JPH0926826A - Obstacle detection method and device for automated guided vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the width of a traveling rouge and also to ensure the smooth traveling for an automated guided vehicle which can automatically travel on the traveling route while detecting its forward obstacles by a laser radar. SOLUTION: Only the obstacles 20 that are included in an actual width direction route occupying range of an automated guided vehicle 10 traveling on a route 14 are extracted out of all obstacles 20 that are detected by a laser radar 16. Then the vehicle 10 is slowed down (not stopped) or stopped urgently based on those extracted obstacles 20.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle detecting method and apparatus for an automated guided vehicle such as an automated guided vehicle.

[0002]

2. Description of the Related Art Automated guided vehicles (AGV: Auto Gui)
The ded vehicle) automatically travels along a travel route determined in a factory, a warehouse, etc. while detecting obstacles. In a conventional obstacle detection method and apparatus for an automated guided vehicle, an obstacle in front of the vehicle is generally detected, and deceleration is performed based on the detected obstacle (hereinafter, simply referred to as deceleration or traveling speed control and expression. If it does, stop is also included.) Etc.

[0003]

SUMMARY OF THE INVENTION In the conventional obstacle detecting method and apparatus for an automatic vehicle, the obstacles in front are generally detected.
Although the collision with the obstacle does not actually occur,
It slows down and hinders smooth driving. Alternatively, it is necessary to widen the travel route width that excludes installation objects such as machines in order to avoid unnecessary stoppage of the automatic vehicle.

It is an object of the inventions of claims 1 and 2 to provide a method for detecting an obstacle of an automatic vehicle in which an automatic vehicle is traveling while detecting an obstacle on which the vehicle is going to move. The goal is to reduce the route width as much as possible. An object of the invention of claim 3 is to reduce the travel route width where an installed object such as a machine is excluded as much as possible in an obstacle detection device for an automatic vehicle that travels while detecting an obstacle to which the automatic vehicle is going to move. In addition to making it possible, avoiding unnecessary deceleration, warning, etc., is to smooth the running. An object of the invention of claim 4 is to provide an obstacle detection device for an automatic vehicle capable of controlling a traveling speed and an alarm according to the situation of the obstacle. It is an object of the invention of claim 5 to provide an obstacle detection device for an automatic vehicle which can accurately classify dangerous level areas.

[0005]

[Means for Solving the Problems] The automatic vehicle according to claim 1 (1)
In the obstacle detection method of 0), the obstacle (20) existing in the width direction route occupation range of the own vehicle on the traveling route (14) to be moved is discriminated from the other obstacles (20). Then, the vehicle travels based on the discriminated obstacle (20).

The automatic vehicle (10) travels along a predetermined travel route (14) while detecting an obstacle (20).
The obstacle detection method for the autonomous vehicle (10) is as follows (a) ~
The step (c) is provided. (A) The obstacle (20) on the moving side is detected. (B) Among the detected obstacles (20), there are obstacles (2
0) is extracted. (C) Travel based on the extracted obstacle (20).

3. The automatic vehicle (10) travels along a predetermined travel route (14) while detecting an obstacle (20).
The obstacle detection device (40) of the autonomous vehicle (10) of the following (a) ~
It has the component (c). (A) Obstacle detecting means (42) for detecting an obstacle (20) which is going to move (b) On the traveling route (14) from among the obstacles (20) detected by the obstacle detecting means (42) Obstacle extraction means for extracting obstacles (20) existing in the widthwise route occupation range of the vehicle
(44) (c) Control means (4) for controlling the traveling speed and / or the alarm based on the obstacle (20) extracted by the obstacle extraction means (44)
8)

The automatic vehicle (10) travels along a predetermined traveling route (14) while detecting an obstacle (20).
The obstacle detection device (40) of the autonomous vehicle (10) of the following (a) ~
It has the component (e). (A) In relation to the route length from the local point, the traveling route (14) to be moved from now on is related to multiple danger level areas.
(22, 24, 26, 28) Danger Level Classification Means (46) (b) Obstacle Detecting Means (42) (c) Obstacle Detecting Means ( Obstacle extraction means for extracting obstacles (20) existing in the width-direction route occupation range of the vehicle on the travel route (14) from the obstacles (20) detected by (42)
(44) (d) In which danger level area (22,24,26,28) the obstacle (20) extracted by the obstacle extraction means (44) is classified by the danger level classification means (46) Judgment means (48) (e) Control means (48) for controlling traveling speed and / or alarm based on the judgment result of the judgment means (48)

The obstacle detecting device (40) for an automatic vehicle (10) according to claim 5 is the obstacle detecting device (40) for an automatic vehicle (10) according to claim 4, further comprising a danger level classification means ( 46)
Is a function of the travel speed and / or the slope of the travel route (14), which is a function of the route length to each danger level area (22,24,26,28) that determines the danger level area (22,24,26,28). I am trying.

[0010]

In the obstacle detecting method for the automatic vehicle (10) according to claim 1, there are other obstacles (20) existing in the width direction route occupation range of the vehicle on the traveling route (14) to be moved from now on. Distinguished from the obstacles (20). Thus, the autonomous vehicle (10)
Travels based on an obstacle (20) that is actually in danger of collision.

According to the obstacle detection method for the autonomous vehicle (10) of claim 2, the obstacle of the autonomous vehicle (10) to be moved from now on.
(20) is detected. Of the detected obstacles (20), only the obstacles (20) existing in the width direction route occupation range of the vehicle on the traveling route (14), that is, the obstacles that are actually in danger of collision in the future movement Only (20) is extracted. The autonomous vehicle (10) travels based on the extracted obstacle (20).

In the obstacle detecting device (40) of the automatic traveling vehicle (10) according to claim 3, the obstacle detecting means (42) detects the obstacle (20) of the automatic traveling vehicle (10) to be moved. Detect. The obstacle extracting means (44) detects the obstacle (2) detected by the obstacle detecting means (42).
From (0), only obstacles (20) existing in the widthwise route occupation range of the vehicle on the traveling route (14), that is, obstacles (20) that actually pose a collision risk in the future movement are extracted. . The control means (48) controls the traveling speed and / or the alarm based on the obstacle (20) extracted by the obstacle extraction means (44) while the automatic vehicle (10) is traveling on the traveling route (14). .

In the obstacle detecting device (40) of the automatic vehicle (10) according to claim 4, the danger level classification means (46) is an automatic vehicle.
The travel route (14) to be moved in (10) is related to the route length from the local point to multiple danger level areas (22, 24, 26, 2
Divide into 8). The obstacle detection means (42) is
Detect the obstacle (20) that is moving from 0). The obstacle extracting means (44) is an obstacle (20) existing in the widthwise route occupation range of the vehicle on the traveling route (14) from among the obstacles (20) detected by the obstacle detecting means (42). Only, ie,
Obstacles (2
0) is extracted. The determination means (48) is configured such that the obstacle (20) extracted by the obstacle extraction means (44) is the danger level classification means (4
Which danger level area (22, 24, 26,
28) to determine if there is. The control means (48) is the traveling route
While the automated vehicle (10) in (14) is traveling, the traveling speed and / or the alarm are controlled according to the danger level area (22, 24, 26, 28) judged by the judging means (48).

In the obstacle detecting device (40) of the automatic vehicle (10) according to claim 5, the danger level dividing means (46) determines each danger level area (22, 24, 26, 28). The route length to the area (22, 24, 26, 28) is the traveling speed and / or
Or, as a function of the gradient of the driving route (14), each danger level area (22, 24, 26,
The route length up to 28) is not fixed and changes depending on the traveling speed of the automatic vehicle 10 and / or the gradient of the traveling route 14.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described below with reference to embodiments of the drawings. FIG. 2 is an explanatory diagram of an obstacle detection method for the automated guided vehicle 10. The automatic guided vehicle 10 has a built-in motor for driving the tires 12, and drives and / or steers the four tires 12 while traveling along a traveling route 14 in a room such as a factory or a warehouse. There is. For example, a guide system is adopted in which magnets are embedded in the travel route 14 at appropriate intervals, and the automated guided vehicle 10 detects the travel route 14 by detecting a magnetic field from the magnet. The laser radar 16 is provided at the front part of the automatic guided vehicle 10, and even at the entrance of the curved portion of the travel route 14, it ensures the detection of the obstacle 20 far ahead from the exit of the curved portion. For example, a detection range 18 of 60 ° on the left and right is provided around the center 14, and as a result, a wide range of obstacles 20 to be moved will be detected. The obstacles 20 detected by the laser radar 16 include not only humans but also machines, structures and the like. Instead of laser radar 16, sweep type infrared, ultrasonic, radio wave radar,
It is possible to use an array of a plurality of directional radars that can search a predetermined angle range as a whole in different directions. On the travel route 14, the predetermined destination range from the local point of the automatic guided vehicle 10 is, in order from the farthest to the immediately preceding,
It is divided into a danger level 1 area 22, a danger level 2 area 24, a danger level 3 area 26, and a danger level 4 area 28.

FIG. 1 is a functional block diagram of the obstacle detection device 40. The operation of the obstacle detection method of the automatic guided vehicle 10 and the obstacle detection device 40 will be described with reference to FIG.

The laser radar 16 irradiates the laser beam forward, that is, in the direction in which it moves, and outputs the reflected wave to the obstacle detecting means 42. The obstacle detection means 42 is
All obstacles 20 existing in the detection range 18 of the laser radar 16 are detected based on the input from the laser radar 16. The obstacle extracting means 44 is provided with the obstacle 20 detected by the obstacle detecting means 42.
From the inside, the width direction route occupation range of the automated guided vehicle 10 on the traveling route 14 (the width direction route occupation range corresponds to the inside region of two broken lines extending in parallel to both sides of the solid line of the traveling route 14 in FIG. 2). Only the obstacles 20 existing in. The route data of the traveling route 14 is stored in advance in the storage device of the automatic guided vehicle 10, and the widthwise route of the automatic guided vehicle 10 on the traveling route 14 from the local point to a predetermined destination based on the stored data. The occupied area can be detected directly or indirectly by calculation. Thus, the obstacle extracting means 44 extracts the obstacle 20 existing in the danger level 2 area 24 in FIG.
The obstacle 20 existing outside the outer peripheral side boundary line is excluded without being extracted. On the other hand, the risk level classification means 46
Is the unmanned guided vehicle for traveling route 14
Depending on the route length from the 10 local points, it is divided into a danger level 1 area 22, a danger level 2 area 24, a danger level 3 area 26, and a danger level 4 area 28 from the far side. The route length, which is a factor for classifying the risk level, is related to the current traveling speed of the automatic guided vehicle 10 and the gradient of the traveling route 14.
The higher the traveling speed, the shorter the time until the collision, so the length of each danger level to the far point and the length of each danger level itself in the traveling route 14 direction are increased. Further, assuming that the uphill gradient angle of the traveling route 14 from now on is positive, as the gradient angle decreases, that is, as the downhill gradient becomes steeper,
Since the stopping distance for the same braking force expands and contracts, the length of each obstacle detection device increases as the gradient angle increases.

The judging means 48 judges in which danger level area the obstacle 20 extracted by the obstacle extracting means 44 exists, based on the inputs from the obstacle extracting means 44 and the danger level dividing means 46. Then, when the obstacle 20 exists in the danger level 1 area 22, the warning light 50 such as a patrol lamp (red alarm blinking lamp) as the first stage warning is turned on, and the obstacle 20 exists in the danger level 2 area 24. In addition to the operation of the warning light 50, the siren 52 as the second-stage alarm is sounded when an obstacle 20 is present in the danger level 3 area 26.
Is present, in addition to the operation of the warning light 50 and the siren 52, the brake 54 of the automated guided vehicle 10 is appropriately operated,
As the first stage traveling speed control, the automatic guided vehicle 10 is decelerated (to the extent that it does not stop), and when the obstacle 20 is present in the danger level 4 area 28, the brake 54 is activated as much as possible and the warning light is activated. While continuing the operation of the 50 and the siren 52, the automated guided vehicle 10 is stopped as an emergency as the traveling speed control of the second stage.

[0019]

According to the first and second aspects of the present invention, since the automatic vehicle is driven based on the obstacle existing in the actual collision range, the travel route width excluding installations such as machines is as small as possible.
Scaled down.

According to the third aspect of the invention, since the automatic vehicle is driven based on the obstacle existing in the actual collision range,
The travel route width that excludes installations such as machines is reduced as much as possible, and the traveling speed and / or alarm is controlled based on obstacles existing in the actual collision range, so unnecessary deceleration and alarms are avoided as much as possible. Then, the running can be smoothed.

According to the fourth aspect of the present invention, the obstacle at risk of collision is determined according to the danger level area in which the obstacle exists, and the traveling speed and the alarm are controlled. It is possible to control the traveling speed and / or the alarm depending on the situation.

According to the invention of claim 5, in view of the fact that the distance that the automated vehicle can avoid the danger depends on the traveling speed and the gradient of the traveling route, each danger is determined from the local point of the automated vehicle which is a factor that determines the danger level area. Since the length of the route to the level area is related to the traveling speed and the gradient of the traveling route, it is possible to drive the autonomous vehicle while effectively avoiding danger.

[Brief description of drawings]

FIG. 1 is a functional block diagram of an obstacle detection device.

FIG. 2 is an explanatory diagram of an obstacle detection method for an automated guided vehicle.

[Explanation of symbols]

 10 Automated guided vehicle (automatic vehicle) 14 Travel route 20 Obstacle (danger level area) 22 Danger level 1 area (danger level area) 24 Danger level 2 area (danger level area) 26 Danger level 3 area (danger level area) 28 Danger Level 4 Area (Danger Level Area) 40 Obstacle Detection Device 42 Obstacle Detection Means 44 Obstacle Extraction Means 46 Danger Level Classification Means 48 Judgment Means (Control Means)

Claims (5)

[Claims] 1. An obstacle existing in a width-direction route occupied range of a vehicle on a traveling route (14) to be moved from now on
Obstacles that discriminate (20) from other obstacles (20) and discriminate
An obstacle detection method for an autonomous vehicle, comprising: traveling based on (20). 2. An obstacle detection method for an automatic vehicle (10) traveling along a predetermined traveling route (14) while detecting an obstacle (20), comprising: (a) an obstacle to be moved from now on. (2
0) is detected, and (b) the obstacle (20) existing in the width direction route occupation range of the vehicle on the travel route (14) is extracted from the detected obstacle (20), and (c) is extracted. The obstacle detection method for an autonomous vehicle according to claim 1, characterized in that the vehicle travels based on the obstacle (20). 3. An obstacle detecting device (40) for an automatic vehicle (10) traveling along a predetermined traveling route (14) while detecting an obstacle (20), (a) one to be moved from now on (42) Obstacle detecting means (42) for detecting the obstacle (20), the width of the vehicle on the traveling route (14) among the obstacles (20) detected by the obstacle detecting means (42) Obstacle extraction means (44) for extracting the obstacle (20) existing in the directional route occupation range, and (c) the obstacle (2) extracted by the obstacle extraction means (44)
An obstacle detection device for an automatic vehicle, comprising: a control means (48) for controlling a traveling speed and / or an alarm based on 0). 4. An obstacle detection device (40) of an automatic vehicle (10) traveling along a predetermined traveling route (14) while detecting an obstacle (20), (a) Danger level dividing means (46) that divides the travel route (14) that you are going to go into multiple danger level areas (22, 24, 26, 28) in relation to the route length from the local point, (b) Move from now on Obstacle detection means (42) for detecting the obstacle (20) of the person who is doing, (c) own vehicle on the traveling route (14) from among the obstacles (20) detected by the obstacle detection means (42) Obstacle extraction means (44) for extracting obstacles (20) existing in the width direction route occupation range of
(D) The obstacle (2) extracted by the obstacle extracting means (44)
Determination means (48) for determining in which danger level area (22, 24, 26, 28) the 0) is classified by the danger level classification means (46), and (e) the determination means (48) An obstacle detection device for an autonomous vehicle, comprising: a control means (48) for controlling a traveling speed and / or an alarm based on the determination result of (1). 5. The danger level classification means (46) travels along a path length to each danger level area (22,24,26,28) that determines the classification of the danger level area (22,24,26,28). 5. Obstacle detection device according to claim 4, characterized in that it is a function of the speed and / or the gradient of the driving route (14).