JPH04293108A - Running controller of moving car - Google Patents

Abstract

PURPOSE:To reduce the cost of the equipment and to improve the work efficiency by reducing the shift amount of a running position from a scheduled running path at the time when a moving car runs autonomously between stations. CONSTITUTION:The controller is provided with a running correction value discriminating means for discriminating an intrinsic running correction value at the time of running between stations ST, based on a position shift amount detected in each station at the time of running from one station ST to the other station ST, on a moving car A, and is constituted so that a running control means executes running control of the moving car A along a scheduled running path L0, based on a running correction value discriminated by the running correction value discriminating means. Also, this controller is constituted so that the running correction value discriminating means updates its running correction value, whenever the moving car A runs from one station ST to the other station ST.

Description

Detailed Description of the Invention [0001] [Industrial Application Field] The present invention provides a system in which a reference member is provided at each of a plurality of stations installed along a scheduled travel route of a moving vehicle to indicate its reference position. a position detecting means for detecting the position of the reference member; a deviation determining means for determining the amount of deviation of the moving vehicle from the planned travel route based on information from the position detecting means; Coordinate storage means for storing coordinate information of the planned travel route; and travel control means for controlling travel so that the moving vehicle travels along the planned travel route based on the deviation amount and the coordinate information. The present invention relates to a travel control device for a mobile vehicle. [0002] In this type of vehicle travel control device, the vehicle is autonomously driven along a planned travel route stored as coordinate information, and at each station, The reference position of the reference member installed there is detected by a position detection means on the moving vehicle side, and based on this detection information, the amount of deviation from the planned travel route that occurs due to autonomous travel between the stations is determined. After correcting this amount of deviation, or while correcting it while the vehicle is traveling, the vehicle is driven toward the next station. [0003] Conventionally, a vehicle has been configured to control running using only the coordinate information and the amount of deviation as basic information for running. [0004]However, in the above-mentioned conventional traveling control device for a mobile vehicle, due to position detection errors caused by installation errors of the reference member, it is difficult to determine the autonomous traveling distance between the stations. If it is increased, the amount of deviation of the moving vehicle from the planned travel route becomes large, and therefore, there is a possibility that the amount of deviation at the station becomes so large that it is outside the range that can be detected by the position detecting means on the moving vehicle side. Therefore, it is not possible to provide adjacent stations with a sufficiently large distance between them, and even if an optimal station layout is considered in terms of the work process, there are disadvantages such as the inability to carry out the work as is. The present invention has been made in view of the above circumstances, and its purpose is to reduce the amount of deviation from the planned travel route that occurs when the mobile vehicle autonomously travels between stations. be. Means for Solving the Problems A first feature of the travel control device for a mobile vehicle according to the present invention is that when the mobile vehicle travels from one station to another station, each of the stations is travel correction value determining means for determining a travel correction value when traveling between the stations based on the amount of deviation determined for the station;
The travel control means is configured to perform travel control so that the mobile vehicle travels along the planned travel route based also on the travel correction value determined by the travel correction value determination means. be. A second characteristic configuration is that the travel correction value determining means is configured to update the travel correction value each time the mobile vehicle travels from the one station to another station. At the point. [0008]According to the first feature, first, the mobile vehicle is caused to travel from one station to another station along the planned travel route of the mobile vehicle stored in the coordinate storage means. At this time, at each station on the departure side and the arrival side, the position of the reference member that displays the reference position is detected by the position detection means provided on the moving vehicle, and the deviation amount determination means moves based on this position detection information. The amount of deviation of the vehicle from the planned travel route is determined. Then, based on this amount of deviation, the travel correction value determining means determines the travel correction value when the mobile vehicle travels from the one station to another station. Next, when the mobile vehicle is caused to travel from the one station to another station, the travel control means uses the coordinate information of the planned travel route of the mobile vehicle stored in the coordinate storage means and the deviation. The vehicle is controlled to travel along the planned travel route based on the amount of deviation determined by the amount determining means and the travel correction value determined as described above. In this case,
The traveling correction value includes a unique traveling error that occurs when traveling from one station to another station due to an installation error of the reference member, etc. Therefore, the traveling correction value is also based on the traveling correction value. By performing travel control based on this, the inherent travel error is removed, and the amount of deviation of the travel position from the planned travel route can be reduced. According to the second feature, each time the moving vehicle travels from the one station to another station, the travel correction value is determined by the latest travel correction value determined by the travel correction value determining means. is updated. By this updating operation, the traveling correction value becomes closer to the inherent traveling error when traveling from the one station to another station as the number of traveling increases. [0011] According to the first characteristic configuration, the amount of deviation from the planned travel route that occurs when the mobile vehicle autonomously travels between stations is reduced, so that the installation interval of the stations can be reduced. It becomes possible to increase the size of the vehicle, and it becomes possible to realize the optimal station layout for the work process, making it possible to use the mobile vehicle more conveniently. According to the second characteristic configuration, the amount of deviation from the planned travel route that occurs when the mobile vehicle autonomously travels between stations automatically becomes smaller each time it repeats travel. , the effect of the first characteristic configuration is further enhanced. [Embodiments] Hereinafter, embodiments of the present invention will be explained based on the drawings. As shown in FIGS. 1 to 2 and 6 to 7, a plurality of load transfer stations ST are installed on the side of the planned traveling route L0 of the moving vehicle A on which the load transfer manipulator 1 is mounted. is installed. Then, as the mobile vehicle A stops at the designated station ST, the manipulator 1 is configured to automatically transfer the load N between the station ST and the mobile vehicle A. There is. [0014]Although not described in detail, the cargo N transferred to the mobile vehicle A at one station ST is unloaded at another station ST, or every time the processing work, etc. at the station ST is completed. It will be transferred to moving vehicle A again and transported to the next station ST. The manipulator 1 will be explained as follows.
As shown in FIGS. 1 and 2, it is configured in a so-called multi-joint type, and has a load gripping tool 2 at its tip,
Image sensor Sa as a position detection means for reading display information on the reference member 3 installed at the station ST
is attached. Although not described in detail, the manipulator 1 controls the operating amount of an electric motor provided at each joint based on information from an encoder that detects the operating amount and various control information stored in advance. Then, cargo transfer work will be carried out. 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, when the mobile vehicle A travels on the planned travel route L0 from one station STn to another station STm, the coordinate information of the planned travel route LO, the coordinate information of each station STn, STm, etc. Based on the amount of deviation from the planned travel route determined in each case, and the unique traveling correction value when traveling from the one station STn to the other station STm, which is determined based on the amount of deviation, The configuration is such that the vehicle A is controlled to travel along the planned travel route L0. In the figure, the stationary reference coordinate axes (hereinafter referred to as layout coordinate axes) of the traveling control system for a mobile vehicle to which the present invention is applied are designated as X'' and Y'' axes, and the reference coordinate axes fixed to mobile vehicle A are , the vehicle body longitudinal direction is the X' axis, and the vehicle body width direction is the Y' axis. Then, the center AC of the moving vehicle A is set as the origin of the X', Y' coordinate axes, and when the moving vehicle A stops in the properly set stop state with respect to the station ST, the center AC is set to the reference position L on the layout coordinate axes.
C, and the X'' axis and the X' axis and the Y'' axis and Y'
The axes are parallel. Planned travel route L between the stations ST
0, as shown in FIG. 6, five stations ST1 to ST5 are installed, and the distances w1 to w4 in the X'' axis direction between the five stations ST1 to ST5 and the distance between the stations ST1 to ST5 are ST
1 and the four stations ST2 to ST5 in the Y'' axis direction, and r1 to r5, which are the distances between the stations ST1 to ST5 and the planned travel route L0 in the vehicle width direction. A planned travel route L0 for the mobile vehicle A to travel autonomously.
The coordinate information is stored in advance in the coordinate storage means 10 (described later)
The settings will be stored in 2. The four stations ST2 to ST5 are on a straight line in the X'' axis direction, and the moving vehicle A is located at each station ST1 to ST5.
The vehicle shall be driven in both forward and reverse directions for a period of time T5. Here, the direction in which the vehicle travels from the lowest station number to the highest station number is defined as the forward direction. Of the planned travel route L0, the two stations ST1 and ST2 that are not on a straight line are explained as straight sections T1 and ST2 divided into a plurality of straight lines.
T2, T3 respective distance information and each straight line section T1, T2
, T3 are set as information on turning radii R1, R2 and turning angles θ1, θ2 for changing the direction at the connection point of T3, and the distance information and turning angle information are set and stored in the same manner as described above. That is, the mobile vehicle A moves from one station ST1 to the other station ST2 on the basis of the stored coordinate information in each straight line section T.
1, T2, and T3 in that order, autonomously traveling while turning at a set angle with a set radius at the connecting point of each section, and automatically stopping at the next station ST2. There is. Also, in the opposite direction to the above, from station ST2 to station S
When reversing to T1, each of the straight sections T1, T2,
Proceed through T3 in reverse order. [0021] Also, the planned travel route L0 is
When the station STn stops at the station STn, the amount of positional deviation Yn in the width direction of the vehicle body, the amount of positional deviation Xn in the longitudinal direction of the vehicle body, and the inclination in the longitudinal direction of the vehicle body with respect to the reference position in plan view with respect to the station STn. The angle deviation amount θn is configured to be corrected based on each deviation amount information (see FIG. 7). Then, when the mobile vehicle A stops at the designated station ST, the station ST
In order to detect the amount of deviation of the moving vehicle A from the properly set stop state, as shown in FIGS. 1 to 2 and 8,
The moving vehicle A includes two imaging units Sai that capture images of locations separated by a predetermined distance L in the X-axis direction corresponding to the longitudinal direction of the vehicle body.
The image sensor Sa is provided, and at the same time,
The station ST includes a reference member 3 that displays reference position information for the station ST, which includes two imaged parts 3i arranged to be imaged separately by the two imaging parts Sai. is provided. On the other hand, the reference member 3 is shown in FIGS. 9 to 1.
1, one of the two imaged parts 3i is
Two types of element marks 3C are provided as element parts for displaying information for specifying the location of the self with respect to the entire imaged part 3i, and the two types of element marks 3C are located at the center of the imaged part 3i. They are two-dimensionally distributed on two circumferences of a predetermined radius centered on point O'. Note that only element marks 3C of the same type are arranged on one of the above-mentioned circumferences. Further, in the figure, the X axis is the longitudinal direction of the vehicle body, the Y axis is the lateral direction of the vehicle body, and the center point O' is the origin of the X and Y coordinate axes. One of the two types of element marks 3C has two circles with different diameters (a large circle and a small circle) arranged a predetermined distance apart on a straight line connecting their centers of gravity, and
The center point O' is located at a predetermined distance on the larger diameter side on the extension of this straight line. There are 4 placed. Other of the two types of element marks 3C are three circles with different diameters (large circle, medium circle, small circle).
are placed on a straight line connecting their centers of gravity and at a predetermined distance apart in order of size, and this straight line forms an angle of 45° with the X and Y axes, and on the extension of that line, the side with the larger diameter The center point O' is located at a predetermined distance from
Furthermore, two pieces each, a total of four pieces, are arranged in directions forming an angle of 45 degrees with the X and Y axes with the center point O' as the center. The other imaged portion 3i of the reference member 3 is a medium circle whose center of gravity is at a predetermined distance L from the center point O' on the X-axis, and , are arranged at a position near the end of the reference member 3 outside the position of the element mark 3C. Further, in the center of the first imaged portion 3i, that is, near the center point O', a mark is provided in advance in order to identify which station ST the moving vehicle A is stopped at. address information is displayed at the same time. As shown in FIG. 12, the reference member 3 is
A sheet-like prism-type light reflector 3a that totally reflects incident light in the direction of incidence is formed to a set size, and on its surface,
A resin flat plate 3b painted matte black is attached. Note that FIG. 12 shows a cross section taken along the X axis in FIG. The black flat plate 3b includes four reference position reference members a to d that display reference position information for the station ST, and a plurality of address reference members that display the address information in the form of a binary code. A plurality of through holes having the same diameter forming each of the three types of reference members e to l and parity reference members m to p for the address reference members e to l are formed so as to be lined up in a predetermined arrangement. There is. In other words, the reference member 3 is
Only the areas where i, 3C, and a to p are formed are reflected and appear brighter than the surrounding area. Here, the four reference position reference members a to
The center of gravity of d is the center point O' of the one imaged part 3i.
I'm trying to match. In addition, in order to easily recognize which station it is, the four reference position reference members a to
d is located at each vertex of a square centering on the center point O', and the address reference members e-l are located inside the reference position reference members a-d at X along the longitudinal direction of the vehicle body. It is divided into upper and lower parts in the axial direction and is arranged in the Y-axis direction along the width direction of the vehicle body,
The parity reference members m to p are arranged to be located on the lateral side in the X-axis direction of the address reference members e to l, respectively. As shown in FIGS. 1 and 2, the mobile vehicle A
The drive wheels 6 are driven by a pair of electric motors 5, which can be stopped and reversed independently. It is equipped with an idling wheel 7. In other words, the mobile vehicle A is configured to be able to change direction on the spot. Furthermore, the moving vehicle A is equipped with an optical fiber type gyro device Sb which is an angle detection sensor, and the planned traveling route L is determined based on information from the gyro device Sb.
By detecting a deviation in the running direction from 0, the pair of electric motors 5 are shifted so as to differentiate the rotational speeds of the pair of left and right propulsion wheels 6, thereby causing the vehicle to travel. Incidentally, in FIG. 1, Sc is a ground-contact wheel-type travel distance detection sensor provided at a location serving as the turning center of the pair of left and right propulsion wheels 6. Next, the control structure of the moving vehicle A is shown in FIG. 3. Wireless communication devices 9a and 9b for communicating various information such as destination information of A and operation command information of the manipulator 1 are provided on the mobile vehicle A and 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 moving vehicle A in order to control the traveling of the moving vehicle A and the operation of the manipulator 1. It is connected to a mobile vehicle controller 10 using an onboard microcomputer. In FIG. 3, reference numeral 11 denotes an image processing unit that processes the image information of the image sensor Sa and transmits the information of the reference member 3 to the mobile vehicle controller 10; a manipulator controller for controlling the operation of the manipulator 1;
3 is a travel controller that inputs and processes the angle signal from the gyro device Sb and the travel distance signal from the travel distance detection sensor Sc, and controls the operation of the travel motor 5 that drives the left and right propulsion wheels 6; 14 is a drive device for driving the traveling motor 5 based on commands from the traveling controller 13; 15 is a drive device for manually setting destination information for the moving vehicle A and for recovery in the event of an emergency stop, etc.; This is a setting device for manually setting various information. A pulse encoder 4 is attached to the traveling motor 5 to detect its rotation speed, and the detection signal is input to the drive device 14 and used to control the driving of the traveling motor 5. . [0036] Furthermore, using the mobile vehicle controller 10 and the image processing section 11, the image sensor S
a deviation amount determining means 100 for determining the amount of deviation of the moving vehicle from the planned travel route from the imaged information of image a; and a correction position for determining a correction position to which the image sensor Sa should be moved in order to determine the amount of deviation. A determination means 101 is configured, and a coordinate storage means 102 stores coordinate information of a planned travel route L0 on which the mobile vehicle A is to travel autonomously using the mobile vehicle controller 10. A travel correction value determining means 103 is configured to determine a travel correction value when traveling between stations based on the amount of deviation determined for each station when traveling to the station (see FIG. (see 4). Further, by using the moving vehicle controller 10 and the traveling controller 13, the amount of deviation determined by the amount of deviation determining means 100 and the coordinate storage means 1 are stored.
02 coordinate information and the travel correction value determined by the travel correction value determination means 103, the travel control means 104 controls the traveling of the mobile vehicle A to travel along the planned travel route L0. It is configured. The travel control means 104 includes a travel control amount calculation means 104A that calculates a travel control amount from the various information mentioned above, and an angle signal from the gyro device Sb and a travel distance signal from the travel distance detection sensor Sc. direction and position identification means 104B for identifying the current direction and position of the moving vehicle A based on the
and a drive wheel control means 104C for controlling the drive device 14 (see FIG. 4). Next, while the moving vehicle A is stopped at the station STn, the deviation amount determining means 100 determines the deviation amount Xn, Yn of the moving vehicle A from the properly set stopped state.
, θn is explained as follows.
First, the manipulator 1 automatically moves the image sensor Sa to a reading setting position corresponding to the reference member 3 based on a command from the manipulator controller 12, and here the image sensor Sa reads the reference member 3. Based on the read information, the correction position determining means 101 determines a correction position to which the image sensor Sa should be moved, and then moves the image sensor Sa to this correction position.
is automatically moved to read the displayed information on the reference member 3. Based on the read information read by the image sensor Sa at the correction position and the read information read by the image sensor Sa at the read setting position corresponding to the reference member 3, the deviation amount determining means 100 performs the following steps: It is configured to determine the deviation amounts Xn, Yn, and θn. The image sensor Sa is configured to have a narrow imaging field of view so as to read the reference member 3 with high resolution, and the coordinate axes x,
Each of y is configured to be parallel to the coordinate axes X' and Y' of the moving vehicle A at a set reading position corresponding to the reference member 3. The operation procedure for positional deviation detection will be explained with reference to FIGS. 13 to 15. First, the manipulator 1 is operated with a previously set and memorized operating amount, and the image sensor Sa is aligned with the reference member 3. Move to the corresponding reading setting position. Here, 2 of the image sensor Sa
Among the imaging units Sai, one imaging unit Sai images one imaged part 3i of the reference member 3 constituted by each of the reference members 3C, a to p. One imaging section Sai is set to image one other imaged section 3i. However, since errors normally occur due to autonomous running, the X-Y axes of the reference member 3 and the image sensor Sa
The x-y axes of the imaging field of view S1 do not match, and the center point O', which is the origin of the X-Y axes, and the origin G of the x-y axes are also shifted (see FIG. 13). In the illustrated state, the image sensor Sa has a narrow imaging field of view and the positional deviation is large, so the center point O' of the reference member 3 is not within the imaging field of view S1, but the element mark 3C is Indicates the state of grasping the individual. In the figure, among the three circles forming the element mark 3C, the center of gravity of the large circle is P, and the center of gravity of the small circle is R. Here, the imaging signal from the image sensor Sa is input to the image processing section 11, where it is binarized based on the magnitude of the contrast of the imaging signal, and then it is determined which element mark 3C in the imaging field of view S1 belongs to. Imaged part 3
It is output as coordinate detection information for the entire i. As mentioned above, there is a central point O', which is the origin of the X-Y axis, on the extension line connecting points P and R, and points O' and P are parallel to the x and y axes, respectively. Let Q be the intersection of the passing line segments, then three points O', P, and Q form a right triangle. Also, let the angle between the line segments O', P and the y-axis be θ3, and the coordinate values of the centroid positions P and R of the circles on the x-y coordinate axes are (x1, y1
), (x2, y2). Next, the information from the image processing section 11 is input to the mobile vehicle controller 10. And from the figure, θ3=
tan-1(|x2 −x1 |/|y2 −y1 |
), therefore, the deviation angle θ4 between the X-axis and the x-axis is θ4=
45°-θ3. Furthermore, the screen coordinate axis x of the image sensor Sa
The coordinate values (x0, y0) corresponding to the amount of deviation of the center point O' from the origin G of the -y axis are determined by the following formula. x0 =O'Q+x1 =O'Psinθ3+x1 y
0 = QP + y1 = O'P cos θ3 + y1 Here, since the line segment O'P is determined in advance due to the configuration of the reference member 3, the above coordinate values (x0, y0) are determined as a specific amount of detected information. Finally, the above deviation amount (
x0, y0) and the deviation angle θ4 are given. Next, the imaging field of view S1 of the image sensor Sa is
The image sensor Sa is moved to its image coordinate axis origin G so that the x-y coordinate axis of the reference member 3 overlaps with the X-Y coordinate axis of the reference member 3.
It is rotated by the deviation angle θ4 as the center, and further translated in parallel by the deviation amount (x0, y0). However, the order of the rotation operation and the translation operation can be arbitrary. Then, the imaging field of view becomes S2 in FIG. Note that here, S3 is the imaging visual field imaged by the imaged part 3i, which is formed by one circle and is provided with another imaging part Sai for angle detection. Normally, even at this stage, the center point O' and the origin G of the screen coordinate axes are deviated from each other due to errors in the measurement and operation, and the coordinate axes are not parallel. In the state of S2, coordinate values (x3, y3), which are the amount of deviation between the center point O' and the origin G of the image coordinate axis, are determined. Specifically, four reference position reference members a~
Since the center of gravity of d coincides with the center point O',
The above coordinate values (x3, y3) are obtained as in the following formula (
(See Figure 15). x3 = (xa + xd)/2 = (xb + xc)
/2y3 = (ya +yd)/2=(yb +yc
)/2 [0050] By adding the detected values obtained in the process of the correction operation as described above, the amount of deviation from the center point O' of the reference member 3 at the reading setting position to the origin of the screen coordinates can be calculated. (xg, yg) is detected with high accuracy. xg = x0 +x3 yg = y0 + y3 [0051] Also, on the S2 screen, the address reference members e to l and the parity reference members m to p to be read are
The presence or absence of the address reference members e to l and the parity reference members m to p is determined based on their sizes and the positional relationships with respect to the reference position reference members a to d that are set and stored in advance, and Based on the combination of presence and absence, it is possible to determine the address of the station STn at which the moving vehicle A is currently stopped. Next, in order to detect the angular deviation, in the imaging field of view S3 corresponding to the imaged part 3i located at a predetermined distance L on the X-axis from the center point O' of the reference member 3, as described above, Coordinate values (x4, y4), which are the amount of deviation between the center of gravity of the circle that is the imaged part 3i and the origin of the screen coordinate axes, are detected. Here, if the deviation angle between the X coordinate axis of the reference member 3 and the screen coordinate x axis is θ5, θ5=sin-1(|y4 −y3 |
/L) (see FIG. 14). In the end, the deviation angle between the coordinate axes of the reference member 3 and the screen coordinate axes is calculated by adding the detected value θ4 at the reading setting position and the detected value θ5 after the correction operation, θ=θ4+
It is determined by θ5. Here, since the initial angular deviation θ4 is corrected by the correction operation of rotating the image sensor Sa as described above, the above-mentioned θ5 has a value close to 0. Therefore, even when processing the amount of angular shift using screen coordinate values, it can be done in the imaging area with less screen distortion.
Accurate results can be obtained. Furthermore, even if the angular deviation is abnormally large, if the image sensor Sa is moved to the corrected position for detecting the positional deviation, the detection operation can be performed without going out of the imaging field of view. On the other hand, the X-axis of the reference member 3 corresponding to the longitudinal direction of the vehicle body is attached so as to be parallel to the layout coordinate axis X'' axis of the station STn corresponding to the longitudinal direction of the vehicle body, and the x corresponding to
Since the axis is configured to be parallel to the X' axis corresponding to the longitudinal direction of the vehicle body of the coordinate axis fixed on the vehicle body A,
In the end, the deviation angle of the vehicle body A with respect to the station STn is given by θn. The coordinate values of the center AC of the moving vehicle A are also determined by the image sensor Sa at the reading setting position, as described above.
is moved by a predetermined amount of operation, the positional relationship between the coordinate origin of the imaging screen and the center AC of the moving vehicle A is determined.
' and the coordinate value (x
g, yg) as the correction amount by performing coordinate transformation, and finally the deviation amount (Xn , Yn) can be found. To explain the method by which the traveling control means 104 corrects the traveling direction based on the amount of deviation determined by the amount of deviation determining means 100, as shown in FIG. If station STn is stopped with positional and angular deviations occurring in the direction approaching it, first, the amount of deviation (Xn, Y
n, θn), the maximum angle θs at which the moving vehicle A can change direction in the direction of the set and stored planned travel route L0 within a range that does not collide with the station STn, and the planned travel route L0. The traveling distance Ts to the contact point O is determined. In addition, in the stopped state of the angular deviation θn, the gyro device Sb is reset and the detection information of the traveling direction is initialized to the value of θn. Next, based on the information from the gyro device Sb, the left and right propulsion wheels 6 are reversed to make a spin turn on the spot, and the angular deviation θn and the maximum angle θs at which the direction can be changed are determined. The added angle (θn
+θs) after changing the direction in the direction of the planned traveling route L0, and then driving straight at a low speed for the determined traveling distance Ts based on the information of the traveling distance detection sensor Sc, and returning to the planned traveling route L0. It is stopped at the contact point O. Thereafter, the moving vehicle A is rotated by the maximum angle θs using a spin turn to change direction, and the moving vehicle A is moved along the planned traveling route L0.
, and starts automatic travel along the planned travel route L0. At the position where the vehicle stopped at the contact point O, the detection information of the travel distance detection sensor Sc is initialized to the following value based on the reference stop position LCn of the station STn. Ts·cosθs+Xn [0058]The travel control means 104 controls the gyro device Sb and the travel distance detection sensor S.
c direction and position detection information and the coordinate storage means 10
While comparing the coordinate information of No. 2 with the coordinate information of No. 2, the vehicle A is steered to the next station S on the planned travel route L0.
The purpose is to stop the vehicle at the standard stop position LCm of Tm. Next, a description will be given of how the travel correction value determining means 103 determines the travel correction value when the vehicle travels between stations. Here, the departure station is STn, and the arrival station adjacent to the departure station STn is STm. First, the mobile vehicle A is stopped at the departure station STn, and the amount of deviation from the appropriate stop state for the station STn at that time is detected, and this value is expressed as (Xn, Yn,
θn). Next, as described above, the traveling control means 104 causes the mobile vehicle A to travel toward the arrival station STm while correcting the detected deviation amounts (Xn, Yn, θn), and then stops at the reference station. Stop at position LCm. Then, in the same way as above, the arrival side station STm
The amount of deviation from the proper stopping state (Xm, Ym,
If θm) is detected, this is the station STn
These are travel correction values (Xn-m, Yn-m, θn-m) when traveling from station STm to station STm. Xn-m = Xm, Yn-m = Ym, θn-m
= θm [0060] In the manner described above, the vehicle performs preliminary travel prior to automatic operation, and determines travel correction values in the forward and reverse directions between all stations. In this example, five stations ST1 to ST5 are installed, stations ST1 to ST2, stations ST2 to ST3, and stations ST3 to S.
Since there are forward and reverse directions between T4 and stations ST4 and ST5, there are a total of eight sets of travel correction values.
Incidentally, the travel correction value when traveling from departure side station ST1 to arrival side station ST2 is (
X1-2, Y1-2, θ1-2). Note that the preliminary driving described above shall be performed in manual operation. Here, manual operation means that the stations ST on the departure side and the arrival side are manually operated from the setting device 15.
This means that you can specify the number and drive the vehicle. [0061] After calculating the travel correction value in the preliminary run as described above, to explain automatic operation, first, the mobile vehicle A stops at one station STn, and a predetermined load transfer operation is performed there. After completion, coordinate information is output by the coordinate storage means 102 based on travel command information that is set in advance by the setting device 15 or instructed from the central control device 8 via the communication devices 9a and 9b. The planned traveling route L0 to the next station STm expressed by The traveling correction values (Xn-m, Yn-
m, θn-m) and start automatic driving. That is, the traveling control means 104 controls the amount of deviation (Xn, Yn, θn) at the station STn.
) and the traveling correction value (Xn-m, Yn-m, θn-m) determined in the preliminary traveling (Xn + Xn-m, Yn + Yn-m,
θn +θn-m) is determined as a new amount of deviation to be corrected, and steering control is performed toward the next station STm. More specifically, the traveling amount calculation means 104
A is the coordinate information outputted by the coordinate storage means 102 and the traveling correction value (Xn +Xn-m, Yn +Yn-m
, θn + θn-m) and the direction position identification means 1
Based on the identification information of 04B, the drive wheel control means 1
It calculates the travel control amount to be output to 04C. To explain the method by which the traveling control means 104 corrects the steering direction, as shown in FIG.
The amount of positional deviation and the amount of angular deviation (Xn, Yn, θ) in the direction in which the mobile vehicle A approaches the station STn
n) is generated, first, the deviation amount (Xn +Xn-m, Yn +Yn-m
, θn +θn-m), the maximum angle θs1 at which the mobile vehicle A can change direction in the direction of the set and stored planned travel route L0 within a range that does not collide with the station STn, and the planned travel route L0. The travel distance Ts1 to the point of contact O with is calculated. Here, the amount of deviation (Xn +Xn-m, Yn +Yn-m,
θn + θn-m) represents the amount of deviation of the virtual stop position, and actually corresponds to the above-mentioned contact point O located on the imaginary line L01 parallel to the Y-axis, which is shifted by Yn-m in the Y-axis direction from the planned travel route L0. The distance to the contact point O1 is the above-mentioned Ts1. In addition, in the stopped state, the gyro device Sb is reset and the detection information of the running direction is changed to (θn +θn−m
) initialize with the value of 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 angular deviation (θn +θ
After the direction is changed in the direction of the planned travel route L0 by an angle (θn +θn-m +θs1) that is the sum of the maximum angle θs1 at which the direction can be changed (n−m), the information on the travel distance detection sensor Sc is Based on this, drive straight ahead at low speed for the travel distance Ts1 determined above, and then
Stop at 1. Thereafter, the vehicle changes its direction by returning the angle θs1 with a spin turn, determines that the changed direction matches the direction of the planned travel route L0, and starts automatic travel. At the position where the vehicle stopped at the contact point O1, the detection information of the travel distance detection sensor Sc is initialized to the following value based on the reference stop position LCn of the station STn. Ts1 ・cosθs1 +Xn +Xn-m 00
[65] After starting the automatic traveling, the information of the gyro device Sb and the traveling distance detection sensor Sc are
Based on the information, the direction and position of the mobile vehicle A on the planned travel route L0 are determined, and the left and right propulsion wheels 6 are steered with a difference in rotational speed to reach the next station STm. It will automatically stop accordingly. Note that the travel correction values (Xn-m, Yn-m, θn-
m) can also be used to travel between non-adjacent stations. For example, when traveling from station ST1 to station ST3, first from station ST1 to station ST2.
The values between are travel correction values (X1-2, Y1-2, θ1-2
) to make a correction run, and when it reaches the position of station ST2, do not stop there and move to station ST2.
The traveling correction value (X2-3
, Y2-3, θ2-3) to perform corrected travel. [Another Embodiment] In the above embodiment, in order to obtain the traveling correction value unique between each station when traveling between each station by performing a preliminary traveling, the setting device 15 is manually operated on the departure side. Although the manual operation is performed by specifying the number of the station ST on the arrival side and the operation is performed, it is also possible to perform the operation quickly by, for example, partially automatic operation in which the operation sequence is programmed. Further, in the above embodiment, when determining the traveling correction value unique between each station by preliminary traveling, the display information of the reference member 3 installed at the station ST is used to detect the position of the moving vehicle A. It is said that it can be read by an image sensor Sa as a means. but,
If the deviation of the stop position is large, reading may not be possible. In this case, the amount of deviation is directly determined using other distance measuring means such as a scale. A detailed explanation will be given below with reference to FIG. The figure shows a state in which when moving vehicle A travels in reverse from station ST3 to station ST2, there is a large deviation in the stop position at station ST2. Therefore,
C on the center line of the moving vehicle A in the longitudinal direction of the vehicle body in the Xe and Ye axes that pass through the reference stop position LC2 at station ST2 and are parallel to the layout coordinate axes X'' and Y'' axes.
Measure the distance to the point and point B using a scale, and set the respective coordinate values as (x10, y10) and (x20, y20). From this, the amount of deviation (XAC, YAC) from the reference stop position LC2 to the vehicle body center AC of the moving vehicle A and the deviation angle θ20 between the longitudinal direction of the vehicle body and the layout coordinate axis X'' axis are determined as follows. (x10+x20)/2,
YAC=(y10+y20)/2 θ
20=sin(|y10-y20|/AL) However, in the above formula, AL is the body length of the mobile vehicle A. Finally, the above deviation amount (XAC, YAC)
and the deviation angle θ20 using the setting device 1 installed in the moving vehicle A.
5 can be input as the travel correction value when the moving vehicle A travels from the station ST3 to the station ST2. Another method is to input the coordinate values (x10, y10), (x20, y20) from the setting device 15 and calculate the deviation amount (XAC, YA
C), the deviation angle θ20, and the station ST
3, it is possible to obtain the travel correction value when moving vehicle A travels to station ST2. Furthermore, in the above embodiment, when controlling travel between non-adjacent stations, a method was shown in which the travel correction values between adjacent stations are sequentially used. It is also possible to directly determine the correction value and control travel between non-adjacent stations based on this. In this case, the number of travel correction values is five stations ST1 to ST
5. Taking a travel control equipment as an example, there are a total of 20 sets of travel correction values (Xn-m, Yn-m, θn-m) in the forward and reverse directions based on the combinations. . Furthermore, in the above embodiment, the traveling control means 1
04 corrects the traveling direction based on the traveling correction value between stations, when correcting the amount of deviation when the moving vehicle A is placed on the normal position on the planned traveling route L0 from the stopping position at the departure station. In addition to this method, it is also possible to make corrections all at once or little by little during the travel route to the next station. Furthermore, in the above embodiment, the travel correction value discriminating means 103 calculates the travel correction value between each station by performing a preliminary run in manual operation prior to automatic operation. Another method is to utilize the fact that the traveling correction value can be determined by traveling between stations during automatic driving. That is,
First, automatic driving is started using the travel correction value obtained during the preliminary run, and thereafter, a new travel correction value is determined each time the travel is performed between each station, and the travel correction value obtained is used to start the automatic operation. The driving correction value information of the correction value determining means 103 is updated. This will be explained in detail below. [0074] Considering the case where there are five stations ST1 to ST5 and the traveling correction values between adjacent stations are used to travel in the forward and reverse directions, the following eight traveling correction values are used for the preliminary traveling. You can get results. Between stations ST1 and ST2
X1-21 , Y1-21 , θ1-21

X2-11, Y2-11
, θ2-11 Station ST2 ~ST
3 between X2-31, Y2-31, θ
2-31
X3-21
, Y3-21 , θ3-21 Between stations ST3 and ST4 X3-41 ,
Y3-41, θ3-41

X4-31, Y4-31, θ4-31
Between stations ST4 and ST5
X4-51, Y4-51, θ4-51

X5-41 , Y5-41 ,
θ5-41 [0075] Also, each station ST
The running correction value obtained when the vehicle runs automatically (N-1) between ST5 and ST5 is expressed as follows. Between stations ST1 and ST2
X1-2N, Y1-2N, θ1-2N

X2-1N, Y2-1N,
θ2-1N Station ST2 ~ ST3
Between X2-3N, Y2-3N, θ2-
3N
X3-2N, Y3
-2N, θ3-2N Station ST3
~ST4 X3-4N, Y3-4N
, θ3−4N
X4-
3N, Y4-3N, θ4-3N Between stations ST4 and ST5 X4-5N
, Y4-5N, θ4-5N

X5-4N, Y5-4N, θ5-4N [
[0076] Then, each station ST1 to ST5
When the vehicle travels the next (Nth) time, the travel correction value is the sum of the above-mentioned first correction value and the immediately preceding (N-1)th time correction value. station ST
Taking as an example the case where the vehicle travels in the forward direction between ST2 and ST2, the expression is expressed as shown below, and the same holds true for the others. ##EQU00001## In the above explanation, the vehicle first performs a preliminary run to determine the travel correction value, but it is also possible to perform automatic operation from the beginning without performing a preliminary run. In this case, 1
For the second run, the amount of deviation from the proper stopped state (Xn, Yn, θn) detected at the departure station STn
), the vehicle is caused to travel with correction until the next station STm, and when traveling from station STn to STm for the second time, the travel correction value obtained as a result of the first travel is used as the travel correction value to control the travel. be. Then, from the third time onwards, the driving correction values obtained one after another are added and used in the same way as above. In addition, in the above explanation, an example was shown in which the travel correction values between adjacent stations are updated during automatic driving.
Of course, it can also be applied to automatic driving using travel correction values between non-adjacent stations. [0079] Note that although reference numerals are written in the claims for convenience of comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

[Figure 1] Front view of a mobile vehicle stopped at a station

[Figure 2] The same plan view

[Figure 3] Block diagram of control configuration

[Figure 4] Partial block diagram of control configuration

[Fig. 5] Diagram explaining travel control based on travel correction values

[Figure 6] Explanatory diagram of planned travel route

[Fig. 7] Explanatory diagram of correcting displacement of moving vehicle

[Fig. 8] A perspective view showing the imaging state of the reference member.

[Fig. 9] Plan view of reference member

[Figure 10] Plan view of the same part

[Fig. 11] Partial plan view

[Figure 12] Front sectional view of the same part

[Fig. 13] Explanatory diagram of positional deviation detection using a reference member

[Figure 1
4] Explanatory diagram of positional deviation detection using reference member

[Fig. 15] Explanatory diagram of positional deviation detection using a reference member

[Fig. 16] An explanatory diagram of another embodiment for calculating the travel correction value

[Explanation of symbols]

A Moving vehicle ST Station Sa Position detection means L0 Planned driving route ３　　　　　　Reference member 100 Displacement amount determination means 102 Coordinate storage means 103 Travel correction value determination means 104 Travel control means

Claims (2)

[Claims] [Claim 1] Planned travel route (L0
) is provided with a reference member (3) for displaying its reference position, and the position of the reference member (3) is displayed on the mobile vehicle (A). a position detecting means (Sa) for detecting, and a deviation amount determining means (for determining the deviation amount of the moving vehicle (A) from the planned travel route (L0) from the information of the position detecting means (Sa).
100), a coordinate storage means (102) for storing coordinate information of the planned travel route (L0), and a coordinate storage means (102) for storing coordinate information of the planned travel route (L0), and a coordinate storage means (102) for moving the mobile vehicle (A) to the planned travel route (L0) based on the deviation amount and the coordinate information. This is a travel control device for a mobile vehicle, which is provided with a travel control means (104) for controlling the travel so that the vehicle (A) travels along the ), based on the amount of deviation determined for each station (ST) when traveling to those stations (ST).
A travel correction value determination means (103) is provided for determining a travel correction value when traveling between ST and ST, and the travel control means (104) controls the travel correction value determined by the travel correction value determination means (103). The planned travel route (
A travel control device for a mobile vehicle configured to perform travel control so that the vehicle travels along the road L0. 2. The travel control device for a mobile vehicle according to claim 1, wherein the travel correction value determining means (103) is configured to control the travel of the mobile vehicle (A) from the one station (ST) to another station (ST). A travel control device for a mobile vehicle configured to update the travel correction value each time the vehicle travels to ST.