JPH1029556A - Carrying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To dispense with a complicated mechanism for absorbing the fluctuation of relative position between a plurality of moving vehicles by using a plurality of omnidirectional moving vehicles capable of instantaneously starting to move in an optional direction, and traveling them in cooperation while simultaneously supporting an integrated carrying matter. SOLUTION: When a single carrying matter 24 is set on and carried by omnidirectional moving vehicles (hereinafter referred to as vehicle) 21, 22 traveling by the instruction from a movement instruction input means, relative positions of the vehicles 21, 22 to a moving center point set on the carrying matter 24 are inputted to a wireless operation terminal 23 by an operator 20. A movement instruction for moving the moving center point (speed instruction in each of X and Y directions and rotating angular speed) is inputted to the operation terminal 23. In a control device, the angle speed ratio of driving wheel to operating shaft is calculated every driving wheel from the vehicle position, the vehicle attitude direction and steering shaft angle, and the moving intended track of the vehicle detected by sensors, respectively, to control the rotation of each driving wheel.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transport apparatus for supporting heavy or large-sized articles by a plurality of omnidirectional vehicles and transporting the omnidirectional vehicles in cooperation with each other.

[0002]

2. Description of the Related Art Conventionally, there is a method described below for transporting a conveyed article in cooperation with a plurality of moving vehicles. (1) Using a two-wheel independent drive type mobile vehicle, the mobile vehicle and the conveyed object are connected via an elastic body and conveyed. (Masafumi Hashimoto, Fuminori Oba, Hirotaka Nakahara: "Hierarchical Cooperative Transport Control with Multiple Mobile Robots" The 6th Intelligent Mobile Robot Symposium, pp395-396, 1994) (2) Moving using a two-wheel independent drive type mobile vehicle The vehicle and the conveyed object are connected and conveyed by linear and rotary springs and damper elements. (Yasuhiko Takee, Jun Ota, Hisashi Osumi, Tamio Arai, Koichi Suyama: "Realization of Transfer Work by Cooperation of Multiple Mobile Robots", The 10th Robotics Society of Japan, p.
(pp. 561-562, 1992) (3) When a long pipe is transported by two moving vehicles, a two-wheel independent drive type moving vehicle is used, and the pipe is gripped by an arm that rotates freely against external force. In this case, the movement of the arm can be absorbed within a certain range even if the relative positions of the two moving vehicles fluctuate. (Makoto Kajitani: "Transportation work by two mobile robots", Journal of the Robotics Society of Japan 12-6, pp.
41, 1994)

[0003]

However, these conventional methods, when trying to coordinate a plurality of moving vehicles,
In order to absorb the fluctuation of the relative position between the moving vehicles, it is necessary to interpose an elastic body, a linear and rotating spring and a damper element, a freely rotating arm, and the like between the moving vehicle and the conveyed object. As the structure becomes complicated, the cost increases. For this reason, when a large object is fixedly transported to a plurality of moving vehicles and freely conveyed, it can be conveyed freely without using a special device for absorbing fluctuations in the relative position between the moving vehicles, and stopped. In this case, the appearance of a transport device capable of precise positioning was desired.

[0004]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the invention according to the first aspect of the present invention uses a plurality of omnidirectional vehicles that can start moving in an arbitrary direction instantaneously. The vehicles traveling in all directions cooperate with each other while simultaneously supporting them.

According to a second aspect of the present invention, there is provided a driving wheel serving also as a steering wheel, an actuator for driving the driving wheel to rotate, a steering shaft for supporting an axle of the driving wheel, and a grounding position of the driving wheel formed on the vehicle body. Bearing that supports the steering shaft so that it can freely rotate around the vertical axis at a position horizontally separated from the actuator, an actuator that rotationally drives the steering shaft, and a ratio of the rotational angular velocity of the drive wheel to the rotational angular velocity of the steering shaft. And two or more drive units each including a control device for driving both actuators so that the value of the drive unit corresponds to the moving direction of the vehicle, a sensor for detecting the position of the vehicle body, and a posture and orientation of the vehicle body. , A sensor for detecting the steering angle of each steering shaft, and a vehicle position, a vehicle orientation and a steering axis angle detected by each sensor, and a driving target trajectory of the vehicle for each drive wheel, Using two or more omni-directional vehicles configured to include an arithmetic means for calculating an angular velocity ratio between a driving wheel and a steering shaft, the omni-directional vehicles travel in cooperation with each other while simultaneously supporting an integrated article. .

According to a third aspect of the present invention, in the transport apparatus according to the first or second aspect, a relative position of each omnidirectional vehicle with respect to a movement center point set on a conveyed object or an omnidirectional vehicle is determined. The moving speed of each omnidirectional vehicle is calculated based on the moving command given to the center point.

According to a fourth aspect of the present invention, in the transport device of the third aspect, a movement command for the movement center point is transmitted from the operation terminal to each omnidirectional vehicle, and the transmitted movement command is transmitted to each omnidirectional vehicle. Received by the installed receiving means.

According to a fifth aspect of the present invention, in the transfer device of the third or fourth aspect, when the moving center point is set on the conveyed object, a moving center point marker is set at the moving center point. The omnidirectional vehicle measures the distance from the omnidirectional vehicle to the movement center point marker and the relative attitude and orientation of both, and stores the measured values.

According to a sixth aspect of the present invention, in the transfer device of the third or fourth aspect, when a moving center point is set on one omnidirectional vehicle, a moving center point marker is set at that position. Then, the remaining omnidirectional vehicles measure the distance from the omnidirectional vehicle to the movement center point marker and the relative attitude and orientation of both, and store the measured values.

According to a seventh aspect of the present invention, in the transport apparatus of the third or fourth aspect, when the number of omnidirectional vehicles is two, reference point markers are set on both omnidirectional vehicles and both omnidirectional vehicles are provided. In the case of a moving vehicle, the distance to each reference point marker and the relative attitude and azimuth of the two are measured. Then, an intermediate point obtained by dividing the measured distance between the moving vehicles in all directions into two is set as a moving center point, and the position is determined. Is stored.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In the present invention, a vehicle supporting a conveyed object is disclosed in Japanese Patent Application No. 6-3330 filed by the present applicant.
No. 21 and Japanese Patent Application No. 7-288014, which use the omnidirectional vehicle, and the omnidirectional vehicle is
This proposes a method of moving a wheel fulcrum at a position away from a movement center point by a certain distance in an arbitrary direction. In view of this, the present invention extends this to support a conveyed object by using a plurality of omnidirectional vehicles, and to set how much each omnidirectional vehicle is from the center of movement, thereby enabling omnidirectional movement. Even when there is a moving center point outside the vehicle, each omnidirectional vehicle is independently driven based on the moving center point. Thereby,
It is realized that a plurality of omnidirectional vehicles that simultaneously support the same conveyed object run in cooperation with each other. Further, the omnidirectional vehicle according to the present invention is not limited to the omnidirectional vehicle according to the above-mentioned application, but may be another type of omnidirectional vehicle, such as a mecanum wheel or vuton.
The same can be realized by using a crawler or the like.

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a longitudinal sectional view showing a main part of an omnidirectional vehicle used in the transfer device according to the second embodiment, and FIG. 2 is a side view showing a part of FIG. In the figure, reference numeral 1 denotes a driving wheel which also serves as a steering wheel, and is rotatably supported by a leg 3 which is a steering shaft by an axle 2 which supports and fixes the driving wheel 1. Note that a pneumatic tire is usually mounted on the driving wheel 1. The axle 2 is connected via a reduction gear 4 to a motor 5 which is an actuator. An encoder 6 is connected to the other end of the motor 5 to detect a rotation angle of the drive wheel 1.

The leg 3 has its upper end supported by a vehicle body 7 via a bearing 8 so as to be freely rotatable about a vertical axis. Here, the center of the bearing 8, that is, the rotation center of the leg 3 is set to a position offset by a horizontal distance s from the contact position of the drive wheel 1. A gear 9 is coaxially mounted on the upper surface of the leg 3, and the gear 1 supported on the main body 7.
1 and is meshed. The gear 11 is supported and fixed to an output shaft 13 of a motor 12 which is an actuator. An encoder 14 is connected to the other end of the motor 12 to detect the rotation angle of the leg 3, that is, the steering angle.

FIG. 3 is an explanatory diagram showing the operating principle of the driving wheel 1 in FIGS. The figure is a plan view of the drive wheel 1 as viewed from above. For the sake of explanation, the legs 3 are shown in a two-sided yoke shape. G in the figure is a ground point of the driving wheel 1, and M
Is the rotation center (steering axis) of the leg 3, and the offset distance s between GMs. Here, when the motor 5 is driven to rotate the driving wheel 1 having the outer diameter D at the angular velocity ω so that the leg 3 moves upward in the figure, the steering shaft M has a moving speed V expressed by the following equation. _h is obtained.

[0015]

[Equation 1] V _h = D · ω

Similarly, when the motor 12 is driven to rotate the leg 3 at the angular velocity γ so that the driving wheel 1 supported by the leg 3 turns clockwise, the leg 3 will be moved in the lateral direction. The movement of the drive wheel 1 in the lateral direction is restrained by the frictional resistance of the ground contact surface, and the leg 3 turns clockwise around the point G as a reaction thereto. Moving speed V _s shown in the following equation is obtained in this case the steering shaft M.

[0017]

[Expression 2] V _s = s · γ

That is, when the driving wheel 1 and the leg 3 are driven simultaneously, two speeds V _h and V _s which are orthogonal to each other are generated on the steering shaft M. These velocities V _h and V _s are combined to become the velocity V and move the steering axis M. Here, assuming that the angle of the combined speed V with respect to the traveling direction of the driving wheel 1 is α,
The respective velocities V _h , V _s , and V have the following relationship.

[0019]

## EQU3 ## V _h = V · cos α

[0020]

V _s = V · sin α

As a result, by controlling the angular velocity ω of the drive wheel 1 and the angular velocity γ of the legs 3 to have a constant ratio, the steering shaft M can be moved in a predetermined direction. In addition,
The above relational expression is satisfied at the moment when the rotation of the leg 3 is started, but at the next moment, the relational expression is not satisfied because the direction of the drive wheel 1 changes. However, with the encoder 14, the changing leg 3
Is constantly detected, and the angular velocity ω and the angular velocity γ are corrected accordingly, whereby the steering shaft M can be continuously moved in a predetermined direction.

FIG. 4 is an explanatory diagram showing a control method when the steering shaft M in FIG. 3 is moved on a predetermined trajectory.
In the figure, K is a target trajectory, and when an angle between a tangent at the point where the steering axis M is located on the trajectory K and the coordinate axis X is θ, and an angle between the drive wheel 1 and the coordinate axis X is φ,
The speed components V _h and V _s generated on the steering shaft M are obtained by the following equations.

[0023]

[Number 5] _{V h = V · cos (φ} -θ)

[0024]

V _s = V · sin (φ−θ)

That is, the moving speed V is determined in advance, the angle φ is detected at the moment of the movement, and the angle θ is detected by a sensor (not shown).
Velocity component V _h of each axis, V _s is calculated. By controlling the angular velocities ω and γ of the drive wheels 1 and the legs 3 so that these speeds can be obtained, the steering shaft M can move on the target trajectory K.

As the coordinate data of the trajectory K, velocity components of the X-axis and Y-axis may be given in time series. In this case, the velocity component V of the given X-axis and Y-axis may be given.
_x, by using the V _y, the velocity component V _h of each axis by the following equation, V
_s can be determined.

[0027]

[Equation 7] _{V h = V · cos (φ} -θ) = V · cosθ · cosφ + V · sinθ · sinφ = V x · cosφ + V y · sinφ

[0028]

V _s = V · sin (φ−θ) = V · cos θ · sin φ−V · sin θ · cos φ) = V _x · sin φ + V _y · cos φ

FIG. 5 is a perspective view showing the entire omnidirectional vehicle. The driving wheels 1, the legs 3, the bearings 8, the motors 5, 12 and their control devices (shown in FIGS. 1 and 2) (Not shown) and the like are installed on the left and right. Incidentally, reference numeral 15 in the drawing denotes a driven wheel.

FIG. 6 is an explanatory diagram showing a control method in the vehicle shown in FIG. In the figure, L is a target trajectory, which is controlled so that the center C of the vehicle body 7 runs on the trajectory L. Center C is an intermediate position of the steering shaft M ₁ and M ₂ of the two units placed at a distance 2W. Here, assuming that the moving speed of the center C is V and the speed components of the X axis and the Y axis are V _xc and V _yc , when the vehicle body 7 translates without rotation, the X axis of the steering axis M ₁ , Y-axis speed components V _x1 and V _y1 and the X-axis and Y-axis speed components V of the steering axis M _2.
x2 and _Vy2 are as follows.

[0031]

## _EQU9 ## V _x1 = V _xc

[0032]

## _EQU10 ## V _y1 = V _yc

[0033]

## _EQU11 ## V _x2 = V _xc

[0034]

[ _Expression 12] V _y2 = V _yc

Next, when the vehicle body 7 does not travel and the angular velocity φ
When rotating at _v, X-axis of the steering shaft M _1, the speed component of the Y-axis V
_x1, V _y1 and the X-axis of the steering shaft M _2, the speed component of the Y-axis V _x2,
V _y2 is as follows.

[0036]

V _x1 = −W · cos φ _v

[0037]

V _y1 = −W · sin φ _v

[0038]

V _x2 = W · cos φ _v

[0039]

V _y2 = W · sin φ _v

Where φ _v is an angle with respect to the X axis.
For these reasons, when the vehicle body 7 travels at a speed V while rotating at an angular velocity phi _v, X-axis of the steering shaft M _1, the speed component of the Y-axis V _x1, V _y1 and the X-axis of the steering shaft M _2, The velocity components V _x2 , V _{y2 on the} Y axis are obtained by adding Equations 9 to 12 and Equations 13 to 16 as follows.

[0041]

V _x1 = V _xc −W · cos φ _v

[0042]

V _y1 = V _yc −W · sin φ _v

[0043]

V _x2 = V _xc + W · cos φ _v

[0044]

V _y2 = V _yc + W · sin φ _v

The vehicle body 7 travels on the track L by rotating and steering the left and right drive wheels 1 based on the speed component thus obtained. In particular, in this embodiment, since translation and turning in the front-back and left-right directions are possible, it is possible to instantaneously change directions in all directions without changing the direction of the vehicle body 7 and move.

In the case of a change of direction, the driving is performed in combination with the rotation of the driving wheel 1 and the steering of the steering shaft M, so that the steering is smoothly performed. Furthermore, in this omnidirectional vehicle, pneumatic tires were used as drive wheels 1,
Vibration or the like generated at the ground contact portion during traveling is prevented from being transmitted to the vehicle body 7. Here, traveling by a pair of left and right drive units has been described, but traveling can be controlled in a similar manner when three or more drive units are attached.

FIG. 7 is an explanatory view showing an external configuration of an embodiment according to the second to fourth aspects of the present invention. In FIG.
Numeral 2 denotes an omnidirectional vehicle that travels in response to a command from the movement command input means. The specific configuration is the same as that described with reference to FIG. Reference numeral 24 denotes a conveyed object. Reference numeral 23 denotes a wireless operation terminal for setting how much the omnidirectional vehicles 21 and 22 are moved from the center of movement and for specifying how to move the conveyed object 24. is there. Reference numeral 20 denotes an operator holding the operation terminal 23. Here, an arbitrary position on the transported object 24 is referred to as a movement center point, and is set in advance as a reference point for passing on the transport track.

Next, the operator 20 moves the omni-directional vehicle 21,
The relative position of 22 is input to the operation terminal 23. Then, the input relative positions are sent to the omnidirectional vehicles 21 and 22 by radio signals and set. Further, a movement command for moving the movement center point is input to the operation terminal 23. The movement command specifies how to move the movement center point of the conveyed object 24, and includes three-axis command values of an X-direction speed command, a Y-direction speed command, and an angular speed for rotation. It consists of.

Therefore, in this embodiment, in order to improve the operability, a three-axis joystick is installed on the operation terminal 23 to input a movement command. The input movement command is transmitted to the omnidirectional vehicles 21 and 22 by radio. The omnidirectional vehicles 21 and 22 calculate the driving speed of the wheels based on the received movement command, the preset vehicle position, and the current posture of the conveyed object detected by the posture detecting means. In the illustrated example, the operator 20 inputs a movement command. However, instead of the operator 20, a computer can issue a movement command to the omnidirectional vehicles 21 and 22 so that the vehicle can travel unmanned. . In the illustrated example, two omnidirectional vehicles 21 and 22 are provided.
However, the same applies when three or more omnidirectional vehicles are used.

FIG. 8 shows a case where a plurality of omnidirectional vehicles cooperate.
The principle for traveling is shown in FIG.
FIG. 2 is a diagram illustrating a moving vehicle 21. It is easy to see in Figure 8
The drive wheels and
And the display of driven wheels (casters) are omitted, and two wheel fulcrums
Only the position of (steering axis) is displayed. In the figure, O
Is the movement center point of the conveyed object 24,
The center C of the moving center point O in the X direction_x, C in Y direction_y
It is in the position shifted only. And with respect to the posture of the transported object 24
The omnidirectional vehicle 21 is installed in a posture rotated by Cφ.
ing. This C _x, C_y, Cφ (vehicle position)
20 is set using the operation terminal 23.

The movement command input and sent by the operator 20 to the operation terminal 23 specifies how to move the movement center point O of the article 24.
X direction of the velocity command V _xo, Y direction of the velocity command V _yo, made from the angular velocity V.phi _o for rotating. Here, the omnidirectional vehicle 21 is moved to the moving center point O of the transported object 24 by _Vxo , _Vyo , _Vyo .
To move in phi _o, it is necessary to move the wheel support point M _a of omnidirectional vehicle 21 at a velocity V _a. Velocity V _a is the resultant force of the wheel support point M X _c direction of the velocity command V _xa of _a, Y _c direction of the velocity command V _ya in the coordinate system of the omnidirectional vehicle 21. Velocity V _xa of these wheels supporting point M _a, Y direction of the velocity V _ya
Is represented by the following equation.

[0052]

V _xa = V _xo −A _x · sin (Oφ) · Vφ _o −A
_y・ cos (Oφ) ・ Vφ _o

[0053]

V _ya = V _yo + A _x · cos (Oφ) · Vφ _o −A
_y・ sin (Oφ) ・ Vφ _o

Here, A _x and A _y in the equations are represented by the following equations.

[0055]

A _x = C _x + Wcos (α _a + Cφ)

[0056]

[Number 24] _{A y = C y -Wsin (α} a + Cφ)

[0057] However, Ofai in the formula is the attitude of the conveyed object detected by the position detection unit, W is the distance from the center of the omnidirectional vehicle until the wheel supporting point M _a, α _a is based on the X _c it is the angle formed by the C and M connecting _a line and X _c. Similarly, X _c of the wheel support point M _b in the coordinate system of the omnidirectional vehicle 21
Direction of the speed command V _xb, the speed command V _yb of Y _c direction is expressed by the following equation.

[0058]

V _xb = V _xo −B _x · sin (Oφ) · Vφ _o −B
_y・ cos (Oφ) ・ Vφ _o

[0059]

V _yb = V _yo + B _x · cos (Oφ) · Vφ _o −B
_y・ sin (Oφ) ・ Vφ _o

[0060] Here, B _x in the formula, B _y is expressed by the following equation.

[0061]

## EQU27 ## B _x = C _x + Wcos (α _b + Cφ)

[0062]

[Number 28] _{B y = C y -Wsin (α} b + Cφ)

[0063] However, Ofai in the formula is the attitude of the conveyed object detected by the position detection unit, W is the distance from the center of the omnidirectional vehicle 21 to the wheel support point M _b, alpha _b is referenced to X _c as is the angle formed by lines and X _c connecting the C and M _b. In addition,
In the present embodiment, a gyroscope is used as the posture detecting means, the posture of the omnidirectional vehicle 21 is measured, and the posture Oφ of the transported object 24 is obtained by subtracting Cφ from the posture. Further, as a simple method, it is also possible to obtain the integral by integrating the movement command.

[0064] In addition, the wheel fulcrum M _a speed V _xa, in V _ya,
How to move the wheel support point M _b velocity V _xb, in V _yb is omitted since the description in part of the description of the operation principle of the omnidirectional vehicle of Figures 1 to 5 described above. By performing these control, the omnidirectional vehicle 21 performs an operation of moving the moving center point O of the transfer material 24 speed V _xo, V _yo, in V.phi _o. Further, the omnidirectional vehicle 22 is driven by the same control. Thereby, two omnidirectional vehicles 2
As a result, the vehicles 1 and 22 run in cooperation with each other.

Further, three or more omnidirectional vehicles can carry the vehicle.
In the same way, when transporting goods,
, The vehicle runs in cooperation with each other. What
In this embodiment, Expression 23, Expression 24, Expression
27, Equation 28 is C _x, C_y, Cφ are determined. Ma
T, C_x, C_y, Cφ is a single conveyed object
It does not change. Therefore, Equation 23 and Equation 2 are used in advance.
4. Calculate Equation 27 and Equation 28 and retain their values
By doing so, the control operation cycle can be accelerated.
You.

FIG. 9 is an explanatory view showing an embodiment according to the fifth aspect of the present invention. In this embodiment, when a moving center point is set on a conveyed object, a moving center point indicating means, which is a moving center point marker, is installed at the position of the moving center point, and a plurality of omnidirectional vehicles are provided. Measures the relative position with respect to the movement center point indicating means and stores the value as the movement center point in each omnidirectional vehicle. In FIG. 9, reference numeral 21 denotes an omnidirectional vehicle,
A laser distance meter 25, an encoder 26, and a controller 27 are mounted on the upper side.

Numeral 28 designates a moving center point indicating means provided on a conveyed object (not shown).
1, a reflecting plate 28A and a reflecting plate 28B for reflecting the laser beam emitted from the laser range finder 25, and a moving center point O and a position D separated by a distance L from the moving center point O, respectively.
It is installed in two places. Here, the posture of the conveyed object is
The line segment OD specified by the movement center point indicating means 28 is used as a reference. Further, the laser distance meter 25 is used for the omnidirectional vehicle 2.
1 and measures the distances (R ₁ , R ₂ ) to the movement center point indicating means 28.

The encoder 26 is a movement center point indicating means 28
The controller 27 measures angles (θ ₁ , θ ₂ ) between the vehicle and the omnidirectional vehicle 21, and the controller 27 measures the distances (R ₁ , R ₂ ) and the angles (θ ₁ , R ₂ ) to the movement center point indicating means 28. From θ ₂ ), how much the omnidirectional vehicle 21 is from the movement center point O of the transported object 24 is calculated, and the calculated value is stored as the vehicle position, and is used for traveling control of the omnidirectional vehicle 21.

FIG. 10 shows an omnidirectional vehicle 2 in FIG.
FIG. 1 is an explanatory view showing the principle of calculating the relative position of the host vehicle with respect to a movement center point O using a movement center point designating means 28. First, when the movement center point indicating means 28 is installed at the movement center point O of a conveyed object (not shown), the line segment OD of the movement center point indicating means 28 becomes a reference of the posture of the conveyed object. Here, the laser range finder 25 installed at the center C of the omnidirectional vehicle 21 measures the distance R ₁ and the angle θ ₁ from the position to O, and the distance R ₂ and the angle θ ₂ to D.

Next, the vehicle position of the omnidirectional vehicle 21 is calculated from the measured distance R ₁ to O and the angle θ _1, and the measured distance R _{2 to} D and the angle θ ₂ . Here, the vehicle position is shifted to C _x in the X direction of the center C and the mobile center point O of the omnidirectional vehicle 21, the Y direction deviation with a C _y, the transport of posture and omnidirectional vehicle 21 Is defined as Cφ, and each is calculated by the following equation.

[0071]

C _x = −R ₁ × cos (θ ₁ + Cφ)

[0072]

C _y = −R ₁ × sin (θ ₁ + Cφ)

[0073]

(Equation 31)

However, in the above equation, R ₂ × cos
When (θ ₂ ) = R ₁ × cos (θ ₁ ), Cφ = 90 °. These calculations are executed by the controller 27, and the obtained values are stored in the vehicle position storage means. In this embodiment, the movement center point indicating means is simply set at an arbitrary position on the conveyed article, and the position is automatically set as the movement center point. Get off.

In this embodiment, the laser distance meter 25
Is mounted on the omnidirectional vehicle, and the moving center point indicating means 28 is mounted on each conveyed object. However, a device in which the laser distance meter 25 and the moving center point indicating means 28 are set in advance is prepared, It is also possible to attach this device when setting the vehicle position of the moving vehicle, and to remove it when the vehicle position setting operation is completed.

FIG. 11 is an explanatory view showing an embodiment according to the sixth aspect of the present invention. In this embodiment, the moving center point is set to 1
In the case of setting on the omnidirectional vehicle, a moving center point indicating means, which is a moving center point marker, is installed at the position of the moving center point on the set omnidirectional vehicle, and a plurality of The directional moving vehicle measures the moving center point indicating means, that is, the relative position with respect to the moving center point, and stores the value in each omnidirectional vehicle as the moving center point.

In FIG. 11, reference numerals 21 and 22 denote omnidirectional vehicles. A moving center point is set in the omnidirectional moving vehicle 22, and a reflection plate 29 serving as a moving center point marker is installed at that position. Further, a reflection plate 30 is also installed at a head position of the vehicle at a certain distance from the reflection plate 29. The omnidirectional vehicle 21 includes a laser distance meter 25 that measures a distance to the omnidirectional vehicle 22, an encoder 26 that measures an angle with the omnidirectional vehicle 22,
A controller 27 is provided.

The controller 27 includes a laser distance meter 25,
The distances (R ₁ , R ₂ ) and angles (θ) to the reflectors 29, 30 on the omnidirectional vehicle 22 measured by the encoder 26.
₁ , θ ₂ ) to calculate how much the omnidirectional vehicle 21 is from the movement center point of the conveyed object, and store the obtained vehicle position. Note that the procedure for calculating the vehicle position and the drive control of the omnidirectional vehicles 21 and 22 based on the vehicle position are common to the embodiment of the fourth aspect of the present invention, and a description thereof will be omitted.

In this embodiment, one of a plurality of omnidirectional vehicles is set as the position of the movement center point, and the movement center point designating means is installed at that position. Since the setting is automatically performed for the vehicle moving in all directions, the setting operation by the operator is not required, and the labor can be saved. In this embodiment, the laser distance meter 2
5. The reflectors 29 and 30 are mounted on the omnidirectional vehicle, but a device in which the laser rangefinder 25 and the reflectors 29 and 30 are set is prepared in advance to set the vehicle position of the omnidirectional vehicle. It is also possible to adopt a configuration in which this device is mounted when the vehicle is mounted, and is removed when the vehicle position setting operation is completed.

FIG. 12 is an explanatory view showing an embodiment according to the seventh aspect of the present invention. In this embodiment, when the number of omnidirectional vehicles is two, the reference point is set to both omnidirectional vehicles when the moving center point is set at the intermediate position of the goods supported and transported by both omnidirectional vehicles. By installing a sign, both omnidirectional vehicles measure the relative position of each other with respect to the reference point marker, calculate the intermediate point as the movement center point, and calculate the relative position with respect to the movement center point in each omnidirectional movement. This is stored in the vehicle.

In FIG. 12, reference numerals 21 and 22 denote omnidirectional vehicles for transporting the same article. The omnidirectional vehicle 21 has a laser range finder 31 for measuring the distance to the omnidirectional vehicle 22, a reflector 32 for reflecting the laser emitted from the omnidirectional vehicle 22, and a vehicle position storage means for calculating the vehicle position and storing the vehicle position. Is mounted on the controller 33. Similarly, the omnidirectional vehicle 22 has a laser distance meter 3 that measures the distance to the omnidirectional vehicle 21.
4. A reflector 35 for reflecting the laser beam emitted from the omnidirectional vehicle 21 and a controller 36 for calculating the vehicle position and storing the calculated vehicle position in the vehicle position storage means are provided.

Laser rangefinders 31, 34, reflectors 32, 3
5 are fixed to the omnidirectional vehicles 21 and 22, respectively, so that the two vehicles 21 and 22 face each other as shown in FIG.
The distance between the two reflectors 32 and 35 can be measured by emitting laser beams to each other. If the measured distances indicate the same value, the relative attitude shift between the omnidirectional vehicle 21 and the conveyed object (not shown) is zero.
同 じ く, and the relative positional deviation between the omnidirectional vehicle 22 and the conveyed object is 180 °.

Assuming that both vehicles 21 and 22 are located on the X axis, the deviation C _{x in the} X direction from the center of movement is half the distance measured by the laser rangefinders 31 and 34. displacement C _y in the Y direction becomes 0. The vehicle positions of these omnidirectional vehicles 21 and 22 are stored and used for traveling control. In this embodiment, in a state in which the conveyed object is supported by two omnidirectional vehicles, each of the two omnidirectional vehicles measures the position of the opponent's vehicle, and the moving center point is located at the intermediate position of the conveyed object. Since the setting is automatically performed, the setting operation by the operator is not required, and labor can be saved.

In this embodiment, the laser distance meter 3
1 and 34, and reflectors 32 and 35 are mounted on omnidirectional vehicles 21 and 22, respectively.
4. A device in which the reflectors 32 and 35 are set as a set is prepared in advance, and the device is mounted when setting the vehicle position of the omnidirectional vehicle, and is removed when the vehicle position setting operation is completed. Is also possible. Further, in the embodiment of the present invention, the laser distance meter and the encoder are used for position measurement, but other measuring means can be used.

[0085]

As described above, according to the present invention, a plurality of omnidirectional vehicles are simultaneously supported while simultaneously supporting one conveyed object, and the omnidirectional vehicles are caused to cooperate with each other and travel. It is not necessary to install a complicated mechanism for absorbing a change in the relative position between a plurality of moving vehicles that support a conveyed object, unlike the device. As a result, there is no restriction for loading the conveyed articles, and it is possible to convey a variety of conveyed articles, which has been difficult in the past, and it is possible to use the present invention in various industrial fields.

Further, during the cooperative operation between a plurality of omnidirectional vehicles, there is no need to exchange data between the omnidirectional vehicles, so that a high-speed communication device unlike the conventional device is not required, and The upper limit of the amount does not limit the number of mobile robots capable of cooperative operation. As a result, it is possible to use the omnidirectional vehicles as many as necessary according to the size and weight of the conveyed objects, and to standardize the omnidirectional vehicles, thereby improving operational efficiency. In addition, since the structure of the omnidirectional vehicle supporting the transported object itself is simple and the control for the cooperative operation is relatively simple, the entire apparatus can be configured at low cost. In addition, since the stopping accuracy of each omnidirectional vehicle becomes almost the same as the stopping accuracy, accurate positioning becomes possible.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view showing a main part of an embodiment of an omnidirectional vehicle used in the present invention.

FIG. 2 is a side view showing a part of FIG.

FIG. 3 is an explanatory diagram showing an operation principle of a drive wheel in FIG.

FIG. 4 is an explanatory diagram illustrating a control method of a steering shaft in FIG. 1;

FIG. 5 is a perspective view showing the entire vehicle of the embodiment of the omnidirectional vehicle used in the present invention.

FIG. 6 is an explanatory diagram illustrating a control method of the vehicle in FIG. 5;

FIG. 7 is an explanatory diagram showing an external configuration of an embodiment according to the second to fourth aspects of the present invention.

FIG. 8 is a diagram illustrating a traveling principle of the omnidirectional vehicle shown in FIG. 7;

FIG. 9 is an explanatory diagram showing an embodiment according to the invention of claim 5;

FIG. 10 is an explanatory diagram showing the principle of calculating the relative position of the own vehicle with respect to the movement center point by the omnidirectional vehicle in FIG. 9;

FIG. 11 is an explanatory view showing an embodiment according to the invention of claim 6;

FIG. 12 is an explanatory view showing an embodiment according to the invention of claim 7;

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 drive wheel 2 axle 3 legs 4 reducer 5 motor 6 encoder 7 vehicle body 8 bearing 9,11 gear 12 motor 13 output shaft 14 encoder 15 driven wheel 20 operator 21 and 22 omnidirectional vehicle 23 operation terminal 24 transport object 25 laser Rangefinder 26 Encoder 27 Controller 28 Moving center point indicating means 28A, 28B Reflector 29, 30 Reflector 31 Laser rangefinder 32 Reflector 33 Controller 34 Laser rangefinder 35 Reflector 36 Controller

Claims (7)

[Claims] 1. A transport device for transporting a transported object by using a plurality of omnidirectional vehicles that can instantaneously start moving in an arbitrary direction. 2. The transport device according to claim 1, wherein a drive wheel serving also as a steering wheel, an actuator for rotating and driving the drive wheel, a steering shaft for supporting an axle of the drive wheel, and a drive formed on the vehicle body. A bearing that supports the steering shaft so that it can freely rotate around the vertical axis at a position horizontally separated from the ground position of the wheel, an actuator that drives the steering shaft to rotate, a rotational angular velocity of the drive wheel and rotation of the steering shaft A control device that drives both actuators so that the ratio with respect to the angular velocity becomes a value corresponding to the moving direction of the vehicle; and a sensor that detects two or more drive units including: A sensor for detecting the attitude and orientation of the vehicle body, a sensor for detecting the steering angle of each steering axis, the vehicle position, the vehicle attitude and orientation, the steering axis angle detected by each sensor, and the vehicle movement target For each driving wheel from a road, a calculating means for calculating an angular velocity ratio of the driving wheel and the steering shaft, by a transport device, characterized in that configured the omnidirectional vehicle. 3. The transfer device according to claim 1, wherein a relative position of each omnidirectional vehicle with respect to a moving center point set on a conveyed object or an omnidirectional vehicle and a moving center point are provided. A transport device comprising: means for calculating a moving speed of each omnidirectional vehicle based on a given movement command. 4. The transfer device according to claim 3, wherein the operation terminal transmits a movement command for the movement center point to each omnidirectional vehicle, and a movement command installed in each omnidirectional vehicle and transmitted from the operation terminal. And a means for receiving the information. 5. The transfer device according to claim 3, wherein a movement center point marker installed at the movement center point when the movement center point is set on the conveyed object; Means for measuring the distance from the omnidirectional vehicle to the moving center point marker and the relative attitude and orientation of the two and installed in the vehicle, and storing the measured values. 6. The transport device according to claim 3, wherein, when a movement center point is set on one omnidirectional vehicle, a movement center point marker installed at the position. Means for measuring the distance from the omnidirectional vehicle to the moving center point marker and the relative attitude and orientation of the two and installed in the remaining omnidirectional vehicles, and storing the measured values. Transport device. 7. The transport device according to claim 3, wherein, when the number of omnidirectional vehicles is two, the reference point markers installed on both omnidirectional vehicles and both omnidirectional vehicles. A means for measuring the distance to the reference point marker and the relative attitude and azimuth of both, and an intermediate point that divides the measured distance between the omnidirectional vehicles into two is set as the movement center point and its position And a means for storing the following.