JPS61118815A - Optical track guiding path - Google Patents

Abstract

PURPOSE:To form a guiding path of a truck with high efficiency and to attain the satisfactory guidance of the truck by forming a counting mark for distance traveled in a body with a guide tape. CONSTITUTION:A counting mark (mx) for distance traveled is formed in a body with a guide tape 4 in order to discriminate the drive control positions including the stop position of a truck to a station, the branching start position at an intersection, the decelerated drive start position, etc. The tape 4 contains white belt parts 4a having a high reflection factor and black belt parts 4b having a low reflection factor in the form of parallel stripes set along the lengthwise direction of a guiding path. In this case, the parts 4b set at the center side in the lateral width direction of the tape 4 contain white parts 4a' with proper intervals secured in the lengthwise direction of the tape 4. In such a way, the mark (mx) is obtained.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an optical moving vehicle guideway for automatically driving moving vehicles used for transporting goods, etc. The present invention relates to an optical vehicle guideway provided with a light-reflecting guiding tape and a light-reflecting mileage counting mark for moving vehicles. [Prior Art] On such taxiways, guidance tapes are arranged to form bifurcated or bifurcated intersections, or guidance tapes are arranged so that vehicles travel between multiple stations. and to determine various travel control positions, such as positions for moving vehicles to go straight or branching at intersections, and positions for automatically stopping vehicles at stations, etc. A mark will be provided to count the distance traveled. In addition, on the taxiway targeted by the present invention, both the steering control telegram and the travel control position information can be detected by one optical sensor provided on the moving vehicle side. This has the advantage of making the vehicle structure more comfortable.

Incidentally, conventionally, the mark for mileage counting has been installed by, for example, pasting the mark on the guide tape, or by placing the mark between the separated front and rear guide tapes.

[Problem that the invention seeks to solve]

In order to install the mileage counting marks, it is necessary to place each mark accurately in the longitudinal direction of the guide tape at predetermined intervals, but it is time-consuming and time-consuming to place a large number of marks with such accuracy. It becomes a cumbersome task,
As a result, not only is there a disadvantage that the guideway cannot be efficiently installed, but also there is a risk that moving vehicles cannot be guided as specified due to incorrect marking placement.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable efficient guiding of moving vehicles while efficiently performing taxiway installation work.

[Means for solving problems]

The characteristic configuration of the optical vehicle guideway according to the present invention resides in that the mileage counting mark is integrally formed with the guide tape, and its functions and effects are as follows.

[For production]

That is, since the mileage counting marks are integrally molded on the guide tape, once the guide tape is installed, the mileage counting marks can also be accurately placed at predetermined intervals.

〔effect〕

Therefore, by simply installing the guidance tape, the installation of the taxiway can be completed with the mileage counting mark placed in the correct position. The optical mobile vehicle guideway has great practical advantages.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIGS. 4 and 5, a mobile vehicle (8) equipped with a loading platform (1) that can be driven up and down is provided, and a plurality of load transfer stations (ST) are placed beside the traveling path of the mobile vehicle. It is located on the side and is configured to allow the moving vehicle (8) to travel between stations while carrying out the work of transporting each rice.

The mobile vehicle (A) includes a pair of left and right propulsion wheels (
2) can be driven independently by a pair of electric motors (M), and a pair of left and right caster-type idle wheels (3) are provided at the front and rear ends of the vehicle body to drive the left and right propulsion wheels (2). The two electric motors (M) are configured to be operated to change speeds so as to provide a difference in rotational speed for steering.

As shown in Figures 1, 3, and 4, a light-reflecting guide tape (4) for guiding moving vehicles is provided on the road surface, and moving vehicles (8) are placed on the guiding tape (4). A means for controlling the vehicle (A) to automatically travel between stations is provided so that the mobile vehicle (A) automatically travels between stations. The control means includes a light emitter (5).
Detectors (SF) and (SR) consisting of a light sensor (6) for detecting traveling information configured as an image sensor are provided at the front and rear ends of the mobile vehicle (A), respectively, and a host controller (7), an image sensor Travel control device (equipped with a processing controller (8) and a digital servo controller (9)
H) is provided on the moving vehicle side, and both electric motors (
The encoder (e) attached to M) is connected to the digital servo controller (9), and both electric motors (M
) is connected to the digital servo controller (9) via the servo amplifier driver (11), thereby connecting the servo amplifier (10) for the image processing controller (
8), both electric motors (M) are configured to be operated to change speed in order to make the amount of lateral deviation of the vehicle body relative to the guide tape (4) zero.

It should be noted that of the two detecting sections (SF) and (SR), the one on the front side is selectively used when the vehicle is moving forward, and the one on the rear side is selectively used when the vehicle is moving backward.

Further, a mileage counting mark (mx) for determining travel control positions such as a stop position of the mobile vehicle (A) with respect to the station (ST), a branching start position at an intersection, and a deceleration travel start position, Said induction tape (4)
In addition to being integrally formed with the vehicle, various information such as destination data and turning data can be transmitted from the ground side to the moving vehicle, and various information such as station arrival data can be transmitted from the moving vehicle to the ground side. An optical communication device (1) consisting of an infrared emitter (a) and an infrared receiver (b)
2) and (13) are installed in the moving vehicle side and the station section on the ground' side, respectively, and the moving vehicle side optical communication device (
12) to the host controller (7), and the ground-side optical communication device (13) to the ground-side central control device (V). Based on various information such as stored information, the moving vehicle (A) can automatically travel to a desired station (ST) while branching at an intersection.

That is, the optical sensor (6) reads the mileage counting mark (mx) along with the steering control information, the image processing controller (8) transmits the mark reading signal to the host controller (7), and the host controller (7) ,
Traveling speed information, turning information, forward and backward movement information, etc. are transmitted to the digital servo controller (9), and the digital servo controller (9) uses the detection units (SF), (
SR) selection information is transmitted to the image processing controller (8), and further, the digital servo controller (9)
The host controller (
7), etc., each controller (7), (8)
, (9) Moving vehicles (A) while exchanging information between them.
The vehicle is designed to perform driving control. However, each station (ST) is provided with a command information input unit for the central controller (V), and the host controller
An information input unit for 1(7) is provided in the mobile vehicle (A).

To further explain the travel control operation described above based on the flowchart shown in FIG. 6, when a travel command such as destination data is transmitted to the moving vehicle (A), the distance counter installed in the host controller After being reset, image capture by the optical sensor (6) is started, steering control is performed in accordance with the measurement of the amount of deviation of the guide tape (4) from the center, and then the mileage count is sequentially counted as the vehicle travels. When the count number of the stop mark (mx) reaches the count number for branching at the intersection that was memorized at the start of travel, branching is performed based on the stored information, and similarly the count becomes the count for decelerating at the intersection near the station. Once the count number for stopping at a station (ST) or the like is reached, deceleration running or a temporary stop will be performed.

In addition, when starting image capture, if the guide tape (4) is not present (including the position where the mileage counting mark (mx) is located), an emergency stop is made to increase safety. Also, the mobile vehicle (A) will run only when there is a start command (power ON signal for the mobile vehicle to run).

To further explain the above-mentioned branch running, as shown in FIGS. 4 and 7, both the detection units (SF) and (SR
) is the guide tape part (4
A) is installed at the intersection, and the moving vehicle (A) arrives at the intersection.
is locked in a straight-line state and allowed to run autonomously until both detection parts (SF) and (SR) detect a pair of opposing front and rear guide tapes (4). Next, spin turn is performed while rotating both electric motors (M) in reverse at the same speed, and the guidance tape (4) to be run next is connected to the detection part (SF) or (SR).
When detected, the spin turn is stopped and traveling along the guide tape (4) is restarted. Then, in the middle of the spin turn, both detection parts (SF)
, (SR) detects the guide tape part (4A) on the arc, and if either of the detection parts (SF) or (SR) becomes non-detected, abnormality processing such as emergency stop or alarm activation is performed. It is designed so that it can be Incidentally, in order to store the turning pattern in the moving vehicle (A), the number of detections of the guide tape (4) after the start of the sub-turn is to be stored.

Although the explanation of the above control operation has been omitted, each moving vehicle (A) is given a car number in advance,
Each mobile vehicle (
A)'s current location along with the machine number and central control unit (
The information is transmitted to V), and the entire mass moving vehicle (A) is monitored by the central control device (V).

FIG. 1 shows the guide tape (4) and the mileage counting mark (mx) formed integrally with it.
4) as a white part (4a) as a band-shaped part with high light reflectance.
) and a black part (4b) as a strip-shaped part with low light reflectance are arranged in parallel lines along the longitudinal direction of the taxiway, and the black part (4b) on the center side in the width direction of the tape is , White parts (4a
・) is provided, and the mileage counting mark (m
x) is formed.

That is, the image processing controller (8), for example,
The amount of lateral deviation of the vehicle body with respect to the guide tape (4) is calculated and determined based on the outside edge of the white part on both ends in the tape width direction in the captured image and the tape center stored in advance, and the amount of lateral deviation of the vehicle body relative to the guide tape (4) is calculated and determined. The mileage counting mark (mx) is determined by so-called pattern recognition, which compares and determines the reference pattern for mark reading with the captured image.

Furthermore, tape (4) and mileage count mark (
The specific structure of mx) will be explained based on FIG. 2.A white part (4a) is formed on the upper side of an elastic resin film (15) such as a vinyl chloride film by mirror-finishing by means such as aluminum vapor deposition. (4a') and a black part (4b) formed by applying a colored paint or the like.
6), and a resin film (17) such as a polyester film is pasted on the upper side of the film with an adhesive (11t), and an adhesive tape (19) for pasting is attached on the lower side of the elastic resin film (15). This is provided.
j [Another Example] Next, another example will be described.

In order to make the mobile vehicle (A) run automatically, the specific means of each part will depend on the intended use, such as making the signal transmission and reception between the mobile vehicle (A) and the central control unit (V) by guided radio system. Various changes can be made depending on the location, etc.

In addition, when configuring the moving vehicle (A), the specific configuration for steering, accessory devices provided for work, etc. can be changed in various ways depending on the purpose of use.

Further, as the optical sensor (6), a COD camera is generally used, but a sensor having other configurations may also be used. For example, a camera equipped with an image pickup tube may be used, and a scanner section that scans a laser beam in the direction of the taxiway aircraft and receives the reflected light, and processes signals from this scanner section for operation. A barcode reader equipped with a decoder unit that outputs direction control information or driving control command information may be used. In this case, the steering control information is obtained by installing an angle sensor that scans the laser beam and detects the phase of the swinging or rotating mirror, and using the mirror when the vehicle runs in the center of the guidance line, which is stored in advance. It is calculated based on the angle information and the detected mirror angle information. In addition, if the optical sensor (6) is configured to detect the reflected light from the M4 tape (4), pitching of the moving vehicle (A) and the like can be avoided. It is possible to perform stable reading (detection) regardless of manufacturing or assembly errors.

In addition, in the above embodiment, the case where the amount of lateral deviation from the tape center can be calculated and determined from the mark reading image, that is, the case where the steering control is performed even when traveling in the place where the mark exists, was exemplified. It may also be implemented in such a manner that no steering control is performed when the vehicle is running, and in that case, the form of the mark can be changed in various ways. Furthermore, like the above example,
If the black part (4b) is provided with white parts (4a') at appropriate intervals in the longitudinal direction of the tape to form a mileage counting mark (mx), if there are multiple black parts (4b), , all or any number of black parts (4b
) may of course be provided with white portions (4a) at appropriate intervals in the longitudinal direction of the tape. Furthermore, a white part (4a') is used to form a count mark (mx).
), for example, the widths of adjacent black parts are made different so that thin black parts and thick black parts alternate, and then the image processing controller (8) If a parity check is also performed when the count mark (mx) is read by the scanner, it is possible to perform a good detection regardless of tape stains or the like.

In addition, the guide tape (4) and the mileage count mark (
mx), the means for integrally forming it can be changed in various ways.

[Brief explanation of drawings]

The drawings show an embodiment of the optical vehicle taxiway according to the present invention, and FIG. 1 is a plan view of the taxiway, FIG. 2 is a view taken along the line T in FIG. 1, and FIG. 4 is a schematic plan view showing the travel route, FIG. 5 is a schematic side view of the moving vehicle, FIG. 6 is a flowchart showing the travel control operation, and FIG. 7 is the branch travel control operation. It is a flowchart figure shown. (4)...Induction tape, (4a), (4a
・)・Old...white part, (4b)...black part, (
6)... Light sensor, (A)... Moving vehicle, (mx)... Mark for mileage counting.

Claims (1)

[Scope of Claims] [1] A light-reflecting guidance tape (4) and a light-reflecting mileage counting mark (mx) for a moving vehicle (A) equipped with an optical sensor (6) for detecting travel information. The optical vehicle guideway is provided with an optical vehicle guideway, wherein the mileage counting mark (mx) is integrally formed with the guide tape (4). [2] The guide tape (4) is arranged along the longitudinal direction of the guideway by arranging the white part (4a) as a strip-shaped part with high light reflectance and the black part (4b) as a strip-shaped part with low light reflectance. In addition to forming parallel lines, the black part (4b) is provided with white parts (4a') at appropriate intervals in the longitudinal direction of the tape to form the mileage counting mark (mx). The optical mobile vehicle guideway according to scope item [1].