JPH06242824A - Self-travelling moving vehicle - Google Patents

Abstract

PURPOSE:To perform unmanned running without learning a course and to perform the running safely by a self-travelling moving vehicle. CONSTITUTION:The self-travelling moving vehicle equipped with plural detecting means which detect periphery to enable the unmanned running to be performed is provided with plural ultrasonic sensor parts 2, 3 at the front 1a, both side planes 1b, 1c, and the bottom of the body 1 of the self-travelling moving vehicle. and also, plural ultrasonic sensor parts 2 which detect an obstruction at the front 1a of the body 1, and plural ultrasonic sensor parts 2 which detect an inverted position, and plural ultrasonic sensor parts 3 which detect a reference plane, a sub reference plane, and the ruggednesses of the plane at both side planes 1b, 1c of the body 1, and plural ultrasonic sensor parts which detect the ruggednesses of a floor at the bottom of the body 1. Straight line running can be performed by the ultrasonic sensor parts 2, 3 at the front 1a, both side planes 1b, 1c, and the bottom without learning the course and the running is stopped when a problem occurs in the running due to the obstruction to keep safety.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled vehicle which runs unmanned on a floor or a passage of a building.

[0002]

2. Description of the Related Art A self-propelled vehicle of this type travels unmanned by relying on a predetermined equipment (for example, a magnetic tape) on a traveling surface or around a traveling passage. In this case, the magnetic tape is attached to or embedded in the running track.

Another self-propelled mobile vehicle is provided with a plurality of detection means (for example, ultrasonic sensors) for detecting the surroundings, and automatically travels based on the surrounding conditions detected by the plurality of ultrasonic sensors.

In the above-mentioned self-propelled mobile vehicle, for example, in a factory, each component can be unmanned and transported to a predetermined section, which is extremely economically useful.

[0005]

However, the above-mentioned self-propelled mobile vehicle can be used only at a predetermined place, that is, it is not versatile. That is, when using the self-propelled mobile vehicle, it is necessary to learn the traveling order and the like.

The present invention has been made in view of the above problems, and an object thereof is to provide a versatile self-propelled mobile vehicle that can be safely driven unmanned without any work such as learning the traveling order. To do.

[0007]

In order to achieve the above object, the present invention is a self-propelled mobile vehicle provided with a plurality of detection means for detecting the surroundings in order to enable unmanned traveling. Detecting means provided on the front surface of the mobile vehicle and on the front and rear sides of both side surfaces of the self-propelled mobile vehicle, and detecting the front situation based on the detection signal from the detecting means on the front surface. According to the above, it is possible to determine the reverse position of the self-propelled mobile vehicle, and the traveling path of the self-propelled mobile vehicle on the basis of the detection signals by the means for determining the obstacle ahead and the detection means on the both side surfaces. Of the self-propelled mobile vehicle, determining whether the self-propelled mobile vehicle is tilted with respect to the traveling direction, and determining the distance to the object in the lateral direction, and reversing the self-propelled mobile vehicle at the reversal position. Control and
The self-propelled mobile vehicle is stopped and controlled by the determination of the stop, the deviation of the traveling track and the inclination of the vehicle body, and the distance to the object in the lateral direction are determined to determine the left and right wheels of the mobile vehicle. The rotation speed is variably controlled, and the control means is provided for controlling the traveling trajectory of the self-propelled mobile vehicle according to the surrounding conditions of the self-propelled mobile vehicle, reversing the self-propelled mobile vehicle, and controlling stop. That is the gist.

[0008]

In the self-propelled vehicle having the above structure, the distance to a reference surface such as a wall is calculated on the basis of the detection signals from a plurality of detecting means on both side surfaces of the vehicle body during traveling, and the shorter one of these distances is calculated. Is the reference plane, and the other is the sub-reference plane.

While the distance from the reference plane is kept constant, the self-propelled vehicle travels straight ahead. At this time, based on detection signals from a plurality of detection means on the front surface and both side surfaces of the vehicle body. , The surrounding conditions of the vehicle body, trajectory correction, inclination correction, reversal and stop control are performed.

For example, when the distance to the reference plane is different, it is judged that the vehicle is out of the running trajectory and the trajectory is corrected, and the different distances are detected by a plurality of detecting means in the front and rear rows of the side surface which also detects the reference plane. When detected, it is determined that the vehicle body is tilted, and the tilt is corrected. By doing so, the self-propelled mobile vehicle can be made to travel straight ahead accurately.

Further, some of the plurality of detecting means on the front face use the inversion position at the front as the detecting means. For example, when hitting a wall or the like (dead end), the self-propelled vehicle is inverted at the inversion position. Further, the obstacles are detected by the respective detection means, and the self-propelled mobile vehicle is stopped when it is impossible to invert by comparing the reversal position with the external dimensions of the vehicle body, which causes trouble in traveling. By doing so, the self-propelled mobile vehicle can be safely driven unmanned.

[0012]

Embodiments of the present invention will be described in detail below with reference to FIGS.

1 to 3, the self-propelled mobile vehicle has a plurality of ultrasonic sensor portions (detection means) 2 arranged on the front surface 1a of a vehicle body 1 and both side surfaces 1b and 1c of the vehicle body 1, respectively. A plurality of ultrasonic sensor units (detection means) 3 arranged
And a plurality of ultrasonic sensor units 4 arranged on the bottom surface of the vehicle body 1 in front of the front wheels and behind the rear wheels. Although not shown, this self-propelled mobile vehicle operates the plurality of ultrasonic sensor units 2, 3, 4 and inputs a detection signal from the ultrasonic sensor units 2, 3, 4 to detect the same. A control device (microcomputer) for controlling the self-propelled vehicle according to a signal is provided.

As shown in FIG. 2, the plurality of ultrasonic sensor units 2 arranged on the front surface 1a are, for example, vertically arranged in three rows. The left and right rows are four, and the central row is two. . A total of eight ultrasonic sensor units 2 in the left and right rows have directivity that enables detection of obstacles on a road, for example, and the two ultrasonic sensor units 2 in the center row are the vehicle body 1 In order to be able to detect the reversal position and the stop position of, there is directivity to detect a distant place (for example, 2 m ahead). Further, the plurality of ultrasonic sensor units 4 arranged on the bottom surface of the self-propelled mobile vehicle are two in front of the front wheel and two behind each of the rear wheels, and the ultrasonic sensor units 4 are uneven (for example, presence or absence of stairs, etc.). ) Has a directivity capable of detecting the floor surface of the traveling road in order to prevent wheel derailment.

Further, as shown in FIGS. 1 and 3, the plurality of ultrasonic sensor portions 3 on the both side surfaces 1b and 1c each have two rows in the front-rear direction and each row has five rows, for example, one wall. Has a directivity so that the distance to the same reference surface can be measured using the above-mentioned reference surfaces and the other wall can be measured as the sub reference surface.

Next, the operation of the self-propelled vehicle having the above structure will be described with reference to the traveling path diagram of FIG. 4 and the detection state diagrams of FIG. 5 and FIG. It is assumed that it is located at point A.

Then, when the self-propelled mobile vehicle is made to travel, the traveling start processing is executed by the control device of the self-propelled mobile vehicle, that is, the left and right wheels are driven, and the ultrasonic sensor units 2 and 3 are driven. , 4 are actuated, and the reference plane and the sub-reference plane are determined based on the detection signals from the ultrasonic sensor section 2 on both side surfaces 1b, 1c.

In this case, the distance to both sides is measured based on the input detection signal, and the distance closer to the side surface of the self-propelled mobile vehicle (right side with respect to the traveling direction) is taken as the reference plane, and the far distance ( The left side with respect to the traveling direction) is the sub-reference plane.

Subsequently, the self-propelled mobile vehicle travels straight while keeping the distance to the reference plane (right side wall) at a predetermined constant value (for example, 30 cm), but the distance to the reference plane is the predetermined value. If not, the running trajectory is corrected based on the calculated distance from the reference plane. In this case, the rotation of the left and right wheels of the self-propelled mobile vehicle may be changed.

When the vehicle is traveling straight along the reference plane, that is, while keeping a constant distance from the reference plane, for example, when it reaches the position of point B in FIG. Although the distance to the reference plane is different, the convex portion of the sub reference plane is ignored and the self-propelled mobile vehicle travels straight.

When traveling straight ahead, the presence / absence of an obstacle is detected based on the detection signals from the ultrasonic sensors 2 in the left and right rows of the front surface 1a of the vehicle body 1. If there is no obstacle, the straight traveling is continued. It The unevenness of the floor surface (including stairs) is detected based on the detection signals from the plurality of ultrasonic sensor units 4 on the bottom surface of the vehicle body 1. For example, if there is no possibility of wheel removal, the self-propelled mobile vehicle goes straight ahead. If the vehicle is driven and there is a possibility of derailing, the self-propelled mobile vehicle is stopped for safety.

Further, as shown in FIGS. 5 and 6, when the object (reference plane, sub-reference plane, obstacle, floor surface, etc.) is detected by each of the ultrasonic sensor units 2, 3, 4, Even if the shape of the object changes, the distances to the portions closest to the ultrasonic sensor units 2, 3 and 4 are measured, and the object is assumed to be present in this measured value.

Next, when there is a wall or the like in front of the self-propelled vehicle, for example, 2 m ahead, and there is a dead end (C in FIG. 4).
Point), a plurality of ultrasonic sensor units 2 on the front surface 1a of the vehicle body 1
Among them, the wall or the like 2 m ahead is detected based on the detection signal from the ultrasonic sensor unit 2 in the central row. Then, in the control device for the self-propelled mobile vehicle, whether or not the vehicle body 1 can be inverted based on the detection signals from the plurality of ultrasonic sensor units 3 on both side surfaces and the external dimensions of the vehicle body 1. A decision is made.

When the vehicle body 1 can be reversed, the control unit calculates the left reversal position, controls the left and right wheels based on the calculated position, and further performs the left reversal control of the vehicle body 1. Specifically, as shown in FIG. 1, the vehicle body 1 may be moved toward the calculated reversal position, and only the right wheel of the vehicle body 1 may be driven at the reversal position to reverse the vehicle body 1.

Subsequently, the reversed self-propelled mobile vehicle travels straight ahead again, but in the same manner as described above, the vehicle travels straight ahead while keeping the distance to the reference plane (the distance longer than the above travel) constant. At this time, the unevenness on the side of the sub reference plane (the distance to the sub reference plane) is ignored. When the vehicle travels straight ahead, the traveling trajectory is corrected based on the detection signals from the ultrasonic sensor units 3 on both side surfaces 1b and 1c of the vehicle body 1, the inclination of the vehicle body 1 is corrected, and the front surface of the vehicle body 1 is corrected. The presence or absence of an obstacle is detected based on the detection signals from the ultrasonic sensor units 2 in the left and right columns of 1a, and if there is no obstacle, straight traveling is continued.

Subsequently, the self-propelled mobile vehicle travels straight so that the previous running row and the current running row have the same pitch,
Thereafter, when the self-propelled mobile vehicle approaches the sub-reference plane, that is, when it reaches the last travel line (shown at point E in FIG. 4), the self-propelled mobile vehicle sets a predetermined distance to the sub-reference plane. Value (eg 5
0 cm) or more and straight ahead. It should be noted that the straight traveling of the self-propelled mobile vehicle is not kept at a distance to the sub reference plane but is kept at a constant distance to the reference plane.

If there is a convex portion on the side of the sub-reference surface at the time F in FIG. 4, and if the distance between the convex portion and the self-propelled mobile vehicle is 50 cm or more, the self-propelled mobile vehicle will project the convex portion. Since there is no collision with the section, the self-propelled mobile vehicle continues straight ahead. However, when the distance between the convex portion and the self-propelled mobile vehicle is not more than 50 cm, the traveling of the self-propelled mobile vehicle is stopped, the self-propelled mobile vehicle is controlled to turn right, and the vehicle travels straight again. To be done. In this case, the straight traveling of the self-propelled mobile vehicle is performed with the distance from the reference plane kept constant. The straight traveling causes the self-propelled mobile vehicle to reach a dead end, but at this time, control is performed to stop the self-propelled mobile vehicle.

On the other hand, when the distance between the convex portion of the sub reference plane and the self-propelled mobile vehicle is 50 cm or more, the self-propelled mobile vehicle travels straight. If there is a concave portion on the sub reference surface during this straight traveling (point G in FIG. 4), the distance between the concave portion and the self-propelled mobile vehicle is 50 cm or more. To be done.

Then, when the self-propelled mobile vehicle reaches 2 m before the dead end such as a wall due to the straight traveling of the self-propelled mobile vehicle (point H in FIG. 4), the self-propelled mobile vehicle is Since the vehicle is traveling in the last row, the self-propelled mobile vehicle is stopped and controlled.

When the self-propelled mobile vehicle is running, the vehicle body 1
When an obstacle or the like is detected by the eight ultrasonic sensor units 2 in the left and right rows of the front surface 1a of the vehicle, or when the floor surface is not detected by the ultrasonic sensor units on the bottom surface of the vehicle body 1 (for example, when a step is detected). ), The self-propelled vehicle is immediately stopped for safety reasons.

In this way, the periphery of the self-propelled mobile vehicle is detected by the plurality of ultrasonic sensor units 2 and 3, and the ultrasonic sensor units 3 on both side surfaces 1b and 1c of the self-propelled mobile vehicle are detected. The distance of the reference plane determined at the beginning of traveling is measured, and the self-propelled mobile vehicle travels in a straight line on the basis of the detection condition of the surroundings and the distance to the reference plane.

Therefore, when there is an obstacle or the like and there is a problem in traveling of the self-propelled mobile vehicle, safety can be achieved by stopping the vehicle. Further, since the distance between the self-propelled mobile vehicle and the reference plane is different, when the self-propelled mobile vehicle deviates from the traveling track and the vehicle body 1 leans, the same traveling track is corrected and the inclination is corrected. Since the self-propelled mobile vehicle can be driven accurately in a straight line and the reverse control can be performed on the self-propelled mobile vehicle at a dead end such as a wall, the self-propelled mobile vehicle can be controlled within a predetermined passage or a predetermined area. You can drive all over.

[0033]

As described above, according to the present invention, in a self-propelled mobile vehicle equipped with a plurality of detection means for detecting the surroundings in order to enable unmanned traveling, A plurality of ultrasonic sensor parts are provided on the front surface, both side surfaces and the bottom surface of the vehicle body, respectively, and a plurality of ultrasonic sensor parts for detecting obstacles and a plurality of ultrasonic sensor parts for detecting the reversal position are provided on the front surface of the vehicle body, A plurality of ultrasonic sensors that detect the reference surface and sub-reference surface and detect the unevenness of the surfaces are provided on both sides of the vehicle body, and a plurality of ultrasonic sensors that detect the unevenness of the floor surface are provided on the bottom surface of the vehicle body. As a result, the self-propelled mobile vehicle can be accurately driven without learning the traveling path, and the traveling trajectory and body inclination of the self-propelled mobile vehicle can be corrected and obstacles can be prevented. When detecting an object, due to the unevenness of the floor When the wheel can stop controlling the self-propelled mobile vehicles, choosing a travel path, that is has the versatility that does not require learning, and there is an effect that it is possible to achieve safety in driving.

[Brief description of drawings]

FIG. 1 is a schematic plan view illustrating traveling of a self-propelled mobile vehicle showing an embodiment of the present invention.

FIG. 2 is a schematic side view of the self-propelled mobile vehicle shown in FIG.

FIG. 3 is a schematic rear view of the self-propelled mobile vehicle shown in FIG.

FIG. 4 is a schematic plan view illustrating a traveling operation of the self-propelled vehicle shown in FIG.

5 is a schematic diagram illustrating detection of an object by the ultrasonic sensor unit of the self-propelled mobile vehicle shown in FIG.

6 is a schematic diagram illustrating detection of an object by the ultrasonic sensor unit of the self-propelled mobile vehicle shown in FIG.

[Explanation of symbols]

 1 Body (of self-propelled mobile vehicle) 1a Front surface (of self-propelled mobile vehicle) 1b, 1c Side surface (of self-propelled mobile vehicle) 2 Ultrasonic sensor unit (front surface) 3 Ultrasonic sensor unit (of both side surfaces) ) 4 Ultrasonic sensor (bottom)

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Hiroyuki Okudera, 1116 Suenaga, Takatsu-ku, Kawasaki-shi, Kanagawa, Fujitsu General Ltd. (72) Nobuhiko Soejima 1116 Suenaga, Takatsu-ku, Kawasaki, Kanagawa Prefecture 72) Inventor Akira Horibe 1116 Suenaga, Takatsu-ku, Kawasaki-shi, Kanagawa Prefecture Fujitsu General Limited

Claims (4)

[Claims] 1. A self-propelled mobile vehicle having a plurality of detection means for detecting the surroundings to enable unmanned traveling, wherein at least the front surface of the self-propelled mobile vehicle and both sides of the self-propelled mobile vehicle. It is possible to detect the front situation based on the detection signals provided by the front and rear detection means and the front detection means, and determine the reversal position of the self-propelled vehicle according to the situation. And, based on the detection signal by the means for determining the obstacle in front, and the detection means of the both side surfaces, it is determined whether the traveling track of the self-propelled mobile vehicle is out of the way, and the traveling direction of the self-propelled mobile vehicle. A means for determining the presence or absence of an inclination with respect to, and a means for determining the distance to the object in the lateral direction, the inversion control of the self-propelled mobile vehicle at the reversal position, and the self-propelled mobile vehicle by the stop determination. Stop control is performed, and The rotation speed of the left and right wheels of the self-propelled mobile vehicle is variably controlled by determining the vehicle body inclination and the distance to the object in the lateral direction, and the self-propelled mobile vehicle is controlled according to the surrounding conditions. A self-propelled mobile vehicle, comprising: a control means for controlling a traveling orbit of the self-propelled mobile vehicle, reversing and stopping the self-propelled mobile vehicle. 2. The plurality of detection means on the front surface are an ultrasonic sensor section for measuring a long distance for detecting a front reversal position or a stop position, and an ultrasonic sensor section for detecting an obstacle obstructing the traveling. The self-propelled mobile vehicle according to claim 1, comprising an ultrasonic sensor unit for measuring a distance. 3. The plurality of detecting means on the both side surfaces are composed of a plurality of ultrasonic sensor units in each of two rows in the front and rear, and the plurality of ultrasonic sensor units are provided with the same self-propelled shape in the lateral direction. The self-propelled mobile vehicle according to claim 1, wherein a distance to a portion closest to the mobile vehicle is measured. 4. The self-propelled mobile vehicle is provided with at least two ultrasonic sensor units on the bottom surface of the vehicle body, and the ultrasonic sensor units are arranged in front of the front wheels and behind the rear wheels of the self-propelled mobile vehicle. The self-propelled mobile vehicle according to claim 1, wherein the unevenness of the traveling surface is detected to determine whether or not the vehicle is traveling.