JPH10254542A - Guiding equipment for moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the guiding equipment of a moving body capable of eliminating the need of guide lines and tapes, measuring an accurate position even indoors and traveling corresponding to a prescribed route. SOLUTION: Three corner cubes 1 are provided on prescribed positions around the route R of a forklift 2 set beforehand and a truck 3 is provided with three light reflection sheets 6. The forklift 2 is provided with a light irradiation means for performing horizontal irradiation with light beams over the entire periphery, a light sensor for detecting the reflected light from the corner cubes 1 and the light reflection sheets 6, an angle sensor for detecting the rotation angle of the light irradiation means and a measurement means for storing the rotation angle of the light irradiation means of the angle sensor at the time of detecting the reflected light by the light sensor, measuring the position of the forklift 2 by the detected rotation angle of the respective corner cubes 1 and measuring the position of the truck 3 by the detected rotation angle of the respective light reflection sheets 6.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile object guidance system which can self-propelled along a route set in advance and which can be self-propelled for a target.

[0002]

2. Description of the Related Art Heretofore, the following systems have been known as guidance systems for mobile bodies. a. Electromagnetic induction method An electric wire is laid along the traveling path of the self-propelled transport vehicle (moving body), an alternating current flows to generate a magnetic field, and the self-propelled transport vehicle is provided with a sensor for detecting a magnetic field generated from the electric wire, It travels along the detected magnetic field.

B. Magnetic guidance system A magnetic tape is laid on the floor along the traveling path of the self-propelled transport vehicle (moving body) to generate magnetism, and the self-propelled transport vehicle has a sensor that detects the magnetism generated from this magnetic tape. , And travels along the detected magnetism.

C. Color line guidance system A tape of a color different from the floor surface is laid on the floor along the traveling path of the self-propelled transport vehicle (moving body), and a color different from the floor surface is detected on the self-propelled transport vehicle. Thus, the tape is detected, and the tape runs along the detected color tape.

D. GPS-based guidance system A GPS is installed on a self-propelled transport vehicle (moving body) to recognize its own position and travel while correcting the deviation from the traveling route.

E. Autonomous Guidance Method Obtains the traveling distance from the rotation of the wheels, calculates the traveling direction from the difference between the rotational speeds of the left and right wheels, calculates the own position by integrating the traveling direction and the traveling distance, and corrects the deviation from the traveling route While traveling.

[0007]

However, in the above-described mobile body guidance equipment, in the electromagnetic induction type, the magnetic induction type, and the color line induction type, the traveling route is fixed, and it is difficult to change the traveling route. However, there has been a problem that it is not possible to cope with the change of the floor surface, and further, it is affected by the material and properties of the floor. Further, it has not been possible to transfer a load to and from a truck stopped at an arbitrary position away from the traveling route. Further, in the magnetic guidance system and the color line guidance system, the moving body sometimes runs on a magnetic tape or a color tape, and there is a risk that these tapes may be damaged by the moving body.

[0008] In addition, the GPS-based guidance system has a problem that it cannot be used when the traveling route of the moving object is in the shadow of the satellite. Further, in the autonomous guidance system, there is a problem that some position correction means must be provided because an accumulated error occurs.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a mobile object guidance system which does not require a guide wire or tape, can measure an accurate position indoors, and can travel along a predetermined route. It was done.

[0010]

In order to achieve the above-mentioned object, according to the first aspect of the present invention, there is provided a mobile object guidance facility which enables self-propelled driving along a predetermined route. A plurality of light reflecting means are provided at predetermined positions around the route, and light irradiating means for irradiating the moving body with light rays horizontally over the entire circumference while rotating, and the light reflection of the light rays A light sensor for detecting reflected light from the means, an angle sensor for detecting a rotation angle of the light irradiation means, and a rotation angle of the light irradiation means detected by the angle sensor when reflected light is detected by the light sensor And a measuring means for measuring the current position of the moving object based on the stored rotation angles is provided.

With the above arrangement, when the reflected light is detected by the optical sensor, the rotation angle of the light irradiating means detected by the angle sensor is stored, so that each light reflecting means around the rotation center of the light irradiating means is stored. The placement angle is detected,
The current position of the moving object is measured from the position of each light reflecting means around the moving object. Therefore, it is possible to travel along a preset route.

According to a second aspect of the present invention, there is provided a mobile body guidance system for self-propelled along a preset route and capable of self-propelled to a target, wherein A plurality of first light reflecting means are provided at a predetermined position, a plurality of second light reflecting means are provided on the target, and a light beam is applied to the moving body to irradiate a light beam horizontally over the entire circumference while rotating. Means, an optical sensor for detecting the reflected light of the light beam from the first light reflecting means and the second light reflecting means, an angle sensor for detecting a rotation angle of the light irradiating means, and a light reflected by the optical sensor. When detecting, the rotation angle of the light irradiation means detected by the angle sensor is stored, and the plurality of first
The position of the moving object is measured by the rotation angle stored when the light reflecting means is detected, and the position of the target is measured by the rotation angle stored when the plurality of second light reflecting means are detected. Measuring means for performing the measurement.

With the above arrangement, when the reflected light is detected by the optical sensor, the rotation angle of the light irradiating means detected by the angle sensor is stored, whereby each first light reflection centering on the rotation center of the light irradiating means is stored. The arrangement angle of the means and the arrangement angle of the second light reflecting means of the target are detected, and the current position of the moving body is measured from the position of each first light reflecting means centering on the moving body, and The current position of the target is measured from the position of the second light reflecting means of each target. Therefore, it is possible to travel along a preset route and to travel to a target.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view of a loading / unloading area provided with a mobile object guidance equipment according to an embodiment of the present invention, and FIG. 2 is a configuration diagram of a forklift equipped with the guidance equipment.

In FIG. 1, reference numeral 1 denotes predetermined three locations in a loading / unloading area where a route R of an automatic forklift (moving body) 2 is set in advance at points A (X1, Y1) and B (X2, Y2).
), A corner cube (corner reflector) as first light reflecting means provided at point C (X3, Y3)}.
The corner cube 1 is a triangular pyramid-shaped prism composed of three flat reflecting surfaces orthogonal to each other as if one corner of a cube had been cut off. It works to send it back in the direction of incidence.

The forklift 2 equipped with the guidance equipment travels along a route R set in advance in the unloading area, and loads the load 4 on the truck 3 (target) stopped at an arbitrary position in the unloading area. The pallet 5 is transferred. On the side surface of the truck 3, a light reflecting sheet 6 as a second light reflecting means is stuck at three points of a center point D of the carrier and a distance L from the center point D at points E and F. The irradiation center position of the later-described laser beam of the forklift 2 is (Xv, Yv), and the position of the center point D of the bed of the truck 3 is (Xt, Yt).

In the forklift 2, as guidance equipment,
A laser beam generating means for generating a parallel laser beam, a rotating mirror means for irradiating the laser beam horizontally over the entire circumference, a capturing means for capturing the laser beam reflected from the corner cube 1 and the light reflecting sheet 6, and a forklift 2 Position detecting means is provided.

As shown in FIG. 2, the laser beam generating means includes a semiconductor laser 11 and a drive circuit 12 for irradiating the laser beam vertically upward, and a collimator lens for converting the laser beam emitted from the semiconductor laser 11 into a parallel beam.
It consists of thirteen.

With this configuration, the laser beam emitted from the semiconductor laser 11 is converted into a parallel laser beam by the collimator lens 13 and is emitted above the collimator lens 13.

The rotating mirror means comprises a vertical cylindrical conduit 14 serving as a path for a laser beam emitted from the collimator lens 13, and this conduit 14 is connected below the center and mounted on a ring-shaped bearing 15. And a first reflection mirror 17 which refracts the laser beam guided from the conduit 14 into a horizontal beam and guides the laser beam to a window 16A provided on the side surface of the cylinder 16. A concave lens 18 for expanding the laser beam guided from the first reflecting mirror 17, a first pulley 19 fitted around the conduit 14 to rotate the conduit 14, and D
A C motor 20, a drive circuit 21 for the DC motor 20, a second pulley 22 directly connected to the rotation shaft of the DC motor 20,
Belt that transmits the torque of pulley 22 to first pulley 19
Consists of 23.

With this configuration, the DC motor 20
When driven by 21, the rotational force of the DC motor 20 is transmitted to the conduit 14 via the second pulley 22, the belt 23, and the first pulley 19, and the conduit 14 rotates.
The rotation of the reflection mirror 17 and the irradiation of the laser beam into the conduit 14 irradiate the entire periphery of the forklift 2 around the center position of the conduit 14 by the rotation of the first reflection mirror 17.

[0022] The capturing means may include the first reflecting mirror.
The light reflected from the corner cube 1 and the light reflection sheet 6 guided through the window 16A of the cylindrical body 16, the concave lens 18, and the first reflection mirror 17 is horizontally refracted. A second reflecting mirror 25, a convex lens 26 for converging the reflected light guided by the second reflecting mirror 25, and an interference filter 27, and a photodiode for receiving the reflected light converged by the convex lens 26 and the interference filter 27. 28, and a light receiving circuit 29 for detecting the corner cube 1 and the light reflecting sheet 6 based on the light receiving signal of the photodiode 28.

With this configuration, the rotation of the conduit 14 causes the second reflection mirror 25 to rotate together with the first reflection mirror 17, and the reflection from the corner cube 1 and the light reflection sheet 6 guided via the first reflection mirror 17. The light is incident on the photodiode 28 via the convex lens 26 and the interference filter 27 by the second reflection mirror 25, and this photodiode 28
Corner cube 1 by light receiving circuit 29 by light receiving signal of 28
And the light reflection sheet 6 are detected. That is, when the first reflection mirror 17 for irradiating a laser beam faces the corner cube 1 or the reflection sheet 6, the photodiode 28 detects light, and the light receiving circuit 29 detects the corner cube 1 and the light reflection sheet 6. You.

The position detecting means is connected to the conduit 14 and detects a rotation angle of the conduit 14 by a first encoder 31.
A mirror rotation angle detector 32 that adds the pulse signals output from the first encoder 31 to measure the rotation angle (irradiation angle of the laser beam) of the first reflection mirror 17 that makes the traveling direction 0 °; Second and third encoders 34 and 35 connected to the axles of the left and right wheels 33, and these encoders 34 and 35
It comprises a traveling direction detector 36 for measuring the difference between the rotational speeds of the left and right wheels 33 from the pulse signal to determine the traveling direction, and an arithmetic processing unit 37 comprising a computer. The arithmetic processing unit 37 receives the data of the mirror rotation angle Θ output from the mirror rotation angle detector 32, the data of the traveling direction output from the traveling direction detector 36, and the detection signal output from the light receiving circuit 29. And the mirror rotation angle に
That is, the angles of the corner cube 1 and the light reflecting sheet 6 from the traveling direction are stored, the current position is measured from these angles, the position of the truck 3 is measured, and the steering signal is calculated based on the position measurement data. Is output, and the quality of the traveling direction is determined based on the traveling direction data fed back from the traveling direction detector 36.

The method of measuring the current position in the arithmetic processing unit 37 will be described with reference to FIG. In FIG. 3, ψ is the attitude angle of the forklift 2 from the X axis, L12 is the distance between points A and B, L13 is the distance between points A and C, Θ1 is the rotation angle when point A is detected, Θ2 is the rotation angle when point B is detected, Θ3 is the rotation angle when point C is detected, and ε1 is A
The angle of the point B from the X axis with the point as the origin, and ε2 is the angle between the points B and C with the point A as the origin.

The position (Xv, Yv) and attitude angle ψ of the forklift 2 are obtained by the following equations (1) to (10).
(For details, see "Systems and Control" Vol. 29, No. 8 (1985)
p. See 553-560. ) Xv = X1 + kＱ (Q2−Q1) (1) Yv = Y1−kＰ (P2−P1) (2) ψ = π− { ¹ + tan ⁻¹ } (Yv−Y1) / (Xv−X1) } ... (3) k = 2 (P1 · Q2 -P2 · Q1) / {(P2 -P1) 2 + (Q2 -Q1) 2} ... (4) P1 = L12 · sin (α-ε1) / 2sinα ... (5) Q1 = L12 · cos (α−ε1) / 2 sinα (6) P2 = L13 · sin (α + ε1 + ε2) / 2sinβ (7) Q2 = −L13 · cos (α + ε1 + ε2) / 2sinβ (8) α = Θ1−Θ2 (9) β = Θ1−Θ3 (10) From the obtained position (Xv, Yv) and attitude angle of the forklift 2, the XY coordinates (absolute coordinates) of the route R preset by the forklift 2 ) To output the steering signal so as to move along. Further, it is confirmed whether the output steering signal has been executed based on the traveling direction data output from the traveling direction detector 36.

Next, a method of measuring the position of the track 3 in the arithmetic processing unit 37 will be described with reference to FIG. In FIG.
ΘE is the rotation angle when point E is detected, ΘD is the rotation angle when point D is detected, ΘF is the rotation angle when point F is detected, Θt is the position (Xv, Yv) of forklift 2
Is the angle between the point D and the point E with respect to the origin, ρ is the distance between the position (Xv, Yv) of the forklift 2 and the point D, and Δtv is the traveling direction of the truck 3 (the angle between the forklift 2 and the truck 3).

A position (X) where the truck 3 is viewed at X'Y 'coordinates where the position (Xv, Yv) of the forklift 2 is the origin and the traveling direction of the forklift 2 is the x-axis.
t ′, Yt ′) and the traveling direction ψtv of the track 3 are represented by the following equations (11) to (15).

Xt '= ρ ・ cosΘD (11) Yt' = ρ ・ sinΘD (12) ψtv = π-φt-ΘD (13) ρ = L ・ sin (φt + Θt) / sinΘt (14) φt = Tan ⁻¹ [2 / {cot (ΘF−ΘD) −cot (ΘD−ΘE)}} (15) The position (Xt, Yt) of the track 3 in absolute coordinates is
It is represented by the following equation (16). Θ ₀ is the angle between the origin of the absolute coordinates and the forklift 2 position (Xv, Yv). X
The Y coordinate and the X′Y ′ coordinate are shifted by the angle ψ.

[0030]

(Equation 1)

The calculated position of track 3 (Xt, Y
Based on t) and the attitude angle ψtv, the forklift 2 outputs a steering signal to the transfer position of the pallet 5 of the truck 3. Further, it is confirmed whether the output steering signal has been executed based on the traveling direction data output from the traveling direction detector 36.

When the laser beam is irradiated over the entire circumference of the forklift 2 and the light reflected by the corner cube 1 and the light reflecting sheet 6 is detected by the light receiving circuit 29, the rotation angle detector 31 By storing the mirror rotation angle Θ detected by
The arrangement angle of each corner cube 1 centered on the forklift 2 and the arrangement angle of the light reflecting sheet 6 of the truck 3 are detected, and the current position of the forklift 2 (X
v, Yv) is measured, and the current position (Xt, Yt) of the truck 3 is measured from the position of each light reflecting sheet 6 of the truck 3 around the forklift 2. The forklift 2 travels along the preset XY coordinates of the route R based on the measured current position (Xv, Yv), and further based on the current position (Xt, Yt) of the truck 3. The self-propelled pallet 5 is transferred to the transfer position of the pallet 5, and the pallet 5 is transferred.

As described above, the route R set in advance by the measured angle between the corner cube 1 and the light reflecting tape 6 is determined.
The following excellent effects can be obtained by transferring the pallet 5 along the pallet or by self-propelling to the loading position of the truck 3.

1. The transfer of the pallet 5 to the truck 3 stopped at an arbitrary position can be automated. 2. The transfer of the pallets 5 can be automated even in an area such as a construction site where the stop position of the truck 3 cannot be precisely determined.

3. It can automate logistics even in areas where it is difficult to lay guide wires, such as outdoors, clean rooms, and steel floors. 4. The layout can be easily changed.

5. The route R of the forklift 2 can be freely changed according to a change in the situation. 6. Floor construction is not required. 7. The route R of the forklift 2 does not become dirty or come off.

In the present embodiment, the automatic forklift 2 is used as a moving body, but the present invention can be applied to a bogie that runs on the floor by itself.

[0038]

As described above, according to the first aspect of the present invention, when the reflected light is detected by the optical sensor, the rotation angle of the light irradiating means detected by the angle sensor is stored, whereby the light irradiating is performed. It is possible to detect the arrangement angle of each light reflecting means centering on the rotation center of the means and measure the current position of the moving body from the position of each light reflecting means centering on these moving bodies. Can travel.

According to the second aspect of the present invention, when the reflected light is detected by the optical sensor, the rotation angle of the light irradiation means detected by the angle sensor is stored.
The arrangement angle of each first light reflection unit and the arrangement angle of the second light reflection unit on the target can be detected with the rotation center of the light irradiation unit as the center, and the position of each first light reflection unit with these moving bodies as the center. Can measure the current position of the target from the position of the second light reflecting means of each target with the target at the center of the target, thereby enabling the vehicle to travel along a preset route. Yes, and can travel with respect to the target.

[Brief description of the drawings]

FIG. 1 is a plan view of a loading / unloading area in which a mobile object guiding facility according to an embodiment of the present invention is arranged.

FIG. 2 is a configuration diagram of a forklift equipped with the guidance equipment.

FIG. 3 is an explanatory diagram of a calculation processing unit of a forklift equipped with the guidance equipment.

FIG. 4 is an explanatory diagram of a calculation processing unit of a forklift equipped with the guidance equipment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Corner cube (1st light reflection means) 2 Automatic forklift (moving body) 3 Truck (target) 4 Load 5 Pallet 6 Light reflection sheet (2nd light reflection means) 11 Semiconductor laser 13 Collimator lens 14 Pipe 16 Cylindrical body 17 , 25 Reflecting mirrors 19, 22 Pulleys 20 DC motors 23 Belts 27 Interference filters 28 Phototransistors 29 Light receiving circuits 31, 34, 35 Encoders 32 Rotation angle detectors 36 Travel direction detectors 37 Arithmetic processing units A, B, C Installation position D, E, F Mounting position of light reflection sheet R Route

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hisatoshi Narazaki 1-15-10 Kyomachibori, Nishi-ku, Osaka-shi, Osaka Inside Toyo Transport Machinery Co., Ltd. (72) Inventor Kazushi Hiraoka 5-chome, Nishikujo, Konohana-ku, Osaka-shi, Osaka No. 3-28 Within Hitachi Zosen Corporation (72) Inventor Hirotoshi Shimoda 5-28 Nishikujo, Konohana-ku, Osaka-shi, Osaka Prefecture Inside of Hitachi Zosen Corporation (72) Inventor Yoshihiro Igoku Konohana-ku, Osaka-shi, Osaka 5-3-28 Nishikujo, Hitachi Zosen Corporation (72) Kazuya Kawaguchi 5-3-28 Nishikujo, Konohana-ku, Osaka City, Osaka Prefecture Within Hitachi Zosen Corporation

Claims (2)

[Claims] 1. A guidance apparatus for a mobile body capable of self-propelled along a preset route, wherein a plurality of light reflecting means are provided at predetermined positions around the route, A light irradiation unit that irradiates a light beam horizontally over the entire circumference while rotating, an optical sensor that detects reflected light of the light beam from the light reflection unit, and an angle sensor that detects a rotation angle of the light irradiation unit When the reflected light is detected by the optical sensor, the rotation angle of the light irradiation unit detected by the angle sensor is stored, and the measurement unit that measures the current position of the moving object is provided based on the stored rotation angle. Mobile object guidance equipment characterized by the above-mentioned. 2. self-propelled along a preset route,
Also, the present invention is a mobile body guidance facility that enables self-propelled movement with respect to a target, wherein a plurality of first light reflecting means are provided at predetermined positions around the route, and a plurality of second lights are provided on the target. A light irradiating means for irradiating the moving body with a light beam horizontally over the entire circumference while rotating, and detecting reflected light of the light beam from the first light reflecting means and the second light reflecting means; A light sensor, an angle sensor that detects a rotation angle of the light irradiation unit, and a rotation angle of the light irradiation unit that is detected by the angle sensor when reflected light is detected by the light sensor. The position of the moving object is measured based on the rotation angle stored when the first light reflection unit is detected, and the position of the target is determined based on the rotation angle stored when the plurality of second light reflection units are detected. That measurement means for measuring Induction equipment of a moving body and butterflies.