JPH049324B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides information on the actual stopping position of the cart and the target stop when the cart is moved straight from one station to the next station and stopped without providing a guide track. The present invention relates to a method for correcting an error when there is an error between positions.

[Conventional technology]

In the case of unmanned trolleys, etc., which drive themselves to a target position, in most cases a taxiway or guidance track is provided on the running surface, so that the trolley can be automatically guided to the target position while driving. Therefore, a stop position error in which the actual stop position of the truck differs from the target position does not occur.

However, in the case of robots that spray fireproof coatings on the steel frames inside buildings when they are being constructed, there are no guiding tracks at the work site, so the robot's trolley can move from one work station to the next. It must be able to run on its own without being guided. Therefore, when the cart moves to the next work station and stops, it may deviate from the target stop position of the work station, and the position of the cart must be corrected from the stop position to the target stop position.

Conventionally, in order to easily correct the stop position error when the cart stops at a position that deviates from the target stopping position, the carts of robots, etc., have been equipped with drive wheels that can only rotate forward. A four-wheel drive type truck is used, and if there is a stop position error between the truck and the target stop position, outriggers are used to change the direction of the truck and move it to the target stop position.

[Problem that the invention seeks to solve]

However, in the above-mentioned conventional stop position error correction method, a four-wheel drive type cart is used and the position is corrected by changing the direction using outriggers and a center hinge, so the structure is complex and the operation is also large-scale. ing.

Therefore, the present invention aims to simplify the structure so that the stop position error can be automatically corrected simply by the movement of the truck.

[Means for solving problems]

The present invention uses a truck equipped with one drive wheel on each side that can freely drive forward and backward, and after the truck travels toward the next station and stops, it is checked whether there is an error in the stopping position. When an error is detected, the vertical deviation amount to the target running line and the deviation angle from the target running line are calculated.
In addition, determine the reference angle for the backward direction, change the direction of the cart so that it reaches the reference angle at the stopped position, and calculate the value of the backward distance to the target travel line calculated from the above deviation amount and reference angle. After reversing the truck until it is on the target travel line, change the direction of the truck so that it is on the target travel line and parallel to the target travel line. The cart is moved forward to the target station according to the value of the forward distance to the station.

[Effect]

When the cart travels from one station to the next and stops, if there is an error between the stopping position and the target stopping position, the cart is moved backward based on the determined value and then moved forward. The error can be corrected by Since this error correction is performed simply by moving the trolley, it is easy to operate.

〔Example〕

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

FIGS. 2 and 3 show a truck used for carrying out the method of the present invention. Drive wheels 2 and 3 are attached to both left and right sides of the bottom center of a truck frame 1. It is configured to be independently equipped with a drive motor 4 so as to be capable of forward and reverse rotation, and has a configuration in which auxiliary wheels 5 are rotatably attached to both front and rear ends of the bottom surface of the bogie frame 1, and the two drive wheels 2 and 3 are rotationally driven. Make the trolley run.

FIG. 1 is a plan view showing the traveling trajectory of the trolley I when correcting the _stop position error using the method of the present invention _. When trolley I was run and stopped in order to move to
The figure shows the case where the stop position is not at station _S2 but at _S′2 .

Using the stop position error correcting method of the present invention, the bogie I is
When correcting from station S′ ₂ to station S ₂ , which is the target stopping position, it is done as follows.

When the trolley I stops at a position S' ₂ that is shifted from the station S ₂ , the vertical distance ΔX from this position to the straight target travel line a connecting the stations S ₁ and S ₂ is calculated, and the trolley I is Since the vehicle does not necessarily travel in a straight line, the angle that the bogie I that stopped at position S' ₂ makes with respect to the target travel line a, that is, the deviation angle α, is determined. When calculating the above distance ΔX, the distance from the S′ ₂ position to the workpiece should be measured using any measuring device, and the angle α should be determined by measuring the distance between the workpiece and the detector. and detect it. α and ΔX are generally small values.

Once the distance ΔX and the angle α are determined, a reference angle β is arbitrarily determined to be sufficiently larger than the angle α with respect to the target travel line a connecting stations S ₁ and S ₂ , and a straight line b of this angle β and In order to move the trolley I backward to the intersection point c with the target travel line a, the direction of the trolley I is rotated from I _a to I _b at the stopped position. This rotation of the truck I can be easily performed by driving one of the left and right drive wheels 2 and 3 to rotate in the opposite direction.

Next, based on the distance ΔX and the reference angle β,
Distance l _a to back up the trolley I to the intersection c and the intersection c
The distance l _b to advance from to station S ₂ is determined by the following calculation.

l _a = ΔX/sinβ l _b ≒ ΔX/ _{tanβ Once the above la and l b are} obtained, first rotate each drive wheel 2 and 3 of bogie I in the opposite direction to when moving forward and calculate distance l _a The truck I is moved backward, and then, at the intersection c, the direction of the truck I is changed from I _c to I _d so that the truck I becomes parallel to the target travel line a. It is rotated by rotating one of the two in the forward direction and the other in the backward direction.

Thereafter, the cart I is moved forward by a distance l _b . As a result, the trolley I can be moved to the station _S2 , which is the target stop position, and stopped, and the error in the stop position is corrected.

〔Effect of the invention〕

As described above, according to the present invention, a truck is used which is equipped with drive wheels on each side that can freely drive forward and backward, and after the truck travels toward the next station and stops, the truck stops. Detects the presence or absence of positional errors, and when an error is detected, determines the amount of vertical deviation to the target running line at that time and the deviation angle with respect to the target running line, determines the reference angle for the backward direction, and moves the bogie. The direction was changed to the reference angle at the stopped position, and the trolley was retreated until it was located on the target travel line according to the value of the retreat distance to the target travel line calculated from the above deviation amount and reference angle. After that, change the direction of the trolley so that it is on the target running line and parallel to the target running line, and move the trolley forward according to the value of the forward distance to the station after retreating calculated from the above deviation amount and reference angle. Since the trolley is moved to the station, it is possible to achieve the excellent effect of being able to stop the trolley traveling without being guided at the target stop position with high accuracy with a simple structure and simple operation.

[Brief explanation of drawings]

FIG. 1 is a diagram showing the moving state of the truck when correcting a stop position error according to the present invention, FIG. 2 is a plan view of the truck used in the method of the present invention, and FIG. 3 is a front view of the truck. I represents a truck, 1 represents a truck frame, 2 and 3 represent drive wheels, and S ₁ and S ₂ represent a station.

Claims (1)

[Claims] 1. Using a trolley equipped with one drive wheel on each side that can be freely driven forward and backward, after the trolley travels toward the next station and stops, detects whether there is an error in the stopping position, When an error is detected, the amount of vertical deviation to the target running line and the angle of deviation from the target running line are determined, and the reference angle for the backward direction is determined, and the direction of the cart is set as the reference at the stopped position. After reversing the direction of the truck until it is on the target travel line according to the value of the retreat distance to the target travel line calculated from the above deviation amount and reference angle, change the direction of the trolley so that it is on the target travel line. The vehicle changes direction so as to be parallel to the target travel line at the top, and moves the trolley forward to the target station according to the value of the forward distance to the station after retreat calculated from the amount of deviation and the reference angle. A self-propelled trolley position error correction method.