JPH06161550A - Controller for traveling of moving vehicle - Google Patents

Abstract

PURPOSE:To perform an efficient traveling by shortening the traveling course for the stoppage of each station and placing the installation spaces of these stations closer by controlling the traveling stations so as to correct the present locating and inclination of a moving vehicle which is once stopped at a reference point and is discriminated. CONSTITUTION:Moving vehicles A1 to A3 travel themselves along a traveling cource L1, discriminating the present locations and inclinations to reference direction of these moving vehicles A1 to A3 themselves based on the detection results of directions and traveling instances. Work wagons A1 to A3 stop once these moving vehicles A1 to A3 themselves in the traveling between a reference point Z to a station ST. The work wagons A1 to A3 further run these moving vehicles A1 to A3 themselves to a station SS1T so as to correct the present location and inclination of an already discriminated moving vehicle A. Thus, the traveling cource L1 for correcting the present location deviation and inclination of the moving vehicles A1 to A3 can be shortened.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle traveling control device for controlling traveling of a vehicle traveling between a plurality of stations.

[0002]

2. Description of the Related Art A traveling control system for a moving vehicle according to the present invention is used for an unmanned transportation facility such as a factory, and is intended to efficiently carry a luggage in an unmanned transportation facility having a large number of stations. There are many moving cars in. In this transportation work, as a method of traveling without laying a guide band, a moving vehicle is composed of a direction detecting means such as a rate gyro and a rotary encoder for detecting a traveling distance from the rotational speed of the drive wheels of the moving vehicle. A method has been considered in which a traveling distance detecting means is provided, and a moving vehicle travels along a planned traveling course while determining the current position and inclination of the moving vehicle based on the detection results of these detecting means. Then, in the case where the transportation work is performed by a plurality of moving vehicles at a plurality of stations, for example, FIG.
As described above, the traveling courses a2 and a3 for stopping the station are separately set with respect to the main traveling course a1, and the moving vehicle is caused to travel along the traveling course.

[0003]

However, in the above-mentioned conventional method, since the moving vehicle makes a turning movement in the traveling courses a2 and a3, the moving vehicle provided with the direction detecting means and the traveling distance detecting means There is a problem that the current position and the inclination of the moving vehicle after the turning traveling are greatly deviated, so that the moving vehicle cannot be stopped at an accurate position. That is, the direction detecting means (rate gyro)
Because the detection error is large when the turning angle is large, and the traveling distance of the traveling distance detecting means (rotary encoder) changes due to wear of traveling drive wheels of the moving vehicle.
There has been a problem that the current position and inclination of the moving vehicle after turning has been greatly deviated.

Therefore, in order to stop the moving vehicle at an accurate stop position with respect to the station, the current position and the inclination of the moving vehicle are discriminated each time the vehicle turns, and the current position and the inclination of the moving vehicle are determined. I had to make a correction. That is, for example, as shown in FIG. 6, a correction mark m having position information and direction information is provided at the turning traveling end position (or in the vicinity thereof), and the current position and inclination of the moving vehicle are determined based on the detection result of the mark m. Then, the current position and inclination of the moving vehicle are corrected (see, for example, JP-A-62-74107). Further, after the turning traveling is completed, a mark (or a reflection plate) provided on the side surface of the station is detected to determine the current position and the inclination of the moving vehicle, and the current position and the inclination of the moving vehicle are corrected ( See, for example, JP-A-57-31006).

However, according to the above method, the displacement and inclination of the moving vehicle after turning are large, and therefore, as shown in FIG.
As described above, it has been necessary to set the travel paths d1 and d2 for correcting the current position and inclination of the moving vehicle after the turning travel sufficiently long. Therefore, when the stations ST1 and ST2 are installed on the travel course a2 as shown in FIG. 6, there is a problem that the installation intervals of the stations must be wide, and as shown in FIG. When ST3, ST3, and ST4 are installed, the installation interval of the stations can be narrowed, but there is a problem that the stations must be installed apart from the main traveling course a1. The present invention has been made in view of the above circumstances, and an object of the present invention is to make a traveling course for stopping each station short and to narrow an installation interval of each station to perform efficient traveling. It is to provide a vehicle travel control device.

[0006]

A first characteristic configuration of a mobile vehicle traveling control device according to the present invention is directed to a mobile vehicle traveling between a plurality of stations, and direction detecting means for detecting an inclination of the mobile vehicle with respect to a reference direction. Provided are a traveling distance detecting means for detecting a traveling distance of the moving vehicle, a control means for controlling traveling of the moving vehicle, and a current position determining means for determining a current position and an inclination of the moving vehicle with respect to the station. ,
A plurality of driving wheels for traveling of the mobile vehicle are rotatably mounted around a vertical axis, and a traveling course is set which passes through respective reference points separated from each station by a set distance, The control means is configured to execute traveling on the traveling course and traveling between the reference point and the station, and in traveling on the traveling course, the direction detecting means and the traveling distance detecting means. On the basis of the detection result of, the traveling along the traveling course is executed while determining the current position of the moving vehicle and the inclination with respect to the reference direction, and the traveling vehicle is moved along the traveling course between the reference point and the station. The direction of the drive wheels is controlled to stop the vehicle at the reference point and correct the current position and inclination of the moving vehicle determined by the current position determination means. ® in that it is configured to perform a lateral bound traveling to down. In a second characteristic configuration, when traveling between the reference point and the station, the current position determining means sequentially determines the current position and the inclination of the moving vehicle with respect to the station for each predetermined distance traveling, and this determination is made. It is configured such that the current position and the inclination of the moving vehicle are sequentially corrected based on the current position and the inclination information and the vehicle travels. In a third characteristic configuration, a reference surface parallel to the traveling course and a reference surface inclined to the traveling course in the middle of the reference surface are provided on a side surface of the station on the traveling course side. The moving vehicle is provided with a distance sensor that respectively measures a distance from the reference surface, and the current position determination means determines the current position and the inclination of the moving vehicle based on the detection result of the distance sensor. It is configured to determine.

[0007]

According to the first characteristic configuration of the present invention, the moving vehicle travels on the traveling course connecting the reference points each set distance away from each station to set the reference point (or reference point) set distance away from the target station. Stop near the point), and in this stopped state, the direction of the drive wheels is rotated toward the station, and then the lateral travel between the reference point and the station is performed. Since the current position and the inclination of the moving vehicle are corrected during the traveling between the reference point and the station, the moving vehicle can be stopped at an accurate position with respect to the station. According to the second characteristic configuration, the reference point −
When traveling between stations, the traveling vehicle can be stopped at a more accurate position with respect to the stations because the traveling vehicle is configured to sequentially correct the current position and the inclination of the traveling vehicle every set distance traveling. According to the third characteristic configuration,
The current position and inclination of the moving vehicle with respect to the station can be determined based on the detection information of the three distance sensors.

[0008]

According to the first characteristic configuration of the present invention, the moving vehicle has a reference point as a traveling course for stopping the station.
Since it is possible to travel along the travel course between stations without turning, it is possible to reduce the current position deviation and inclination of the moving vehicle, and thus to travel to correct the current position deviation and inclination of the moving vehicle. The path can be shortened. Therefore, the traveling course for stopping the station can be configured to be short, and the installation intervals of the stations can be set to be narrow. Therefore, it is possible to provide a moving vehicle traveling control device that efficiently travels. Came to. According to the second characteristic configuration, the moving vehicle can be stopped at a more accurate position with respect to the station, so that it is possible to provide a moving vehicle traveling control device with higher work efficiency. According to the third characteristic configuration, the current position and the inclination of the moving vehicle can be more accurately determined by the three distance sensors.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. In the traveling control device for a moving vehicle according to the present invention, FIG.
As shown in FIG. 1, a plurality of stations ST for moving a plurality of moving vehicles A (A1 to A3) to perform an article transfer operation.
(ST1 to ST5) are installed, and the traveling course L1 is set so as to pass through each of the reference points Z (Z1 to Z5) that are set distance from these stations ST. Driving at the reference point Z
-Running between the stations ST and L2 to autonomously run between the stations. still,
FIG. 1 illustrates a simplified layout of an actual transportation facility. Each mobile vehicle A loads an article at any one of the stations ST as a work command is given from the ground-side management means C. The item to any other station S
The case of wholesale to T is assumed.

Next, the structure of the moving vehicle A will be described. As shown in FIG. 3, the moving vehicle A has two driving wheels 3 for traveling.
And two driven wheels 4, the driving wheel 3 is driven by a driving motor 33.
Is driven and driven by a steering motor 32. Further, as shown in FIGS. 2 and 3, the moving vehicle A has a storage device 59 that stores map information of the traveling path of the moving vehicle A and a direction detecting unit that detects the inclination of the moving vehicle A with respect to the reference direction. Rate gyro 51, an encoder 52 as a traveling distance detecting means for detecting a traveling distance of the moving vehicle A, a current position detecting means 54 for detecting a current position and an inclination of the moving vehicle A, and a traveling of the moving vehicle A are controlled. The communication device 56 on the moving vehicle A side that performs wireless communication between the control unit 55 and the management unit C, and the placement state of the article between the station ST and the station ST when the article is transferred at the station ST. Distance sensors S1 and S that measure the distance between the optical communication device 57 that communicates with the station ST and the station ST.
2 and S3 are provided. In the figure, 53 is a motor drive circuit for the traveling motor 33.
Includes a motor drive circuit 53 and an encoder 52. On the left side surface of the moving vehicle A, as shown in FIG.
The optical communication device 57 and the distance sensors S1, S2 and S3 are provided, and the distance sensors S1 and S2 are installed separately from the distance sensor S3 in the front-rear direction of the vehicle at a distance e.

Next, the structure of the drive wheel 3 and the driven wheel 4 will be described with reference to FIGS. The traveling motor 33 is configured to drive the drive wheels 3 via the drive sprocket 61, the chain 62, and the driven sprocket 63. still,
Reference numeral 64 in the drawing denotes a tension sprocket for the chain 62. The drive wheel 3 is attached to the vehicle body frame 2 via a bearing 65 so as to rotate around a vertical axis P. The steering motor 32 is configured to control the steering of the drive wheels 3 via the drive sprocket 68, the chain 67, and the driven sprocket 66. The driven wheel 4 is attached to the vehicle body frame 2 via a bearing 69 so as to freely rotate around the vertical axis Q. In the figure,
Reference numeral 1 denotes an article transfer device of the mobile vehicle A for transferring an article, the structure of which is omitted.

Next, the storage device 59 will be described. In the storage device 59, a stop position at each station ST on the traveling road surface (on the map) of the moving vehicle A, a position of the reference point Z, and a traveling path of the traveling course L1 passing through each of the reference points Z are stored in the storage device 59. It is composed of map information such as position and identification information for distinguishing each station ST.

Next, the station ST will be described. On the side surface of the traveling course L1 side of the station ST,
As shown in FIG. 4, the optical communication device 100 for communicating with the optical communication device 57 of the moving vehicle A, reference planes 101 and 102 parallel to the traveling course L1, and the reference planes 101 and 102.
A reference surface 103 that is inclined in relation to the traveling course L1 is provided in the middle of. Reference plane 10
1, 102 are installed separately from the reference plane 103 with a distance e in the longitudinal direction of the vehicle body. Therefore, the distance sensors S1, S2, S3 of the moving vehicle A are
It is configured to measure the distance to each of 1, 102, and 103. As shown in FIG. 2, the station ST is provided with a communication device (not shown) for communicating with the management means C, and the station ST communicates with the management means C via this communication device. It is configured to make a transport request for the article.

Next, the present position detecting means 54 will be described. This current position detecting means 54 is used for the rate gyro 51 when the moving vehicle A travels on the traveling course L1.
It is configured to detect the current position and inclination of the moving vehicle A on the map based on the detection results of the encoder 52 and the encoder 52. When traveling the reference point Z-station ST L2, three Based on the detection results of the distance sensors S1, S2, S3, the moving vehicle A for the station ST
It is configured to detect the current position and the tilt of the.

Next, FIG. 6 shows a detection method in which the current position detecting means 54 detects the current position and inclination of the moving vehicle A with respect to the station ST based on the detection results of the three distance sensors S1, S2 and S3. It will be described based on. The detection results of the distance sensors S1, S2 and S3 are h1, h2 and h3, respectively.
Then, the inclination θ of the moving vehicle A with respect to the station ST
1 is calculated by the following mathematical expression 1.

[Mathematical formula-see original document] [theta] 1 = tan < ^-1 > ((h1-h2) / 2e) Further, as the current position of the moving vehicle A with respect to the station ST, the distance X1 between the station ST and the center G of the moving vehicle A in the longitudinal direction of the moving vehicle and , The distance Y1 from the side surface of the station ST to the center G of the moving vehicle A is detected, and the distance X1 and the distance Y1 are obtained by the following mathematical expression 2. The side surface of the station ST and the reference surface 10
1 and 102 are configured to be located on the same plane.

## EQU00002 ## X1 = (h3 + W) .times.sin (.theta.1)-(H-
h3) × cos (θ1) / tan (θN) + N / 2ta
n (θN) Y1 = −cos θ1 × (W + H) where H is (h1 + h2) / 2 and W is the center G
Is the distance from the vehicle to the side of the moving vehicle, and θN is the reference plane 10
3 is an inclination angle, and N is the amount of protrusion of the reference surface 103 from the side surface of the station ST.

Next, the traveling control of the moving vehicle A by the control means 55 will be described. The control means 55 drives the traveling motor 33 and the steering motor 32 respectively to correct the current position and inclination of the moving vehicle A determined by the current position detection means 54. Then, the traveling of the moving vehicle A is controlled. That is,
During traveling on the traveling course L1, the control means 55 executes traveling along the traveling course L1 while determining the current position and inclination of the moving vehicle A in the map information based on the detection results of the rate gyro 51 and the encoder 52. , In the traveling of L2 between the reference point Z and the station ST, 3
Based on the detection results of the individual distance sensors S1, S2, S3, the lateral movement of the reference point Z-the station ST L2 is executed while determining the current position and inclination of the moving vehicle A with respect to the station ST. There is. It should be noted that the reference point Z-station ST is selected from the traveling on the traveling course L1.
During the transition to the traveling of L2, the moving vehicle A is moved to the reference point Z.
It is temporarily stopped at (around the reference point Z), and in this state, the three distance sensors S1, S2, S3 are operated to determine the current position and inclination of the moving vehicle A, and based on the result of this determination, the drive wheels are driven. Change the direction of 3. Then, every time the vehicle travels a predetermined distance,
The current position and inclination of the moving vehicle A with respect to the station ST are sequentially determined, and based on the result of the determination, the current position and inclination of the moving vehicle A are sequentially corrected and the vehicle travels.

Next, as shown in FIG. 1, the moving vehicle A1 stopped at the station ST2 receives a command from the control means C,
The traveling of the moving vehicle A will be described by taking the case of traveling to the station ST3 as an example. First, when the moving vehicle A1 stopped at the station ST2 receives the above command from the managing means C, it first activates the distance sensors S1, S2, S3, travels to the reference point Z2 based on the detection result, and stops. To do. Then, the steering motor 32 is driven to change the direction of the drive wheels 3 to the vehicle front-rear direction, and then the vehicle travels along the traveling course L1 based on the detection results of the rate gyro 51 and the encoder 52. When the moving vehicle A1 reaches the reference point Z3, the vehicle body is temporarily stopped. And
The distance sensors S1, S2, S3 are operated again, and based on the detection result, the steering motor 32 is driven to change the direction of the drive wheels 3 to the lateral direction of the vehicle body, and thereafter, each time the vehicle travels a predetermined distance. While operating the distance sensors S1, S2, S3, the vehicle travels sideways and stops at the station ST3.

The moving vehicle A is configured to run along the running course L1 based on the current position of the moving vehicle A on the map information stored in the storage device 59 and the inclination with respect to the reference direction. However, the current position of the moving vehicle A on the map information and the inclination with respect to the reference direction are configured to be corrected when stopped at each station ST. That is, the error in the current position of the moving vehicle A and the inclination with respect to the reference direction due to traveling on the traveling course L1 (rate gyro 51 and encoder 5
The detection error (due to 2) is configured to be corrected each time the station ST is stopped.

[Other Embodiments] The distance L2 between the reference point Z and the stations ST (distance from the traveling course L1 to each station ST) in the above embodiments is configured to be the same in all stations ST. However, each station ST may be configured differently. That is, the distance from the travel course L1 to each station ST may be different for each station ST. In the above embodiment, L between the reference point Z and the station ST
2 in the lateral running, the distance sensors S1, S2, S3
Is configured to sequentially determine the current position and inclination of the moving vehicle A with respect to the station ST for each predetermined distance traveling, and to move with respect to the station ST only when the vehicle stops at the reference point Z. It is also possible to determine the current position and inclination of the vehicle A, and then to drive the moving vehicle A based on the determination result determined at that time. That is, when the vehicle stops at the reference point Z, the distance sensors S1, S
In S2 and S3, the current position and inclination of the moving vehicle A with respect to the station ST are discriminated, and based on the discrimination result, the traveling of the reference point Z and the L2 between the stations ST is performed based on the detection results of the rate gyro 51 and the encoder 52. You may do it. The current position detecting means 54 in the above embodiment is configured to determine the current position and inclination of the moving vehicle A with respect to the station ST based on the detection results of the distance sensors S1, S2, S3. On the traveling road surface of the point Z (or in the vicinity of the reference point Z), a mark for displaying information for discriminating the position and direction with respect to the station ST is laid, and by detecting this mark, the current position of the moving vehicle A with respect to the station ST. Alternatively, the inclination may be determined. In the above embodiment, L between the reference point Z and the station ST
2 is configured to perform autonomous traveling in the lateral traveling, but a reflective or magnetic induction band is laid between the reference point Z and the station ST L2, and the moving vehicle A from the induction band to the station ST is It is also possible to obtain information such as the current position or the inclination of the vehicle and to travel laterally while detecting the guidance zone. In the above embodiment, the distance sensors S1, S2, S3 are configured to determine the current position and inclination of the moving vehicle A with respect to the station ST.
A mark displaying information for discriminating the current position and inclination of the moving vehicle A is provided on the side surface on the traveling course side of the vehicle, and the mark is picked up by image pickup means such as an image sensor, and the moving vehicle A with respect to the station ST is The current position and the tilt may be determined. In the travel course L1 (see FIG. 1) in the above-described embodiment, the correction mark m having the position information and the direction information at the turning travel end position (or in the vicinity thereof) as shown in FIG.
May be provided, and the current position and inclination of the moving vehicle may be determined based on the detection result of the mark m, and the current position and inclination of the moving vehicle may be corrected. In the above embodiment, traveling from the reference point Z to the station ST and traveling from the station ST to the reference point Z are
Although it is configured to perform the detection based on the detection results of the distance sensors S1, S2, S3, the station S from the reference point Z
Only the traveling to T is performed based on the detection results of the distance sensors S1, S2, S3, and traveling from the station ST to the reference point Z is performed by the rate gyro 51 and the encoder 5.
You may make it based on the detection result of 2.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a traveling course of a traveling control device for a moving vehicle.

FIG. 2 is a block diagram showing a configuration of a moving vehicle traveling control device.

FIG. 3 is a plan view showing the structure of a moving vehicle.

FIG. 4 is a plan view showing a stopped state of a moving vehicle at a station.

FIG. 5 is a side view showing the structure of a moving vehicle.

FIG. 6 is an explanatory diagram of a method for determining the current position and inclination of a moving vehicle.

FIG. 7 is an explanatory diagram of a traveling course according to a conventional traveling control device for a moving vehicle.

[Explanation of symbols]

 A moving vehicle L1 traveling course P vertical axis ST station S1, S2, S3 distance sensor Z reference point 3 driving wheel 51 direction detecting means 52 traveling distance detecting means 54 current position detecting means 55 control means 101, 102, 103 reference plane

Claims (3)

[Claims] 1. A moving vehicle (A) traveling between a plurality of stations (ST), direction detecting means (51) for detecting an inclination of the moving vehicle (A) with respect to a reference direction, and the moving vehicle (A). Traveling distance detecting means (52) for detecting the traveling distance of the vehicle, and control means (55) for controlling traveling of the moving vehicle (A).
And a present position discriminating means (54) for discriminating the present position and inclination of the moving vehicle (A) with respect to the station (ST).
And a plurality of drive wheels (3) for traveling the mobile vehicle (A),
The traveling course (L1) is set so as to be rotatable around a vertical axis (P) and passes through each of the reference points (Z) separated by a set distance from each of the stations (ST). (55) is the travel on the travel course (L1) and the reference point (Z)
-During travel between the stations (ST), based on the detection results of the direction detection means (51) and the travel distance detection means (52) during travel on the travel course. In the traveling between the reference point (Z) and the station (ST), the traveling along the traveling course (L1) is executed while determining the current position of the moving vehicle (A) and the inclination with respect to the reference direction. , The driving wheel (A) is temporarily stopped at the reference point, and the drive wheel (A) is corrected in order to correct the current position and inclination of the moving vehicle (A) determined by the current position determination means (54). 3) A traveling control device for a moving vehicle configured to control the direction of 3) to execute lateral travel to the station (ST). 2. When traveling between the reference point (Z) and the station (ST), the current position and the inclination of the moving vehicle (A) with respect to the station (ST) are determined by the current position determination means (54). Is sequentially determined for each predetermined distance traveling, and the current position and inclination of the moving vehicle (A) are sequentially corrected and traveled based on the determined current position and inclination information. 1. The moving vehicle traveling control device according to 1. 3. A reference plane (10) parallel to the traveling course is provided on a side surface of the station (ST) on the traveling course side.
1) and (102) and their reference planes (101) and (10
In the middle of 2), a reference surface (103) that is inclined to the traveling course is provided, and the moving vehicle (A) has the reference surfaces (101) and (10).
2) and (103) are provided with distance sensors (S1), (S2) and (S3) respectively, and the current position discriminating means (54) is provided with the distance sensors (S1) and (S2). , (S3) on the basis of the detection result, the moving vehicle traveling control device according to claim 1 or 2, which is configured to determine the current position and inclination of the moving vehicle (A).