JPS62177604A - Shift controller for traveling object - Google Patents

Abstract

PURPOSE:To reduce the load of workers and to improve the operating efficiency with a shift controller for traveling object by using an input means for spot information of a traveling robot and a robot shift route production means and therefore setting an optimum shift route of the robot despite a change of the target spot or the shift route. CONSTITUTION:An information input means supplies the map information showing all shift routes of a traveling robot 2, the direction selecting priority information on each node, and the information on relation between the parts recognition numbers and these parts receivers to store them in a RAM 13 from an input part 14 prior to transport of parts among those functions of a CPU 11. While an optimum shift route production means produces an optimum circulating shift route every time a parts is put on the robot 2 for each receiver node of parts based on the map information, etc. A drive control means delivers a drive command to the robot 2 according to the optimum shift route information. Thus an optimum shift route is automatically set each time despite the change of the receiver of parts or the change of the type of parts. As a result, a worker has not to set the shift route of the robot 2.

Description

[Detailed description of the invention] [Technical field of invention] The present invention relates to an improvement in a movement control device for a traveling object.

[Technical background of the invention]

In recent years, in relatively large business establishments such as factories, for example, a grid-like movement path is constructed in a predetermined area of the floor, and a transshipment device such as a manipulator is installed on a moving body 1, such as a self-propelled vehicle, along this movement path. Systems have been developed in which, for example, parts are automatically transported by moving a traveling robot. FIG. 8 shows an example of the configuration of the movement path of this type of system, in which the traveling robot moves between the parts unloading device, the loading device, and the nodes SO to S4 provided corresponding to a plurality of parts stations. It is configured so that it can be visited via each route.

Note that P1 to P9 in the figure indicate nodes that serve as branching or stopping points when the traveling robot moves.

(Problems with the Background Art) By the way, in order to actually move the mobile robot on such a movement path, the movement path must be determined in advance according to the node position of each station, which is the destination point for transporting parts among all parts stations. Conventionally, this movement route is set by an operator, for example, by manual calculation, and set in the movement control device of the traveling robot, each time the transport destination point is determined. For this reason, for example, if there is a change in the expected destination, or if the travel route is changed due to moving or adding a parts station, the worker must re-set the optimal travel route each time. The work was extremely troublesome and placed a heavy burden on the workers. Also, since it takes a lot of time to set the travel route, the system stops operating for a long time.
As a result, the operational efficiency of the system was reduced.

(Objective of the Invention) The present invention makes it possible to easily and quickly set the optimum travel route for a traveling object even if the destination point or travel route changes, thereby reducing the burden on workers and improving system efficiency. An object of the present invention is to provide a movement control device for a traveling body that can improve operational efficiency.

[Summary of the invention]

In order to achieve the above-mentioned object, the present invention provides map information representing the entire travel route of the traveling object and a point representing the target point of travel of the traveling object among a plurality of branching or stopping points set in the entire travel route. an input means for inputting information, and
A movement route creation means is provided, and when the map information and movement target point information are inputted by the input means, the movement route creation means calculates the optimum movement route for moving the traveling object to the movement target point using the map information. Based on this, the vehicle is paralyzed and the vehicle is made to travel along this optimal travel route.

[Embodiments of the invention]

FIG. 1 shows the movement in one embodiment of the present invention. ,ll II
This is a schematic configuration diagram of an automatic conveyance system equipped with an I In device, in which 1 is a movement control device, 2 is a traveling robot, 3 and 4 are a parts unloading device and a parts loading Vit station, each equipped with a belt conveyor for picking up and delivering parts. It shows. Of these, the traveling robot 2 is configured to be movable in four mutually orthogonal directions, and includes a component mounting section and a manipulator 2a for loading and unloading components. Further, above the parts carrying-out device 3 and the parts carrying-in device 4, an image pickup device 5.6 consisting of, for example, an industrial television (ITV) camera is provided.
are arranged, and the identification numbers displayed on the components on the component carry-out device 3 and component carry-in device 4 are read by these imagers 5.6.

On the other hand, the movement control device 1 includes a main control unit (CPU) 11 consisting of, for example, a microcomputer.
U11 includes a ROM 12 that stores the control program.
and RAM for storing various input information, calculation results, etc.
13, an input/output circuit (Ilo
) 16, a communication circuit section (MOD) 17, a conveyor control section 18 for driving and controlling the component unloading device 3 and the component loading device 4, and a recognition section 19 are connected via a bus 10, respectively. Of these, the communication circuit section 17 sends and receives travel control information to and from the traveling robot 2 via a wireless line. Further, the recognition unit 19 includes each of the image carriers 5.6.
The identification numbers of the components placed on the component unloading device 3 and the component loading device 4 are recognized from the carrier image information obtained.

By the way, as its functions, for example, as shown in FIG. 2, the CPU 11 has an information input control means 11a, a parts loading/unloading control means 11b, an optimum movement route creation means 11G, and a traveling control means 11d. Among these, the information input means 11a receives from the input unit 14 the map information representing the entire travel path of the traveling robot 2, the priority information representing the direction selection priority at each node, and the identification number of the part and its information. Information indicating the correspondence with the destination is inputted, and this information is stored in the RAM 13.

The optimum travel route creation means 11C creates an optimal circular travel route for each transport destination node of the part, based on the map information and the like, each time a part is loaded onto the traveling robot 2. The traveling control means 11d controls the optimum movement I!
A traveling command is issued to the traveling robot 2 according to road information, and the traveling robot 2 is thereby caused to travel.

Next, the operation of the above configuration will be explained according to the control procedure of the CPU 11. The worker first inputs map information of all travel routes and priority order information for selecting the traveling direction at each node through the input unit 14. Here, as the above map information, when representing a travel route as shown in FIG. 3(a), for example, as shown in FIG. It is expressed as listed in. However, N in the figure indicates that the node does not exist. Further, the priority order information for selecting the direction of movement is set as follows: right turn R>straight ahead S>left turn>backward B, if the traveling robot 2 is to be rotated counterclockwise on the travel route.

When the preparation for transport is completed, the operator starts the transport operation by inputting information indicating the correspondence between the identification numbers of all parts to be transported and their transport destination node names, and then transporting them to the parts unloading device 3. Place the required parts.

In response, the CPU 11 first performs step 4a.

In step 4b, the map information, priority order information, and correspondence information between parts and their destinations are respectively inputted, and stored in the RAM 13 in step 4c. Then, in step 4d, the presence or absence of the transported component is monitored, and when it is detected that the component has been placed, the process moves to step 4e, where the image carrier 5 is driven, and the image decoy information is displayed on the transported component. Detect the identification number. Then, in step 4f, the destination node corresponding to the identification number of the component is determined from the correspondence information between the component and the destination stored in the RAM 13, and
Store in 3. When this operation of recognizing the transport destination is completed, c
Next, in step 4g, the puil generates a component loading instruction from the communication circuit section 17 to the traveling robot 2, and thereby operates the manipulator 2a of the traveling robot 2 to load the parts into the component loading section of the traveling robot 2. Reprint. When the predetermined number of parts or all existing parts have been reprinted, this is recognized in step 4h and the process moves to step 4i, where optimal movement route information is created.

That is, as shown in FIG. 5, the CPU 11 first determines the optimum route from the starting point node, that is, the component delivery device 3, to each destination node in step 5a.

For example, suppose that the total movement path of the traveling robot 2 is as shown in No. 70, and in this movement path, the starting point S
Assuming the case where parts are transported from O to destination node S1.82°S3, respectively, the following steps are performed for each of origin node So → destination node S1, origin node SO → destination node S2, and origin node SO → destination node S3. The optimal route is determined by calculation. Here, the method for calculating the optimal route between these two nodes is to calculate G(x)-Σ(f (Pi) + Q (Pi)) for all possible routes between the two nodes. A method is used in which the route with the minimum result (calculated value, evaluated value) is determined as the optimal route. However, in the opening ceremony, f(Pi) is the evaluation value when passing the node Pi; it is R1 when turning right at node Pi, s when going straight, and B when turning vI. Here, the above R, L, S, and B are each constants. Q(Pi) is an evaluation value determined by the direction selected when proceeding from node Pi to the next adjacent node, and
It is set according to the direction selection priority information stored in No. 3. For example, the priority order is right turn R>straight ahead S>left turn L
〉In the case of backing up B, when selecting the right turn R with the highest priority, “101Z” and when selecting the second straight S, “N”
Similarly, if you choose to turn left, it will be '2N,' and if you choose to leave B, it will be 113 N I+. Here, the above N is a constant.

Therefore, if the optimal route from origin node SO to destination node S1 is determined by this calculation, for example, SO→P1→S
1, SO → P1 → P9 → P10 → P11 → S3 → P12
→P9→P1→S1, SO→S4→P8→P7→P6→
Among various routes such as P5 → P2 → S1, evaluation 11G (X
) is selected as the route SO→P1→S1.

Similarly, for the origin node So-+destination node S2, SO-+P1→S1→P2→S2 is selected, and for the origin node SO→destination node S3, SO-+
P1→P9→P12→S3 is selected.

Then, the origin node SO and each destination node S1, S2.
Once the optimal route to S3 is determined, the CPU 11 proceeds to step 5b, where the CPU 11 selects the destination nodes 81 and 82 degrees in descending order of the evaluation values of the optimal route determined between the nodes. Set the tour route for S3. However, if there is a loop connected to the main loop by one path, such as the partial loop including node S3 in FIG. 7, this partial closed loop is given priority regardless of the evaluation value. The existence of this partial loop can be known from the map information stored in the RAM 13.

Therefore, for example, in the travel path shown in FIG.
The settings are as follows: S1→S2→SO.

After completing the setting of this circular route, CPtJ''+1 then proceeds to step 5C, where it moves between its respective destination nodes according to the circular route, that is, SO→S3, S3→S
1. Find the optimal travel route between S1→S2 and S2→SO. The sieving method in this case is similar to the case of determining the optimal route between two nodes, by determining the evaluation values of all possible routes between two nodes, and selecting the minimum evaluation value among these evaluation values. Use a method that sets things as optimal movement paths. After completing the calculation of the optimal movement route between each node, the CPIJll stores information on the optimum movement route in the RAM 13 in step 5d, and uses this information to move from the origin node SO to each destination node 81, 82, . The creation of the optimal travel route returning to the origin node SO or S4 via S3 is completed. Then move to step 4j and move robot 1.
-2 running control is performed.

That is, as shown in FIG. 6, first in step 6a, the CPU 11 gives the traveling robot 2 an instruction on the direction of travel and a traveling start instruction via the communication circuit section 17 according to the above-mentioned optimal movement route, thereby causing the traveling robot 2 to start traveling. let

Then, in step 6b, it is monitored whether or not the traveling robot 2 has completed the instructed motion, and when the completion of the motion is confirmed by a signal from the traveling robot 2, the next motion is determined in step 6c. For example, if the robot 2 has not arrived at the first destination node S3, the process returns to step 6a and gives the traveling direction and travel instructions to move the traveling robot 2 to the next node.

Now, when the traveling robot 2 arrives at the destination node and confirms this in step 6d, the CPU 11 moves to step 6f and operates the manipulator 2a, thereby unloading the corresponding component to the component receiving section of the node. Furthermore, if there are parts to be loaded, these parts are transferred to the parts loading section of the traveling robot. When the completion of loading and unloading of parts is confirmed in step 6g, the process returns to step 6a and outputs a progress instruction and a travel instruction, thereby moving the mobile robot 2 toward the next node. Similarly, each time the traveling robot 2 arrives at a node, it determines whether it is the objective 5 node or not, and if it is the destination node, it loads and unloads parts, and if it is not the destination node, it moves to the next node according to the information on the optimal movement route. Move to the node. Then, after visiting each destination node, if it is determined in step 6e in ff1l that the arrival node is the destination node, the CPU II determines that the traveling robot 2 has visited each node at that point, and starts the movement of the traveling robot 2 at this point. make it stop. Then, in step 4 of FIG. 4, it is determined whether or not there are any parts to be transported in the parts unloading device 3. If there are, the process returns to step 4b to input the parts information, and if there are no parts, the transport operation is immediately terminated. .

As described above, in this embodiment, the map information of all the travel routes of the traveling robot 2 and the priority information for selecting the traveling direction at each node are inputted in advance and stored in the RAM 13,
Each time a transported part is loaded, the optimal travel route around the transport destination node is calculated based on the map information and priority information, and the traveling robot 2 is controlled to travel according to this optimal travel route. Even if the transport destination of the machine changes or the type of transported parts changes, the optimal movement route is automatically set each time, so the operator does not need to set the movement route. As a result, the workload on the operator can be significantly reduced, and system downtime can be shortened to improve operational efficiency.

Additionally, even if the travel route changes due to the addition of a transport node or a change in the installation location, the operator only needs to change the map information partially or completely and enter it. can be reduced in the same way. moreover,
Even when changing the basic movement route of the traveling robot 2, such as changing the traveling direction of the movement route from counterclockwise to clockwise, it is easy to do so by simply changing the priority order of direction selection at each node. can correspond to

Note that the present invention is not limited to the above embodiments. For example, in the above embodiment, the case where one mobile robot is used was explained, but when multiple mobile robots are used at the same time, when creating the optimal movement path for each mobile robot, it is necessary to The set travel route may be partially removed. In this way, it is possible to reliably prevent collisions and the like of each traveling robot, and to perform safe traveling control. Further, in the above embodiment, the case where the moving paths are set to be perpendicular to each other has been described as an example, but oblique moving paths may be formed. Further, a selection priority order for the direction of movement may be set for each node, and in this case, depending on the node, movement in an arbitrary direction may be prohibited by removing an arbitrary direction from the priority order. Further, the traveling object may be a self-propelled vehicle that does not have a transshipment device other than a traveling robot that is provided with a transshipment device. Furthermore, the movement control device (7) CP of the embodiment
U11, ROM 12#J: and RAM 13 may be configured as a minicomputer system equipped with an external storage device, and instead of bus 10, information transmission means using serial communication or parallel communication may be applied. In addition, the means for setting the optimum travel route, the travel control procedure and control contents, the configuration of the travel route, etc. can be modified in various ways without departing from the gist of the present invention.

〔Effect of the invention〕

As described in detail above, according to the present invention, map information representing the entire travel route of the traveling robot and a point representing the travel target point of the traveling robot among a plurality of branching or stopping points set in the total travel route are provided. Input means for respectively inputting information and movement route creation means are provided, and when map information and movement target point information are input by the input means, the traveling robot is moved to the movement target point by the movement route creation means. By calculating the optimal travel route based on the above map information and making the mobile robot travel along this optimal travel route, even if the destination point or travel route changes, the mobile robot can be easily and quickly moved. It is possible to provide a movement control device for a traveling robot that can set an optimal movement route for a robot, thereby reducing the burden on the worker and improving the operational efficiency of the system.

[Brief explanation of drawings]

1 to 7 are for explaining a movement control device according to an embodiment of the present invention, and FIG. 1 is a block diagram that does not show the schematic configuration of a parts conveyance system using the same device.
Figure 2 is a block diagram showing the functional configuration of the CPU, Figure 3 (
Figures a) and (b) are for explaining the map information of the travel route, where (a) is a schematic diagram showing the configuration of the travel route, (b) is a diagram showing the configuration of the map information, and Figures 4 to 4. 6 figures are each CP
FIG. 7 is a schematic diagram showing an example of the configuration of a moving path, and FIG. 8 is a schematic diagram showing an example of the configuration of a moving path used in the conventional explanation. 1... Movement control device, 2... Traveling robot, 2a.
... Manipulator, 3... Parts unloading device, 4... Parts loading device, 5, 6... Imager, 11... CPU,
11a... Information input control means, 11b... Exporter system means, 11C... Optimum movement route creation means, 11d.
... Travel control means, 12... ROM, 13... RA
M, 14...input section, 15...display section, 16...
Input/output circuit (I710), 17... Communication circuit section (M
OD), 18... Conveyor control unit, one... Recognition unit, SO... Origin node, S1 to S3... Destination node, S4... End point node, P1 to P12... Direction Node for transformation. Applicant's agent Patent attorney Takehiko Suzue Figure 2 Figure 3 (a) Figure 3 (b)

Claims (1)

[Claims] An input means for inputting map information representing the entire travel route of the vehicle and point information representing a target point of travel of the vehicle among a plurality of branching or stopping points set in the total travel route, and this input means. a travel route creation means that calculates an optimal travel route for moving the traveling object to the travel target point based on the map information when map information and travel target point information are inputted by the travel route creation means; 1. A movement control device for a traveling object, comprising a traveling control means for causing the traveling object to travel according to a created optimal movement route.