detected while the moving body 2 is traveling, the position of the reset instruction mark 7 is set as the reset position of the moving body 2. Then, the position estimation unit 10 resets the position of the moving body 2 based on the reset position of the moving body 2. At this time, when the reset position of the moving body 2 is compared with the estimated position of the moving body 2 and it is determined that the reset of the position of the moving body 2 has failed, the next reset instruction mark 7 is detected. , The position of the next reset instruction mark 7 is set as the reset position of the moving body 2. Then, the position estimation unit 10 resets the position of the moving body 2 again. Since an obstacle such as a truck exists around the moving body 2 in this way, even if the reset instruction mark 7 fails to reset the position of the moving body 2, the position of the moving body 2 is changed by the next reset instruction mark 7. Is reset again. As a result, when the position of the moving body 2 is estimated, the position of the moving body 2 is reset correctly, so that the estimation accuracy of the position of the moving body 2 is improved. As a result, the recovery work performed by the user when the reset of the position of the moving body 2 fails is reduced, so that the burden on the user can be reduced.

Further, in the present embodiment, when the reset position of the moving body 2 is successful, even if the next reset instruction mark 7 is detected, the reset position of the moving body 2 is not set, so that the moving body 2 needs to be decelerated. There is no. Therefore, it leads to a reduction in cycle time.

Further, in the present embodiment, when the absolute value of the difference between the reset position of the moving body 2 and the estimated position of the moving body 2 is equal to or less than the specified value, it is determined that the resetting of the position of the moving body 2 is successful. , It is possible to realize the determination of whether the reset of the position of the moving body 2 is successful or unsuccessful by a simple calculation process.

Further, in the present embodiment, the position of the moving body 2 is before the traveling section of the moving body 2 is switched from the magnetic guidance section P in which the magnetic guide line 5 is installed to the virtual guidance section Q in which the virtual guide line 6 is set. Since it will be reset, the moving body 2 can be driven along the virtual guide line 6.

Further, in the present embodiment, since the traveling path 3 has the magnetic guide line 5 and the reset instruction mark 7 is the magnetic mark, the traveling control system 1 can be realized at low cost.

The present invention is not limited to the above embodiment. For example, in the above embodiment, two reset instruction marks 7 are installed on the floor surface, but the number of reset instruction marks 7 is not particularly limited to two, and may be three or more. In this case, the process of determining whether the reset of the position of the moving body 2 is successful or unsuccessful may be performed twice or more depending on the number of reset instruction marks 7.

Further, in the above embodiment, the reset instruction mark 7 is a magnetic mark, but the reset instruction mark 7 is not particularly limited to that, and an RFID tag mark or the like may be used. When the RFID tag mark is used, the RFID tag mark is detected by the RFID reader.

Further, in the above embodiment, the magnetic guide wire 5 is installed on the floor surface as a physically detectable actual guide wire, but the actual guide wire is not particularly limited to that, and is an electromagnetic guide wire or the like. May be good. When an electromagnetic guide wire is used, the electromagnetic guide wire is detected by the electromagnetic sensor.

Further, in the above embodiment, the position estimation unit 10 estimates the position of the moving body 2 by using the SLAM method using a laser as the self-position estimation technique. Not limited to this, a SLAM method using an image captured by a camera, a GNSS (global navigation satellite system) positioning method using a satellite, or the like may be used.

Further, in the above embodiment, the traveling path 3 has a magnetic guide line 5 and a virtual guide line 6, and a plurality of reset instruction marks 7 are installed along the magnetic guide line 5, but the present invention particularly provides. The form is not limited to this, and it can be applied to any traveling route that requires resetting the position of the moving body 2.

Further, in the above embodiment, the forklift is driven along the traveling path 3 as the moving body 2, but the present invention can be applied to all moving bodies that travel by estimating the position, such as a transport trolley. be.

1 ... Travel control system, 2 ... Moving body, 3 ... Travel route, 4 ... Travel control device, 5 ... Magnetic guide line (actual guide line), 6 ... Virtual guide line, 7, 7A, 7B ... Reset instruction mark, 10 ... Position estimation unit (position estimation unit), 11 ... Magnetic guide sensor (guide detection unit), 12 ... Magnetic mark sensor (mark detection unit), 16 ... Travel motor (drive unit), 17 ... Steering motor (drive unit), 18 ... Storage unit, 19 ... First deviation amount calculation unit (travel control unit), 20 ... Second deviation amount calculation unit (travel control unit), 21 ... Travel control unit, 23 ... Reset position setting unit, 24 ... Deceleration control Department.

Claims (5)

A travel control device that allows a moving object to travel along a travel route,
It is installed on the floor so as to follow the traveling path, and is provided with a plurality of reset instruction marks for instructing the reset of the position of the moving body.
The travel control device is
A position estimation unit that estimates the position of the moving body, and a position estimation unit.
A storage unit that stores the position of the reset instruction mark, and
A traveling control unit that controls a driving unit of the moving body so that the moving body travels along the traveling path based on the estimated position of the moving body obtained by the position estimation unit.
A mark detection unit that detects the reset instruction mark, and
A reset position setting unit for setting the position of the reset instruction mark as the reset position of the moving body when the reset instruction mark is detected by the mark detection unit is provided.
The position estimation unit resets the position of the moving body based on the reset position of the moving body set by the reset position setting unit.
The reset position setting unit compares the reset position of the moving body with the estimated position of the moving body obtained by the position estimation unit, and determines whether the reset of the position of the moving body is successful or unsuccessful. When the determination is made and it is determined that the reset of the position of the moving body has failed, when the next reset instruction mark is detected by the mark detection unit, the position of the next reset instruction mark is reset to the moving body. A driving control system that is set as a position. The travel control device further includes a deceleration control unit that controls the drive unit so as to decelerate the moving body when the reset position of the moving body is set by the reset position setting unit.
When the reset position setting unit determines that the reset of the position of the moving body is successful, the claim that the reset position of the moving body is not set even if the next reset instruction mark is detected by the mark detecting unit. Item 1. The traveling control system according to item 1. The reset position setting unit determines whether or not the absolute value of the difference between the reset position and the estimated position is equal to or less than the specified value, and the absolute value of the difference between the reset position and the estimated position is equal to or less than the specified value. The traveling control system according to claim 1 or 2, wherein it is determined that the reset of the position of the moving body is successful. The traveling path has a real guide line installed on the floor surface and physically detectable, and a virtual guide line virtually set to follow the real guide line on the data.
The travel control device further includes a guide detection unit for detecting the actual guide line.
The storage unit stores the positions of the reset instruction mark and the virtual guide line, and stores the positions.
The travel control unit controls the drive unit so that the moving body travels along the actual guide line based on the detection value of the guide detection unit, and the movement is obtained by the position estimation unit. Based on the estimated position of the body, the drive unit is controlled so that the moving body travels along the virtual guide line.
The traveling control system according to any one of claims 1 to 3, wherein the plurality of reset instruction marks are installed on the floor surface along the actual guide line. The actual guide wire is a magnetic guide wire, and the actual guide wire is a magnetic guide wire.
The reset instruction mark is a magnetic mark and is a magnetic mark.
The travel control system according to claim 4, wherein the guide detection unit and the mark detection unit are magnetic sensors.

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