JPH02257313A - Drive control facility for moving vehicle - Google Patents

Abstract

PURPOSE:To prevent the deviation of the moving vehicle to a station from its set proper stop state from being accumulated by providing the moving vehicle with a deviation detecting means which detects the deviation of the moving vehicle to the station where the vehicle stops from the set proper stop state. CONSTITUTION:The moving vehicle A is provided with the deviation detecting means which detects the deviation of the moving vehicle to the station ST where the vehicle stops from the set proper stop state and a travel control means corrects control operation for a travel means according to the information of the deviation detecting means. Consequently, even if the stop position of the moving vehicle A to the station ST deviates, the deviation can be corrected when the moving vehicle travels toward a next station ST, so the deviation from the set proper stop state is prevented from being accumulated to perform accurate travel control.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention provides a travel control system that controls the operation of a travel means to cause a moving vehicle to autonomously travel between station runs based on travel control information stored in advance. The present invention relates to an operation control equipment for a mobile vehicle provided with means.

[Conventional technology]

In the above-mentioned type of driving control equipment for a moving vehicle, in order to cause the moving vehicle to travel autonomously, for example, the traveling distance such as the amount of steering for each unit traveling distance and the traveling direction are stored in advance as traveling control information, By reproducing the stored travel control information, the vehicle can autonomously travel to the target station.

[Problem to be solved by the invention]

However, when autonomously traveling, there is a risk that the traveling distance or traveling direction may be deviated due to slipping or the like.

If the traveling distance or traveling direction of the moving vehicle deviates, there is a risk that the stopping position of the moving vehicle with respect to the station may deviate from the properly set stopping state, and as the traveling distance increases, there is a risk that deviations from the stored travel control information may accumulate. Improvements were desired.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to prevent the accumulation of deviations from the properly set stopped state of the moving vehicle relative to the station.

[Means for Solving the Problem] The driving control equipment for a mobile vehicle according to the present invention controls the operation of a traveling means to cause a mobile vehicle to travel autonomously between stations based on travel control information stored in advance. A traveling control means is provided, and its characteristic configuration is as follows.

A first characteristic configuration is that the moving vehicle is provided with a deviation detecting means for detecting a deviation from a properly set stop state for the station at which the moving vehicle has stopped, and the traveling control means is configured to:
The present invention is characterized in that the control operation for the traveling means is corrected based on the information from the deviation detecting means.

A second characteristic configuration is that the travel control means causes the vehicle to travel straight along a preset regular route from the position where it stopped at the station, and to travel along the regular route from the time when the regular route is reached. The vehicle is configured to correct the inclination each time the vehicle stops at the station and when the vehicle reaches the regular route.

A third characteristic configuration is that the mobile vehicle is provided with a work equipment, and the work equipment control means for controlling the operation of the work equipment corrects the control operation for the work equipment based on the information of the deviation detection means. The point is that it is configured to do so.

(Function) In the first characteristic configuration, a deviation from the properly set stop state for the station is detected, and the control operation for the traveling means is corrected.

The second characteristic configuration specifies the correction operation by the travel control means, and the deviation from the normal route is corrected by the combination of two tilt corrections and straight running.

In a third characteristic configuration, the control operation for the working device is corrected using information about the detected deviation from the properly set stop state for the station.

〔Effect of the invention〕

Therefore, in the first characteristic configuration, even if the stop position of the mobile vehicle deviates from the station, the deviation can be corrected when traveling toward the next station, so that the deviation from the properly set stop state at the station is accumulated. By preventing this from happening, we were able to perform accurate driving control.

In this case, if the correction is performed in the form described in the second characteristic configuration, the correction can be performed with simple control that combines tilt correction and straight forward movement.

Furthermore, in the third characteristic configuration, even if the stopping position of the mobile vehicle with respect to the station deviates, the working device can be operated properly.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIGS. 3 to 5, a load transfer manipulator (1) as a work device is installed on the side of the travel path of a moving vehicle (A) on which a load transfer manipulator (1) is mounted. A plurality of loading stations (ST) are installed. Then, the mobile vehicle (A) is directed to the designated station (ST).
), the manipulator (1) moves the load (
N) is configured to automatically perform the transfer work.

Although not detailed, the load (N) transferred to the mobile vehicle (A) at one station (ST) may be unloaded at another station (ST) or processed at the station (ST). Every time the work is completed, it is transferred to the mobile vehicle (A) again and transported to the next station (ST).

However, the mobile vehicle (A) is configured to autonomously travel between stations (ST) without using a travel guide or the like. As will be described in detail later, the station (S) when stopped at the station (ST)
Based on the deviation information of the amount of deviation in the width direction of the vehicle body (X), the amount of deviation in the longitudinal direction of the vehicle body (Y), and the inclination in the longitudinal direction of the vehicle body (θ) with respect to the reference position in plan view with respect to T). , the travel route to the next station (ST) can be automatically corrected (see FIG. 2).

To further explain the travel route between the stations (ST), as shown in FIG. be. And two stations (STI
) - (STg) in the y-axis direction and the distance (f, ) in the X-axis direction, the moving vehicle (
Information on the regular route (L@) on which A) will autonomously travel will be set and stored in advance. However, the mobile vehicle (A)
is assumed to be traveling from one station (STg) to the other station (STI).

The regular route (TO) is a straight line section (TI), (IT), (TI) that is divided into a plurality of straight lines connecting the two stations (STI), (STG).
Each distance information and each straight line section (TI), (T-to), (
The information on the turning radius (Rt), (Rt) and turning angle (θI), (θ8) for changing the direction at the connection point of The travel control information for (A) is mapped and stored in advance.

That is, the moving vehicle (A) moves from one station (srs) to the other station (STI) based on the stored travel control information.
), (Ts) - (Ts) in that order, autonomously travels while turning at a set angle with a set radius at the connection point of each section, and automatically moves to the next station (s).
This makes it possible to stop at td.

In FIG. 3, (r+L (rg)) is the distance between the station (STI), (sty) and the regular route (L,) in the vehicle width direction.

As shown in FIGS. 4 and 5, the station (S
T), when the moving vehicle (A) stops at the designated station (ST), the manipulator (1) is moved to the preset station (ST).
Detecting the deviation from the reference position in a plan view and automatically correcting the operating amount of the manipulator (1), or traveling when the mobile vehicle (A) travels toward the next station (ST). In order to automatically correct the route, a reference member (3) is provided that displays reference position information for the station (ST).

The reference member (3) is configured to simultaneously display address information assigned in advance in order to identify which station (ST) the moving vehicle (A) is stopped at. has been done.

As shown in FIGS. 6 and 7, the reference member (3) includes a sheet-like prism-type light reflector (3a) that totally reflects incident light in the direction of incidence.
3 cm), and a resin flat plate (3b) coated with black matte coating is adhered to the surface thereof.

The black flat plate (3b) has the station (ST
), a plurality of address marks (4b) that display the address information in the form of a binary code, and a parity for the address mark (4b). mark(
A plurality of through holes having the same diameter forming each of the three types of marks 4c) are formed so as to be lined up in a predetermined arrangement. That is, the reference member (3) has each of the marks (4a
), (4b).

It is formed so that only the part where (4c) is formed reflects and appears brighter than the surrounding area.

However, in order to easily identify which mark they are, each of the four reference position marks (4a) is located near each of the four corners of the square reference member (3). ,
The address mark (4b) is the reference position mark (4b).
4a), the parity mark (4a) is divided into upper and lower parts in the y-axis direction along the longitudinal direction of the vehicle body, and is located side by side in the X-axis direction along the width direction of the vehicle body. 4c) is the address mark (4c)
) are arranged horizontally in the y-axis direction.

In addition, each of the above marks (4a), (4b), (4c
) and how to determine the read information will be described later.

As shown in FIGS. 4 and 5, the mobile vehicle (A) is
A pair of electric motors (5) are used to freely stop and reverse the drive independently of each other, and a pair of left and right propulsion wheels (6) are provided approximately in the center of the longitudinal direction of the vehicle body, and a pair of propulsion wheels (6) are provided at the front and rear ends of the vehicle body. A pair of left and right idle wheels (7) are provided. In other words,
The mobile vehicle (^) is configured so that it can change direction on the spot.

Further, the moving vehicle (A) is equipped with an optical fiber type gyro device (Sb), and detects a deviation in the traveling direction from the normal route (LO) based on the information of the gyro device (Sb). , the pair of electric motors (5) are arranged so as to differentiate the rotation speeds of the pair of left and right propulsion wheels (6)
) to steer the vehicle by changing gears.

In addition, in FIG. 4, (Sc) indicates the pair of left and right propulsion wheels (6
) is a ground-contact wheel-type travel distance detection sensor installed at the center of rotation of the vehicle.

As shown in Figure 1, a central control bag on the ground side that manages the operation of the mobile vehicle (^)! (8) A wireless communication device ( 9a) and (9b) are provided on the moving vehicle (A) and on the ground side. The communication device (9b) on the ground side is connected to the central control device (8), and the communication device (9a) on the moving vehicle side is connected to the communication device (9a) on the moving vehicle (A).
) is connected to a microcomputer-based mobile vehicle controller (10) mounted on the mobile vehicle (A) to control the travel of the manipulator (1) and the operation of the manipulator (1).

In Fig. 1, (11) is an image sensor (Sa
), an image processing unit (12) processes the image information of the reference member (3) and transmits the information of the reference member (3) to the mobile vehicle controller (10); (1) is a manipulator controller that controls the operation; (13) is a travel controller that controls the operation of the travel motor (5) that drives the left and right propulsion wheels (6); (14) is the travel controller Based on the command (13), the traveling motor (5
) < (15) is the mobile vehicle (A)
This is a setting device for manually setting various information for the purpose of manually setting the optical information for the vehicle and for recovery in the event of an emergency stop.

To explain the manipulator (1), as shown in FIGS. 4 and 5, it is configured in a so-called multi-joint type, and has a load gripping tool (2) at its tip,
A two-dimensional image sensor (Sa) is attached as an imaging means for reading display information on the reference member (3). Although not described in detail, the manipulator (1) determines the operating amount of the electric motor provided at each joint based on information from an encoder that detects the operating amount and various control information stored in advance. The cargo transfer work will be carried out under controlled conditions.

However, as shown in FIG. 8, the two-dimensional image sensor (Sa) has a wide-angle field of view (FIG. 9 (
A wide-field sensor (S+) equipped with a wide-field sensor (S+) (see Figure 9 (ml)) and a narrow-field sensor (S+) that captures an image with the entire reference member (3) approximately in the cup within the imaging field of view (see Figure 9 (ml)). It is equipped with two image sensors, one with a narrow field of view sensor (S,). In the figure, (16) is an illumination device that illuminates the imaging surface of the image sensor (Sa), and is formed in a ring shape surrounding the t-layer image field of the image sensor (Sa).

By the way, even if the resolution of the image sensor (Sa) is the same, the narrower the imaging field of view is, the more the reference member (Sa) is
The reading resolution for 3) can be improved.

However, since the moving vehicle (A) is configured to autonomously travel, there is a possibility that when it stops at the station (ST), it will deviate significantly from the properly set stopped state.

Therefore, if the imaging field of view of the image sensor (Sa) is narrow, there is a risk that the reference member (3) may protrude from the imaging field of the image sensor (Sa) if the deviation of the stop position is large. If the reference member (3) protrudes from the imaging field of view, there is a risk of misreading the displayed information.

Therefore, the mobile vehicle (A) is connected to the station (ST).
When the image sensor (
Sa) is moved onto the station (ST) to which the reference member (3) is attached, and as shown in FIG. 9(A), first, the station (ST) is Next, based on the detection information by the wide field of view sensor (St), the reference member (3) is located within the imaging field of view. The operating amount of the manipulator (1) is automatically corrected so as not to protrude from the field of view, and the center of the reference member (3) is aligned with the center of the imaging field of the narrow field sensor (S2), as shown in FIG. By capturing the image from the side, even if the stopping position of the mobile vehicle (A) deviates significantly, the information displayed on the reference member (3) is not erroneously read.

To explain the position detection of the reference member (3) by the wide-field sensor (Sl), the reference member (3)
The whole is formed into a substantially black square, and its size is constant.

Therefore, the installation surface of the reference member (3) is formed to be a smooth surface so that the amount of light reflection is greater than that of the reference member (3) (and the surface of the reference member (3) is Detecting where the center of the reference member (3) is within the imaging field of view by setting a window corresponding to the size and shape and searching the image captured by the wide field of view sensor (Sl). By controlling the amount of operation of the manipulator (1) based on the detected position information, the center of the reference member (3) is aligned with the center of the imaging field of view of the narrow field sensor (S8). The display information is read by positioning the display at

Further, as will be described in detail later, the mobile vehicle controller (1
0), a correction amount of the operating amount of the working device (1) is determined based on the read information of the image sensor (Sa), and the obtained correction amount is given to the manipulator controller (12), Even if the mobile vehicle (A) deviates from the properly set stop state with respect to the station (ST), the load gripping tool (2) can properly grip the load. The information on the correction amount obtained above is also used as control information for driving the mobile vehicle (A) to the next station (ST).

In other words, using the mobile vehicle controller (lO),
The station (
A pair of electric motors (5) that drive the propulsion wheels (6) as a traveling means
a traveling control means (100) for controlling the operation of the moving vehicle (A), and detecting a deviation from an appropriate stop state set for the station (ST) at which the mobile vehicle (A) has stopped based on information read by the image sensor (Sa). Displacement detection means (
101), and the controller (12) of the manipulator (1) corresponds to the working device control means (102) that controls the operation of the working device.

Next, the configuration of the deviation detecting means (101) will be described in detail.

Imaging information of the image sensor (Sa) is input to the mobile vehicle controller (12), and is disulfide based on the magnitude of the contrast, and the position of the reference member (3) within the imaging field of view and display information are read. will be held.

However, as mentioned above, first, the manipulator (1) is actuated with a pre-stored set actuation amount, and the rough position of the reference member (3) is detected by the wide field of view sensor (Sl). Based on the position information, the actuation amount of the manipulator (1) is corrected, and the reference member (3) is imaged in a close-up state by the narrow field sensor (Ss). Based on the imaging information of the narrow field sensor (S), each mark (
The coordinates (Xi, Yi) of each vertex on the captured image of the reference position mark (4a) are determined based on the shapes and sizes of 4a), (4b), and (4c) (see FIG. 9). (See (If)).

Next, the center of gravity (X, Y) of the reference position mark (4a) is
) and the longitudinal direction of the vehicle body in plan view, that is, the inclination (θ) with respect to the y-axis.

However, the value of the center of gravity (X, Y) is based on the reference position (X@
, Yll), so that the value corresponds to the amount of deviation with respect to
When the mobile vehicle (^) stops at the station (ST) in a properly set stop state, when the manipulator (1) is operated with a preset amount of operation, the value of the center of gravity (X, Y) The mounting position of the reference member (3) is set so that the values of the reference member (3) and the reference position (Xo, Yo) coincide with each other.

In other words, the value of the y-coordinate of the center of gravity (X, Y) corresponds to the amount of deviation in the longitudinal direction of the vehicle, the value of the X-coordinate corresponds to the amount of deviation in the width direction of the vehicle, and the value of the inclination (θ) This corresponds to the inclination with respect to the station (ST) in the longitudinal direction of the vehicle body.

Therefore, by correcting the amount of movement of each joint that is set and stored in advance based on the value of the center of gravity (X, Y) and the value of the inclination (θ), when the mobile vehicle (^) is stopped, The posture is in a properly set stop state with respect to the stage gin (ST), that is, the reference position (Xo, Y) of the reference member (3).
Even if it deviates from o), the load gripping tool (2) of the manipulator (1) is able to properly grip the load.

Next, the address mark (4b) and the parity mark (4c), which are read simultaneously when reading the reference position mark (4a), are checked for their sizes and positions relative to the reference position mark (4a) that are set and stored in advance. Based on the relationship, the presence or absence of the address mark (4b) and the parity mark (4C) is determined, and based on the combination of the presence or absence of the marks, the station (A) at which the moving vehicle (A) is currently stopped is determined. 0 to determine the address of the communication device (9a), (9b), which is stored in advance as the cargo transfer operation is completed.

Information on the traveling route to the next station (ST) instructed by the central control device (8) via the reference position mark (4a), and the reference position (Xo, Yo) according to the reference position mark (4a).
Based on the information on the deviation amount (X, Y) and the inclination (θ), the traveling direction for traveling to the next station (ST) is corrected and automatic traveling is started.

To explain the correction of the running direction, as shown in FIG.
If the center of gravity (X, Y
) and the value of the inclination (θ), the moving vehicle (A) is oriented in the direction of the set and memorized normal route (to) within a range that does not collide with the station run (ST). The maximum changeable angle (θ3) and the regular route (
The travel distance (Ts) to the contact point (0) with La) is determined, the gyro device (Sb) is reset, and information on the detected travel direction is initialized.

Next, based on the information of the gyro device (Sb), the left and right propulsion wheels (6) are reversed to make a spin turn on the spot, and the tilt (θ) and the maximum angle at which the direction can be changed ( θS) is added to the direction of the regular route (L・), and then the determined travel distance (Ts ) is driven straight ahead and stopped at the contact point (0) with the regular route (Lo). Thereafter, the maximum angle (θS) is changed to the station side by a spin turn, and the set speed is set so that the vehicle autonomously travels along the regular route (L,) to the next station (ST). It will start running.

After starting automatic travel along the regular route (La), as described above, the left and right propulsion wheels (6) are steered with a rotational speed difference based on the information of the gyro device (Sb). and the mileage detection sensor (Sc)
Based on this information, the position of the mobile vehicle (A) on the regular route (La) is determined, and the vehicle (A) is automatically stopped when it reaches the next station (ST).

[Another example]

In the above embodiment, the deviation detection means (101) is replaced with the imaging means (
For example, a pair of front and rear retractable members that protrude toward the station side and come into contact with the reference surface of the station, and a detection sensor that detects the protrusion stroke of the retractable members; The specific configuration of the shift detecting means can be changed in various ways, such as by providing a discriminating means for discriminating shifts based on the detection information of these sensors to detect the shifts. Even when the image pickup means (Sa) is used to detect the deviation, the configuration of each part can be changed as follows.

In the above embodiment, the mark (
4a), (4b), and (4c) are formed in a light-reflecting manner, but the background of the reference member (3) is formed in white, and the marks (4a), (4b), and (4c) are formed in a light reflective manner.
) may be formed in black, or may be formed in a light projection type using a light emitting diode, etc., and the marks (4a), (
The specific shapes of 4b) and (4c) and the specific configuration of the reference member (3) can be changed in various ways.

Further, in the above embodiment, an image sensor (
In order to change the imaging field of view of Sa) to wide and narrow, we have exemplified a case where two sensors, a wide field of view sensor (St) and a narrow field of view sensor (S), are provided and used by switching. The camera is equipped with two types of optical systems, a wide-angle system and a narrow-angle system, and can be used by switching between them, and the imaging distance of the image sensor can be switched between near and far, and as a result, the imaging field of view can be changed to wide and narrow. The specific configuration for changing the field of view of the imaging means to wide or narrow can be changed in various ways.

In addition, in the above embodiment, the control operation of the travel control means (100) for the travel means (6) is corrected based on the information of the deviation detection means/means (101).
), correct the inclination so that it heads toward the regular route (Lo), and then drive straight to the regular route (Lo).
Although the case where the inclination is corrected so as to be oriented along the normal route (Lo) when it reaches Lo) has been exemplified, various forms of correction can be applied.

For example, if you are facing the regular route (Lo) and
It is possible to find a curved running path that will take the posture along the regular route (Lo) when it reaches (Lo), and run the vehicle along that running path. When a regular route (Lo) is set by combining sections (TI), (Tri, (Ts) and turning driving, the turning angle during turning driving and each straight section (TO, (t
It is also possible to make the vehicle run to a desired station (ST) by changing the straight distance of t) and (ts).

Further, the specific configuration of each part necessary for carrying out the present invention can be changed in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the driving control equipment for a moving vehicle according to the present invention, and FIG. 1 is a block diagram of the control configuration, FIG. 2 is an explanatory diagram of correcting deviation of the moving vehicle, and FIG. 3 is an explanatory diagram of the traveling route. , 4th
The figure is a schematic plan view of the vehicle stopped at the station, FIG. 5 is a front view of the same, and FIG. 6 is a plan view of the reference member.
FIG. 7 is a cross-sectional view of the same, FIG. 8 is a schematic perspective view of the lift/damage means, and FIG. 9 ((), (ET) is an explanatory diagram of displacement detection. (ST)...Station, (1)...Working device, (6)...
... Travel means, (100) ... Travel control means, (101) Old... Displacement detection means, (102) ...
...Control means for working equipment.

Claims (1)

[Claims] 1. Travel control means for controlling the operation of the traveling means (6) to cause the mobile vehicle (A) to autonomously travel between stations (ST) based on travel control information stored in advance. (1
00) is provided, the mobile vehicle (A) is provided with a station (A) at which it has stopped.
A deviation detecting means (101) for detecting a deviation from a properly set stop state with respect to ST) is provided, and the traveling control means (100) controls the traveling means (6) based on the information of the deviation detecting means (101). ) a mobile vehicle operational control equipment configured to correct control actuation for ). 2. The driving control equipment for a moving vehicle according to claim 1, wherein the driving control means (100) is connected to the station (ST).
) Regular route (Lo) set in advance from the stop position
When stopped at the station (ST) and on the regular route (Lo), in order to make the vehicle run straight at the station (ST) and run along the regular route (Lo) from the time it reaches the regular route (Lo), A driving control device for a mobile vehicle configured to perform a tilt correction each time the vehicle is reached. 3. The moving vehicle operation control equipment according to claim 1 or 2, wherein the moving vehicle (A) is provided with a working device (1), and a working device control means for controlling the operation of the working device (1). (
102) is a driving control equipment for a mobile vehicle configured to correct a control operation for the working device (1) based on information from the deviation detecting means (101).