JPH0210409A - Guide method for moving body - Google Patents

Abstract

PURPOSE:To reduce the setting work of a movement target by moving a moving body itself in accordance with the indication due to remote control to set the movement target at the time when the first movement target is not set yet. CONSTITUTION:A moving body 1 is provided with a movement target recognizing device 2, a movement controller 3, a moving mechanism 4, and a movement target setting device 5. A general controller 6 which generalizes and controls the whole of a system is provided on the outside of the moving body 1, and general work indications are given to this controller 6 from a worker 7. When an indication 8 to set a movement target is given from the worker 7 to the general controller 6, route information 9 is sent to the movement controller 3 from the general controller 6 and a movement control signal 10 is generated to run the moving body 1 along an objective route. The general controller 6 generates a movement target set signal 11 synchronously with movement of the moving body 1, and the movement target setting device 5 is operated in accordance with this signal.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a method for guiding a moving object along a desired route, and is particularly suitable for providing a route when the moving object turns around and travels the same route. This invention relates to a method for guiding a moving object.

[Conventional Technology J Regarding conventional methods of guiding moving objects, see the 3rd International Conference on Automated
Kited Vehicle Systems Proceedings (1985)
(October 2013), pages 63 to 85 (Proc, of
3rd Int, Conf, on Autonat
edGuicled Vehicle 5ystcu+
5 (Oct, 1985), p. 63-85).

That is, in order to guide a moving object along a target route on the floor, a cable is embedded in the floor along the target route.
There is a method in which the moving object constantly detects the magnetic field generated by the cable with a magnetic sensor and controls its movement so that it does not leave the magnetic field area.

Similarly, a reflective tape is pasted on the floor along the desired route, and the moving object constantly detects the contrast between the reflective tape and the floor using an optical sensor to prevent it from detaching from the reflective tape. There is a way to control movement.

[Problem to be solved by the invention]

In the above-mentioned conventional technology, it is necessary for a worker to install installation materials such as reflective tape or cables along the movement route in advance. In other words, it is assumed that the laying of moving targets will be carried out by workers, and little consideration has been given to simplifying these tasks. Also, moving targets that are relatively easy to lay are placed on a moving surface. It is exposed and cannot be used if M4 structures cannot be installed due to aesthetic reasons or other reasons due to the moving surface j1m.

SUMMARY OF THE INVENTION An object of the present invention is to provide a method for guiding a moving object that can facilitate the installation of a moving target and significantly reduce the work required by workers.

Another object of the present invention is to provide a method for guiding a moving object, which makes it possible to guide the moving object even in areas where laying objects cannot be attached or cannot be left attached by providing an invisible moving target. It is to provide.

[Means to solve the problem]

The first object is to provide a mobile object having a moving target recognition device, a movement control device that generates a movement command based on a signal from the recognition device, and a movement mechanism that operates based on the command from the movement control device. A method for guiding a moving object, characterized in that the moving object is moved while setting the moving target by itself, and the moving object is moved based on the moving target during the next movement. achieved by.

The above object can also be achieved by a method for guiding a moving body, characterized in that the moving target is installed while moving an automatic machine different from the moving body, and then the moving body is moved based on the moving target. achieved.

Magnetic information, optical information, and sound can be used as the moving target.

On the other hand, the second purpose of item L is to provide a moving target recognition device, a movement control device that generates a movement command based on a signal from the recognition device, and a movement mechanism that operates based on the command from the movement control device. This is achieved by a method for guiding a moving object, which comprises: preparing a moving object having a moving object, setting the moving object using magnetic information, and moving the moving object based on the moving object.

As the moving target, a continuous line along a moving route can be used, and the moving body can be moved along the line. Alternatively, marks placed discretely along the moving route may be used as moving targets, and operation commands may be given to the moving body using the marks.

Furthermore, encoded marks can be used as moving targets, and the marks can be placed discretely along the moving route to give a plurality of types of operation commands to the moving body.

Preferably, the magnetic information is a residual magnetic field that remains in the magnetic material when a moving surface made of a magnetic material is locally magnetized.

In this case, a coded residual magnetic field pattern obtained by equipping a plurality of magnetizing devices and operating these magnetizing devices independently can be used as magnetic information.

Furthermore, one or more magnetizing devices are provided movably along the magnetic material moving surface, and the encoded residual magnetic field pattern obtained by magnetizing while operating the magnetizing device is used as magnetic information. It may also be used as

Further, a coded residual magnetic field pattern obtained by equipping a plurality of residual magnetic field detection devices and causing these detection devices to perform residual magnetic field detection operations simultaneously can be used as magnetic information.

Further, one or more residual magnetic field detection devices are movably installed along the magnetic material moving surface, and a coded residual magnetic field pattern obtained by detecting the residual magnetic field while operating these detection devices is detected. It can be used as magnetic information.

Furthermore, a residual magnetic field left on the material by a magnetic field generator provided at a contact portion of the moving body with the magnetic material moving surface may be used as the magnetic information.

Further, a demagnetizing device for the residual magnetic field on the magnetic material moving surface may be provided.

[Effect]

In the present invention configured in this way, in a state where the first moving target is not installed, an operator can move the moving object itself or an automatic machine separate from the moving object by instructing it by remote control, for example. Since we will be setting up moving targets,
Workers do not need to go to the site to set up moving targets.
The number of people required for the work will be significantly reduced.

Note that during initial movement without a moving target installed, the moving object itself cannot detect and correct its position on the moving surface, so the position error increases as the moving object moves. Therefore, compared to the case where a worker directly sets a moving target on a moving surface, the accuracy of setting a moving target is lowered.

However, once a moving target is set, position errors can be corrected using the moving target as a reference during repeated travel. This licking repeat accuracy is equivalent to the conventional method in which a worker directly places a moving target on a moving surface. Therefore, the accuracy of setting the moving target is not so much of an issue, but it is necessary to perform tasks that require repeated positioning accuracy, such as positioning a specific part once.
The method of the present invention is particularly effective for tasks that require continuous monitoring.

Regarding the present invention, which uses magnetic information to locate a moving target, general magnetic materials that have not been particularly magnetized are magnetized to the extent of a floating magnetic field. , it is magnetized to about 0.3 Gauss to 0.5 Gauss, although it varies depending on the location.

When a magnetic field is applied to any part of such a magnetic material from the outside, it becomes locally magnetized, and even when the magnetic field is removed, a residual magnetic field remains depending on the applied magnetic field. This residual magnetic field on the magnetic material can be detected by a magnetic sensor such as a ball element, magnetoresistive element, magnetostrictive element, etc., so it can be used as a moving target. The residual magnetic field is maintained for a long time by the coercive force of the magnetic material itself, so
Unlike moving targets such as electricity, light, and sound, there is no need to constantly supply energy from the outside, so once the local residual magnetic field is left, it can be used as a moving target for a long time. Furthermore, since the residual magnetic field is invisible to the human eye, it can also be used in cases where a moving target cannot be installed or left in place for aesthetic reasons. These characteristics are what make it so different from other types of moving targets.

When a coded mark is used as a moving target, information other than the moving route can be provided from the moving target, such as motion information such as stopping the moving object or instructions for specific work.

When using the residual magnetic field left on the material by a magnetic field generator installed at the contact part with the moving surface of the magnetic material of the moving body as magnetic information, the movement of the moving body can be controlled by using a permanent magnet as the magnetic field generator. is the magnetizing operation as it is, and the moving target can be installed without installing a special magnetizing device.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is an embodiment of the present invention in which a moving object sets a moving target by itself, and shows the configuration of the entire system including the moving object. The moving object 1 includes a moving target recognition device 2, a movement control device 3, a moving tl[4, and a moving target setting device 5. Outside the mobile body 1, there is a general control device 6 that centrally controls the entire system, and this second value control device 6
A rough work instruction is given by a worker, that is, an operator 7. The flow of information between each component is shown by arrows, the solid line is the flow when the moving target is installed, and the broken line is the flow when repeatedly traveling along the installed moving target.

During the work, an instruction 8 is given from the operator 7 to the general control device 6 as to whether to perform "installation of a moving target" or "repeated travel along a moving target".

In the case of "installation of a moving target", route information 9 for installing a moving target is sent from the general control device 6 to the movement control device 3. The movement control device 3 transmits the movement control signal 10 according to this instruction.
is generated, and the moving body 1 is caused to travel along the target route.

The overall control device 6 generates a moving target installation signal 11 at a position where a moving target is to be installed in synchronization with the movement of the moving object 1, and the moving target installation device 5 operates in accordance with this signal. At this time, the moving target recognition device 2 plays no role.

If instruction 8 is "repetitive driving along the moving target",
An automatic travel instruction 12 is given from the general control device 6 to the movement control device 3. In this case, the movement control device 3 issues a moving target detection instruction 13 to the moving target recognition device 2 at regular intervals or at arbitrary intervals as necessary, and in response to this, the moving target recognition device 2 moves. Control device 3 indicates “mobile object 1”.
The movement control device 3 calculates parameters such as movement direction and movement amount based on the position information 14 and gives this to the movement R ellipse 4 as a movement control signal 15, and sends back the movement target position information 14. run repeatedly along the desired route. At this time, the position information 16 of the moving object 1 is also sent to the general control device 6, and is used to grasp the position of the moving object 1. This is an example of a repair case in which a moving body and a moving body dedicated to repeated travel are separated, and the configuration of the entire system including these moving bodies is shown. The target installation moving body 17 used exclusively for installing a moving target includes a movement control device 3b and a movement I! It consists of a structure 4b and a moving target setting device 5. The operation when setting up a moving target is to use the movement control bag 'J1.3 and the movement tli horizontal 4 shown in FIG. 1, and the movement control device 3b and the movement mechanism 4 shown in FIG.
If you replace it with b, it will be exactly the same.

Furthermore, the mobile body 1 used exclusively for repeated traveling is composed of a moving target recognition device 2, a movement control device 3a, and a mobile device m4a. The operation during repeated traveling will be exactly the same if the movement control device 3 and movement mechanism 4 in FIG. 1 are replaced with the movement control device 3a and movement mechanism 4a in FIG. 2.

The target setting movable body 17 and the repetitive traveling movable body 1 are
Although control parameters such as movement speed and accuracy are often different, this embodiment has the characteristic that each moving body can realize control parameters suitable for the purpose.

The moving target used when the moving body 21 moves on the curved surface 22 can take the forms shown in FIGS. 3(a), 3(b), and 3(c). FIG. 3(a) shows an example in which the continuous curve 23 is used as a moving target, and FIG. 3(C) shows marks 26a to 26e encoded on the continuous curve 25.
This is an example of using both. In particular, Fig. 3(b) shows the discrete marks 2
4a to 24d. By using encoded marks as shown in Figure 3 (C), the moving target can include detailed information about the movement of the moving object, and in addition to the moving route information from the moving target, e.g. It is possible to give instructions such as stopping a moving object and performing specific tasks.

Further, the moving target can be of various types such as magnetic information, optical information, acoustic information, etc., and each of them can take various forms as shown in FIG. The installation of magnetic information will be described later.

Optical information can be obtained by pasting colored or reflective tape (continuously moving targets), painting (continuously or discretely moving targets), placing landmarks (discretely moving targets), etc. can be installed. Acoustic information can be installed by leaving behind a sound source, an ultrasonic source (continuous, scattered moving targets), etc.

Next, an example will be described in which a local residual magnetic field is used as a moving target invisible to the human eye. FIG. 4 is an example of a moving body using a local residual magnetic field. Mobile object 3
1 is a rotatably mounted drive 1632a, 32
b and driven wheels 33a and 33b, and travels on a curved surface. The driving wheels 32a, 32b are driven by a traveling motor 34 via a belt 33. Also, the driven wheel 33
a.

33b is connected via a steering link 35 and is steered by a steering actuator 36.

When locally magnetizing a moving surface made of a magnetic material, a magnetic field is generated by energizing the magnetizing coil 37, and a residual magnetic field remains even after the magnetic field is removed.

This magnetizing coil 37 is housed in a ball screw mechanism 38. The ball screw mechanism 38 is connected to a motor 40 via a belt 39, and by driving the motor 40, the magnetizing coil 37 moves laterally. Therefore, by appropriately selecting the timing of the traverse movement and energization of the magnetizing coil 37, it is possible to leave an encoded residual magnetic field pattern.

On the other hand, a magnetic sensor 41 is installed on the front surface of the moving body 31, and can detect the residual magnetic field on the moving surface.

By using an array-type magnetic sensor in which multiple magnetic sensors are arranged in a row and capturing the output of each magnetic sensor simultaneously in parallel, it is possible to generate encoded residual magnetic field patterns without scanning the magnetic sensor along the moving surface. I can read it.

Any type of magnet that generates a magnetic field can be used to magnetize the moving surface, and an electromagnet located near the moving surface may be energized, or a permanent magnet may be attached to and removed from the moving surface. , FIG. 5 shows the measurement of the magnitude of the residual magnetic field when a permanent magnet is attached to and detached from a steel plate and magnetized. The horizontal axis shows the number of attachment/detachment operations as the number of magnetizations, and the Ml axis shows the magnitude of the residual magnetic field.The magnet used has a residual magnetic flux density of 9000 Gauss, and at this time, the residual magnetic field remaining in the steel plate is about 3 to 4 Gauss. It can be seen that there is not much difference depending on the number of magnetizations. 6 The residual magnetic field in the unmagnetized part is about 0.3 Gauss, and the magnitude of the residual magnetic field in the magnetized part is about 1
It will be an order of magnitude better.

When repeatedly traveling based on the residual magnetic field on the moving surface, a problem arises in which the residual magnetic field decreases over time. FIG. 6 shows the results of measuring the residual magnetic field with respect to elapsed time, and extrapolation shows that the residual magnetic field attenuates by 20 to 50% in one week. Therefore, if the residual magnetic field is used as a reference for movement over a long period of time, it is necessary to repeatedly magnetize at regular intervals.

FIG. 7 shows the residual magnetic field distribution measured when a steel plate was magnetized using a permanent magnet piece with a width of 10 mm. arrow 51
The region indicated by is the magnetized part, the horizontal axis shows the distance from the magnetization center position, and the vertical axis shows the residual magnetic field. The region where the residual magnetic field exists matches the magnetized portion extremely well, so it can be used as a reference when moving.

Methods for creating a residual magnetic field pattern encoded on the moving surface include a method using an array type magnetizer in which a plurality of magnetizers are arranged, and a method using one or more magnetizers that can scan the moving surface. There is a method. FIG. 8(a) shows an example of an array type magnetizer. The si device consists of three sets of independent coils 52a to 52C and pole pieces 53a to 53c. A pole piece 53 is mounted on a moving surface 54 made of magnetic material.
When each coil 52a to 52c is energized with the coils in contact with each other, the pole piece corresponding to the energized coil moves to the moving surface 5.
Only the part that touches 4 is magnetized. Therefore, by changing the combination of coils that are energized at the same time, different residual magnetic field patterns can be created.

On the other hand, FIG. 8(b) shows an example of scanning layered porcelain.
The magnetizing coil 37 of the embodiment shown in FIG. 4 is also of this type. In FIG. 8(b), the coil 55 and the pole piece 56 are attached to a nut 57 of a ball screw. One end of the ball screw 58 is connected to a motor (not shown), and by driving this motor, the ball screw 58 rotates as indicated by an arrow 59. Therefore, by driving the motor, the coil 55 and the pole piece 56 can be scanned along the moving surface 60. Therefore, by appropriately selecting the lateral movement of the coil 55 and the timing of energization, an encoded residual magnetic field pattern can be obtained.

Although FIG. 8 describes the magnetizer, the same can be said about the residual magnetic field detector by replacing the coil and pole piece with a magnetic sensor. That is, an array type detector in which a plurality of magnetic sensors are arranged, and a scanning type detector in which one or more magnetic sensors capable of scanning a moving surface are used can be considered.

The local residual magnetic field on the moving surface does not necessarily have to be created consciously by a magnetizing device; if the part of the moving object that contacts the moving surface is made into a magnet, a moving trajectory will automatically be left as it moves. For example, if the driving wheels 32 and driven wheels 33 of the moving body shown in FIG.
As the driven wheel 33 rolls, a residual magnetic field with a continuous locus of movement remains. In such a case, it is not necessarily necessary to equip a magnetizing device.

So far, we have focused on leaving magnetic information on the moving surface using a magnetizer. A possible solution to this problem would be to equip a moving object with a demagnetizer and move while erasing magnetic information that is no longer needed. The demagnetizer can demagnetize by applying an alternating magnetic field to the magnetized portion and gradually decreasing the value of the alternating magnetic field, and can also be achieved by applying an alternating 7M voltage to the coil. Such a demagnetizer can be used, for example, when changing the movement route, when it is necessary to demagnetize a portion that has been magnetized against intention, and when it is necessary to erase magnetization information after repeated movement is completed.

〔Effect of the invention〕

According to the present invention, since the movable object itself or an automatic machine moves while laying the movable target, it is possible to significantly reduce the work of laying the movable target by a worker. In particular, moving targets can be set up by remote control in high places that cannot be easily accessed by humans, or in narrow places such as inside pipes, which greatly reduces the burden on workers.

Furthermore, according to the present invention, by using magnetic information that is invisible to the human eye as a moving target, it is possible to set up a moving target even in areas where objects cannot be contained or cannot be kept contained. This makes it possible to guide moving objects. Furthermore, since magnetic information is easy to magnetize and demagnetize, it is easy to remotely install and move a moving target using a moving body.

When a coded mark is used as a moving target, information other than the moving route can be provided from the moving target, such as motion information such as stopping the moving object or instructions for specific work.

When using the residual magnetic field left on the material by a magnetic field generator installed at the contact part with the moving surface of the magnetic material of the moving object as magnetic information, the movement of the moving object becomes the magnetization operation as it is, and a special magnetizing device is required. It is possible to set up a moving target without setting up.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram showing the concept of a system for implementing a method for guiding a moving object according to an embodiment of the present invention, and FIG. 2 is a schematic diagram showing a system for implementing a method for guiding a moving object according to another embodiment of the present invention. FIG. 3(a) is a schematic diagram showing the concept of
(b) and (C) are diagrams respectively showing different forms of moving targets installed by the moving object guiding method of the present invention, and FIG. FIG. 5 is a perspective view showing the schematic structure of the body, and FIG. 5 is a diagram showing the experimental results of the relationship between the number of magnetizations and the strength of the residual magnetic field.
Figure 6 is a diagram showing the experimental results of the relationship between elapsed time and the strength of the residual magnetic field, and Figure 7 is a diagram showing the experimental results of the relationship between the distance from the magnetization center position and the strength of the residual magnetic field. , FIGS. 8(a) and 8(fb) are diagrams respectively showing two types of @porcelain used in the method of guiding a moving body of the present invention. Explanation of symbols 1.17, 21.31... Mobile object 2... Target recognition device 3... Movement control device 4.
...Movement [15...Moving target setting device 6...General control device, 23.25...Continuous curve 24...Discrete marks 37.53a to 53c) 41...Magnetic sensor 26 ... Encoded mark 55 ... Magnetizing coil (Magnetizing 54.60 ... Moving surface Fig. 1

Claims (1)

[Scope of Claims] (1) A moving target recognition device, a movement control device that generates a movement command based on a signal from the recognition device, and a movement mechanism that operates based on the command from the movement control device. A moving object characterized in that: a moving object is prepared, the moving object is moved while setting the moving target by itself, and the moving object is moved based on the moving target when moving from next time onwards. induction method. (2) Prepare a moving body having a moving target recognition device, a movement control device that generates a movement command based on a signal from the recognition device, and a movement mechanism that operates based on the command from the movement control device. . A method for guiding a moving object, characterized in that the moving target is installed while moving an automatic machine different from the moving object, and then the moving object is moved based on the moving target. (3) Prepare a moving body having a moving target recognition device, a movement control device that generates a movement command based on a signal from the recognition device, and a movement mechanism that operates based on the command from the movement control device. . A method for guiding a moving body, characterized in that the moving target is installed using magnetic information, and the moving body is moved based on the moving target. (4) The method for guiding a moving object according to claim 1 or 2, characterized in that magnetic information is used as the moving target. (5) The method for guiding a moving object according to claim 1 or 2, characterized in that optical information is used as the moving target. (6) The method for guiding a moving object according to claim 1 or 2, characterized in that acoustic information is used as the moving target. (7) Guidance of the moving object according to any one of claims 1 to 6, characterized in that a continuous line is used along the movement route as the movement target, and the moving object is moved along the line. Method. (8) The movement according to any one of claims 1 to 6, characterized in that marks placed discretely along the movement route are used as the moving target, and the movement commands are given to the moving body using the marks. How to guide your body. (9) A coded mark is used as the moving target, and the marks are placed discretely along the moving route to give a plurality of types of operation commands to the moving object.
7. The method for guiding a moving body according to any one of items 1 to 6. (10) A method for guiding a moving object according to claim 3 or 4, characterized in that a moving surface made of a magnetic material is locally magnetized, and a residual magnetic field remaining in the magnetic material at that time is used as the magnetic information. . (11) A coded residual magnetic field pattern obtained by equipping a plurality of magnetizing devices and operating these magnetizing devices independently is used as the magnetic information. The method for guiding the moving object described above. (12) An encoded residual magnetic field pattern obtained by equipping one or more magnetizing devices movably along the magnetic material moving surface and magnetizing while operating the magnetizing devices. 11. The method of guiding a moving body according to claim 10, wherein the magnetic information is used as the magnetic information. (13) A coded residual magnetic field pattern obtained by equipping a plurality of residual magnetic field detection devices and causing these detection devices to perform residual magnetic field detection operations simultaneously is used as the magnetic information. 10. The method for guiding a moving body according to 10. (14) Obtained by equipping one or more residual magnetic field detection devices movably along the magnetic material movement surface and detecting the residual magnetic field while operating these detection devices.
11. The method for guiding a moving object according to claim 10, wherein an encoded residual magnetic field pattern is used as the magnetic information. (15) Guidance of a moving body according to claim 10, characterized in that a residual magnetic field left in the material by a magnetic field generator installed at a contact portion of the moving body with the moving surface of the magnetic material is used as the magnetic information. Method. (16) The method for guiding a moving body according to claim 10, further comprising a demagnetizing device for a residual magnetic field on the magnetic material moving surface.