KR20170063586A - Movement Control Device, Moving Body, Moving Body System, Movement Control Method, and Program - Google Patents

Abstract

The movement control apparatus includes a distance information acquisition unit that acquires distance information indicating a distance between each of a plurality of positions in a direction intersecting with a direction in which a moving path of a moving object with a distance sensor extends, And a guide position specifying unit for specifying a position of a guide provided along a direction in which the movement path extends in a height different from the road surface of the moving path of the moving object based on the distance information acquired by the distance information obtaining unit, And a movement controller for controlling a moving direction of the moving body so that the position of the specific guide approaches the predetermined position.

Description

[0001] MOVEMENT CONTROL DEVICE, MOVING CONTROL DEVICE, MOVING CONTROL METHOD, AND PROGRAM [0002]

The present invention relates to a mobile control device, a mobile object, a mobile object system, a movement control method, and a program.

As a method of controlling the running direction of a rubber tired gantry crane (RTG), there is a method using a guideline. The guidelines here are linear guides.

For example, Patent Document 1 discloses a traveling control apparatus for a crane that controls a speed of a left traveling wheel and a space traveling wheel, respectively, so as to run the crane according to a guide line attached to the traveling route. The crane control device includes a wheel slip amount estimating portion for estimating a wheel slip amount which is a shift amount between a wheel for left traveling and a wheel for space running along a direction parallel to a guide line, And a shift angle sine value estimating unit for estimating a shift angle sine value as a sine value with respect to a shift angle of the guide line and the crane in the running direction based on the shift amount and the left and right wheel distances of the left- do.

According to the control apparatus for a crane described in Patent Document 1, a deviation angle sine value can be obtained without using an expensive sensor.

Patent Document 1: JP-A-2005-170608

As a method of controlling the traveling direction of a moving body such as a tire-type door type crane using a guide line, a white line method and a magnet method are known. In the white line method, a white line drawn on the road surface is used as a guide line. On the other hand, in the magnet system, a magnet embedded in the road surface is used as a guide line.

However, in the white line method, when the white line is contaminated or dust or the like is stained on the white line, the control device that controls the traveling of the mobile may be unable to detect white line. Further, in the white line method, there is a possibility that the control device that controls the traveling of the moving object may erroneously detect the white line or the position of the white line depending on weather such as rain and snow.

Further, in the magnet system, since the magnetic force from the magnet is detected by the magnet detection sensor, the resolution of the position detection of the guideline is low, leading to a decrease in straight running characteristics of the moving body.

15 is an explanatory view showing an example of the arrangement of the magnet detection sensor in the magnet system. In the drawing, a plurality of magnet detection sensors 1011 to 1021 provided in a crane and a magnet 1030 embedded in a road surface RS of a traveling path of a crane are shown.

Among the magnetic detection sensors 1011 to 1021, the magnetic detection sensors 1015 to 1017 detect the magnetic force of the magnet 1030. [ The crane estimates the position of the magnet based on the position of the magnet detection sensor that detects the magnetic force.

In this case, the resolution of the position detection of the magnet is limited by the installation interval D1001 of the magnet detection sensor. In addition, even if the installation interval of the magnet detection sensor is narrowed, there is a possibility that the resolution of detecting the position of the magnet may not increase depending on the resolution of the magnet detection sensor itself or the difference in sensitivity of the plurality of magnet detection sensors.

The present invention relates to a movement control device capable of detecting a guide in a non-detectable manner, a possibility of erroneously detecting a position of a guide, and detecting a position of the guide with a resolution higher than that of the magnet type, A mobile system, a movement control method, and a program.

According to a first aspect of the present invention, there is provided a movement control apparatus comprising a distance sensor for detecting a distance between each of a plurality of positions in a direction intersecting with a direction in which a moving path of a moving object having a distance sensor extends, A guide for specifying a position of a guide provided along a direction in which the moving path extends in a direction different from a road surface of the moving path of the moving object based on the distance information obtained by the distance information obtaining unit, And a movement control unit for controlling the movement direction of the moving body such that the position of the guide is close to a predetermined position.

The movement control unit may control the moving speed of the moving body based on at least one of the height, the width, and the number of the guides.

The movement control unit may specify the position of the moving object based on the number of the guides and control the moving speed of the moving object based on the specified position.

According to the second aspect of the present invention, the moving object has distance information indicating a distance between each of the distance sensors and a plurality of positions in the direction intersecting the direction in which the moving path of the moving object itself extends, A guide position specifying unit for specifying a position of a guide provided along a direction in which the moving path extends in a direction different from the road surface of the moving path of the moving object based on the distance information obtained by the distance information obtaining unit, And a movement control unit for controlling the moving direction of the moving body such that the position of the specific guide approaches the predetermined position.

According to a third aspect of the present invention, a moving object system includes a guide provided along a direction in which the moving path extends in a height different from the road surface of the moving path of the moving object, a distance sensor, a direction in which the moving path of the moving object extends A distance information acquiring unit that acquires distance information indicating a distance between each of the plurality of positions in the direction of intersection and the distance sensor, and a distance information acquiring unit that acquires the position of the guide based on the distance information acquired by the distance information acquiring unit And a movement control unit for controlling the moving direction of the moving body so that the position of the guide, which is specified by the guide position specifying unit, approaches a predetermined position.

The guide may be provided so as to protrude from the road surface along a direction in which the moving path of the moving body extends.

The guide may be recessed from the road surface along a direction in which the moving path of the moving object extends.

According to a fourth aspect of the present invention, there is provided a movement control method of a movement control apparatus, comprising: a movement control method of a movement control apparatus which includes a plurality of positions in a direction intersecting a direction in which a moving path of a moving body, A distance information acquiring step of acquiring distance information indicating a distance between the distance sensors and a position of a guide provided along a direction in which the travel path extends at a height different from the road surface of the travel path of the moving object, And a movement control step of controlling the moving direction of the moving body so that the position of the guide specified in the guide position specifying step is close to a predetermined position.

According to a fifth aspect of the present invention, there is provided a computer-readable storage medium storing a program that causes a computer to execute a program that causes a computer to display a distance between each of a plurality of positions in a direction intersecting with a direction in which a moving path of a moving object including a distance sensor extends, Based on the distance information acquired in the distance information acquiring step, a position of a guide provided along a direction in which the moving path extends in a height different from the road surface of the moving path of the moving object And a movement control step of controlling the moving direction of the moving body so that the position of the guide specified by the guide position specifying step is close to a predetermined position.

According to the above-described motion control apparatus, moving body, moving body system, motion control method, and program, it is possible to reduce the possibility that the guide can not be detected or the position of the guide is erroneously detected, The position of the guide can be detected.

1 is a perspective view showing an example of a crane system according to an embodiment of the present invention.
2 is a perspective view showing an example of a guide in this embodiment.
3 is an explanatory view showing an example of the scanning range of the distance sensor in the embodiment.
4 is a schematic block diagram showing an example of the functional configuration of the movement control apparatus in the embodiment.
Fig. 5 is an explanatory diagram showing an example of shift of the position of the guide from the reference position, which is calculated by the movement control unit in the embodiment; Fig.
6 is a flowchart showing an example of a processing procedure in which the movement control device controls the running direction of a tire-type door-type crane in the embodiment.
Fig. 7 is a perspective view showing an example of a guide recessed from the road surface RS in this embodiment. Fig.
Fig. 8 is an explanatory view showing an example of a guide having regions having different heights in this embodiment. Fig.
9 is a graph showing an example of the height of the guide in the scanning range of the distance sensor of the embodiment.
10 is a flowchart showing an example of a process procedure in which the movement control device controls the running direction of a tire-type door-type crane in the case of automatically stopping a tire-type door-type crane in the embodiment.
Fig. 11 is an explanatory view showing an example of a guide having a region where the height is moderately changed in the embodiment. Fig.
Fig. 12 is an explanatory view showing an example of a guide having regions having different widths in the embodiment. Fig.
Fig. 13 is an explanatory view showing an example of a guide having a region in which the width gradually changes in the present embodiment. Fig.
Fig. 14 is an explanatory view showing an example in which a plurality of guides are arranged in this embodiment. Fig.
15 is an explanatory view showing an example of the arrangement of the magnet detection sensor in the magnet system.

Hereinafter, embodiments of the present invention will be described, but the following embodiments do not limit the invention according to the claims. It should be noted that not all combinations of features described in the embodiments are essential to the solution of the invention.

1 is a perspective view showing an example of a crane system according to an embodiment of the present invention. In the figure, the crane system 1 is provided with a tire-type door-type crane 100 and a guide 200. The tire-type door-type cranes (100) include a crane body (110) and a suspension mechanism (160). The crane body 110 includes a beam mechanism 111, a leg 121, a leg 122, a traveling mechanism 133 including a tire 131, a tire 132 An electric device box 140, and a distance sensor 150. The traveling device 134 includes an electric device 140, The suspending mechanism 160 includes a trolley 161, a spreader 162, a suspending rope 163, and a hoisting machine 164.

Lines L11 and L12 indicate the boundaries of the running lane of the tire-type door-type crane 100, respectively. The area A11 sandwiched by the lines L11 and L12 is set as a running lane of the tire-type door-type crane 100. [ This traveling lane corresponds to an example of a traveling route of the tire-type door-type crane 100.

The guide 200 is provided at a different height from the road surface of the traveling lane of the tire-type door-type crane 100 along the direction in which the traveling lane extends.

Fig. 2 is a perspective view showing an example of the guide 200. Fig. In the figure, a guide 200 and a line L11 are shown, and the guide 200 is provided along a line L11. As described above, the line L11 represents the boundary of the traveling lane of the tire-type door-type crane 100, and the guide 200 is arranged on the road surface RS of the traveling lane of the tire- Along the direction of the lane.

However, the line L21 is shown in the figure to indicate the height of the road surface RS. The line L21 does not need to be actually specified in the running lane of the tire-type door-type crane 100. [

As shown in Fig. 2, the guide 200 is higher than the road surface RS. As a result, the position of the guide 200 can be detected by detecting the position of the tire-type door-type crane 100 having a different height from the road surface RS.

Line L22 shows the traveling direction of the tire-type door-type cranes 100. Fig. The tire-type door-type crane 100 detects the position of the guide 200 and travels along the guide 200 to travel the traveling lanes. The tire-type door-type crane 100 travels in a direction substantially the same as the direction in which the travel lane extends.

By using the guide 200 made of a hard material such as iron, the possibility of the deformation of the guide 200 and the loss of the guide 200 over time can be reduced. However, the material of the guide 200 may be any material that can detect the height of the guide 200 different from the height of the road surface RS, and may be made of various materials.

The shape of the guide 200 is not limited to the rectangular bar shape shown in Fig. The shape of the guide 200 may be a shape that can indicate the direction of the travel path of the tire-type door-type crane 100 by the difference in height from the road surface RS, and may be, for example, .

The height of the guide 200 may be set to a height that allows the guide 200 to be at a different height from the road surface RS. For example, the height of the guide 200 may be 5 millimeters (mm) or 10 millimeters.

It is possible to prevent the tire-type door-type crane 100 from detecting the guide 200 and to prevent the tire-type door-type crane 100 from erroneously detecting the guide 200 because the guide 200 has a certain height The possibility can be reduced. On the other hand, since the guide 200 is not too high, when the tire-type door-type crane 100, another vehicle or a person enters the traveling lane or leaves the traveling lane, the obstacle does not easily occur. Particularly, since the height of the guide 200 is low, the possibility of hanging over the guide 200 can be reduced.

It is sufficient that the width of the guide 200 and the height of the guide 200 at a different height from the road surface RS can be detected. For example, the guide 200 may have a width of 5 millimeters or 10 millimeters.

It is possible to prevent the tire-type door-type crane 100 from detecting the guide 200 and to prevent the tire-type door-type crane 100 from erroneously detecting the guide 200 because the guide 200 has a certain width The possibility can be reduced. On the other hand, the smaller the width of the guide 200, the smaller the amount of material required for the guide 200 can be. Thus, the manufacturing cost of the guide 200 can be reduced. In addition, the smaller the width of the guide 200, the lighter the guide 200, and the easier installation of the guide 200 becomes.

1 and 2 show an example in which the guide 200 is provided in the traveling lane of the tire-type door-type crane 100, the guide 200 may be provided outside the traveling lane. Alternatively, the boundary of the running lane may not be clearly defined.

The tire-type door-type crane 100 determines the traveling direction based on the guide 200 and performs self-running.

The tire-type door-type crane 100 corresponds to an example of a moving body. The traveling of the tire-type door-type crane 100 corresponds to an example of the movement of the moving body, and the travel path of the tire-type door-type crane 100 corresponds to an example of the travel path of the moving body. However, the moving body in the present embodiment is not limited to the tire-type door-type crane, but can be various devices or transportation means capable of controlling the moving direction. For example, automobiles and robots that are frequently used are examples of moving objects.

In the crane main body 110, each of the leg portions 121 and 122 is arranged substantially vertically and a beam portion 111 is provided between the upper ends of the leg portions 121 and 122 to form a door frame. Further, under the legs 121 and 122, traveling mechanisms 133 and 134 are provided, respectively. As the tires 131 and 132 of the traveling mechanisms 133 and 134 rotate, the tire-type door-type crane 100 travels. When the tire-type door-type crane 100 travels, the traveling direction of the tire-type door-type crane 100 changes as the tires 131 and 132 rotate at different speeds.

However, the method of changing the moving direction of the moving body in the present embodiment is not limited to the method of adjusting the rotational speed of a plurality of tires. For example, the moving body having the tire may change the moving direction by changing the direction of the tire. Alternatively, the moving body that barywalks may change the moving direction by changing the direction in which the feet extend.

The legs 121 and 122 are provided with an electric device box 140. The electric appliance box 140 stores a motion control device, an electric appliance, a generator, and the like for controlling the running of the tire-type door-type crane 100.

However, the mounting position of the electric device box 140 is not limited to the leg portions 121 and 122. [ For example, the electric appliance box 140 may be provided in the beam portion 111 in addition to or at least one of the leg portions 121 and 122.

The number of electric appliance boxes 140 is not limited to two as shown in Fig. 1, and may be one or three or more. Alternatively, the tire-type door-type crane 100 may not include the electric appliance box 140, such as a device for installing the appliance, instead of the electric appliance box 140.

Further, the movement control device may be provided outside the tire-type frame-type cranes 100 and may communicate with the tire-type frame-type cranes 100.

A distance sensor 150 is provided on the side of the traveling mechanism 134. The distance sensor 150 measures the distance downward (i.e., the road surface side). Thus, the distance sensor 150 measures the height of the road surface RS and the height of the guide 200.

3 is an explanatory view showing an example of a scanning range of the distance sensor 150. Fig. This figure shows a state in which the distance sensor 150 side is viewed from the traveling direction of the tire-type door-type crane 100. The distance sensor 150 changes the direction of outputting the laser light represented by the line L31 , The range of the area A21 is scanned in the transverse direction with respect to the running direction of the tire-type door-type crane 100. [

With this scanning, the distance sensor 150 measures the distance to the measurement object, which reflects the laser light, at each position in the scanning range. The distance sensor 150 outputs a laser beam in the direction of the laser light output from the distance sensor 150. The distance sensor 150 outputs a distance between the distance sensor 150 itself and the road surface RS, 150) itself and the guide 200 are measured.

Then, the distance sensor 150 outputs the distance information indicating the measurement result of the distance to the movement control device stored in the electric appliance box 140. The distance information output by the distance sensor 150 indicates the distance between each of the plurality of positions in the direction intersecting the direction in which the traveling path of the tire-type door-type crane 100 extends and the distance sensor 150 Information.

However, the distance sensor 150 is not limited to a sensor using a laser beam, but may be a sensor capable of measuring the distance between each of the plurality of positions and the distance sensor 150 itself. For example, the distance sensor 150 may output an ultrasonic wave instead of the laser light to measure the distance. Alternatively, the distance to the subject may be measured by image processing, such as the distance sensor 150 picking up a three-dimensional image downward and performing an image analysis.

The scanning direction in which the distance sensor 150 measures the distance is not limited to the side in which the traveling direction of the tire-type door frame type crane 100 is running, but based on the measurement result of the distance by the distance sensor 150 And the direction in which the relative positional relationship between the guide 200 and the tire-type door-type crane 100 can be detected. More specifically, the scanning direction in which the distance sensor 150 measures the distance may be a direction intersecting the direction in which the traveling path of the tire-type door-type crane 100 extends.

In the case where the distance sensor 150 outputs laser light, the laser light output by the distance sensor 150 may be scanned in a direction intersecting the direction in which the traveling path of the tire-type door-type crane 100 extends . For example, the distance sensor 150 is a slit-type optical distance meter, and may output laser light narrowed by a slit. Alternatively, the distance sensor 150 may output laser light from the point light source.

The scanning method by the distance sensor 150 is not limited to a method of changing the direction of outputting laser light or ultrasonic waves. For example, when the distance sensor 150 outputs laser light, scanning may be performed by moving the light source in the horizontal direction while fixing the direction in which the laser light is output.

The mounting position of the distance sensor 150 is not limited to the side of the driving mechanism 134 shown in Fig. 1, but may be a position at which the range including the guide 200 can be scanned. For example, the distance sensor 150 may be provided on the side of the leg portion 122.

The suspending mechanism 160 suspends the container C and grips it. The tire-type door-type crane 100 carries the container C by driving the tire-type door-type crane 100 with the suspension mechanism 160 suspended from the container C.

The trolley 161 is provided on the beam portion 111 so as to be movable along the beam portion 111. [ The spreader 162 grips the container C. The suspending rope 163 suspends the spreader 162 from the trolley 161. [ The hoisting machine 164 is provided on the trolley 161, and hoist rope 163 is hoisted and unwound. When the hoisting machine 164 hoists the suspending rope 163, the spreader 162 rises. Further, when the traction rope 164 pulls the suspending rope 163, the spreader 162 descends.

4 is a schematic block diagram showing an example of the functional configuration of the motion control device 300. As shown in Fig. As described above, the movement control device 300 is stored in the electric device box 140. [ 4, the movement control device 300 includes a distance information acquisition unit 310, a guide position specification unit 320, and a movement control unit 330. [

4 shows a distance sensor 150 for outputting distance information to the distance information acquisition unit 310 and traveling motors 411 and 412 for controlling the rotation speed of the movement control unit 330. [ The traveling motor 411 rotates the tire 131. The traveling motor 412 rotates the tire 132.

As described above, the distance sensor 150 is provided on the side of the traveling mechanism 134. In addition, the movement control device 300 is stored in the electric device box 140. Driving motors 411 and 412 are provided near the tires 131 and 132, respectively.

The distance information acquisition unit 310 acquires the distance information outputted by the distance sensor 150. [

The guide position specifying unit 320 specifies the position of the guide 200 in the scanning range of the distance sensor 150 based on the distance information obtained by the distance information obtaining unit 310. [ For example, the guide position specifying unit 320 detects a position where a change in the distance from the distance sensor 150 is larger than a predetermined threshold value as a position of a corner edge of the guide 200, The center of each of the corner portions is specified as the position of the guide 200.

The movement control unit 330 controls the running direction of the tire-type door-type crane 100 so that the position of the guide 200 specified by the guide-position specifying unit 320 is close to a predetermined position.

5 is an explanatory diagram showing an example of shift of the position of the guide 200 from the reference position, which is calculated for the control of the travel direction of the tire-type door-type crane 100 by the movement control unit 330. Fig. This figure shows a view of the guide 200 in the scanning range of the distance sensor 150 from the running direction of the tire-type door-type crane 100, and the guide 200 and the road surface RS are shown .

The horizontal axis in FIG. 5 indicates the position in the transverse direction with respect to the traveling direction of the tire-type door-type crane 100. 5, the left side is close to the tire-type door-type crane 100, and the right side is the side far from the tire-type door-type crane 100. As shown in Fig. Therefore, the farther from the tire-type door-type crane 100, the larger the left turn value (position value) appearing on the horizontal axis.

The vertical axis in Fig. 5 indicates the height from the road surface RS. This height is obtained from the distance information outputted by the distance sensor 150. [

The range A21 indicates the scanning range of the distance sensor 150. [ The range A22 indicates the range in which the guide 200 is located.

The position P11 shows an example of a reference position set in advance in the scanning range of the distance sensor 150. [ In the example of Fig. 5, the center of the scanning range (range A21) of the distance sensor 150 is set as the reference position (position P11). This reference position corresponds to an example of a predetermined position under the control of the movement control section 330. [

The position P12 shows an example of the position of the guide 200 specified by the guide position specifying unit 320. [ 5, the guide position specifying unit 320 specifies the center of the guide 200 (the center of the two corner portions of the upper surface of the guide 200) as the position of the guide 200. As shown in FIG.

The deviation D11 is a value obtained by subtracting the left turn indicator of the position P11 from the left turn indicator of the position P12. The deviation D11 indicates the direction and magnitude of the deviation of the position of the guide 200 (position P12) with respect to the reference position (position P11).

The movement control section 330 controls the position (position P12) of the guide 200 to approach the reference position (position P11) based on the deviation D11. More specifically, when the value of the deviation D11 is larger than 0, the guide 200 is located farther from the reference position as viewed from the tire-type door-type crane 100. Accordingly, the movement control unit 330 controls the running direction of the tire-type door-type crane 100 such that the tire-type door-type crane 100 approaches the guide 200. On the other hand, when the value of the deviation D11 is smaller than 0, the guide 200 is located closer to the reference position as viewed from the tire-type door-type crane 100. Accordingly, the movement control unit 330 controls the traveling direction of the tire-type door-type cranes 100 such that the tire-type door-type cranes 100 are away from the guide 200.

The movement control unit 330 controls the traveling direction of the tire-type door-type crane 100 by controlling the rotational speeds of the tires 131 and 132 by controlling the rotational speeds of the traveling motors 411 and 412. [ More specifically, the movement control unit 330 increases the rotation speed of the tire 131 farther from the guide 200 than the rotation speed of the tire 132 closer to the guide 200, So that the crane 100 is brought close to the guide 200. The movement control section 330 makes the rotational speed of the tire 131 farther from the guide 200 slower than the rotational speed of the tire 132 closer to the guide 200, 100) away from the guide (200).

However, the reference position in the scanning range of the distance sensor 150 is not limited to the center of the scanning range shown in Fig. 5, and can be set at various positions within the scanning range of the distance sensor 150. [ The position of the guide 200 specified by the guide position specifying unit 320 is not limited to the center of the guide 200 shown in Fig. For example, the guide position specifying unit 320 may specify the position of the corner of the guide 200 near the tire-type door-type crane 100 as the position of the guide 200. Alternatively, the guide position specifying unit 320 may specify the position of the corner portion of the guide 200 remote from the tire-type door-type crane 100 as the position of the guide 200.

Alternatively, when the shape of the guide 200 is a bar-shaped cross section, the guide position specifying unit 320 may specify the position with the highest height as the position of the guide 200. [ The position with the highest height can be detected as the position having the shortest distance from the distance sensor 150.

Next, the operation of the movement control device 300 will be described with reference to Fig.

6 is a flowchart showing an example of a processing procedure in which the movement control device 300 controls the traveling direction of the tire-type door-type crane 100. Fig. The movement control apparatus 300 repeatedly executes the process of Fig. 6 while the tire-type door-type crane 100 is running.

In the process of this figure, the distance information acquisition section 310 acquires distance information outputted by the distance sensor 150 (step S101).

Next, the guide position specifying unit 320 specifies the position of the guide 200 in the scanning range of the distance sensor 150, based on the distance information obtained by the distance information obtaining unit 310 (Step S102 ).

The movement control unit 330 calculates the positional deviation of the guide 200 with respect to the reference position based on the position of the guide 200 specified by the guide position specifying unit 320 (step S103).

Next, the movement control section 330 sets the rotation speed of each of the traveling motors 411 and 412 so as to reflect the deviation obtained in step S103 to the difference in the rotation speeds of the tires 131 and 132 (step S104 ).

Then, the movement control section 330 controls the rotation speed of each of the traveling motors 411 and 412 based on the rotation speed set in step S104 (step S105).

After step S105, the processing of Fig. 6 is terminated.

As described above, the guide 200 is provided at a different height from the road surface RS of the traveling path of the tire-type door-type crane 100 along the direction in which the traveling path of the tire-type door-type crane 100 extends. The distance sensor 150 detects distance information indicating a distance between each of the plurality of positions in the direction intersecting the direction in which the traveling path of the tire-type door-type crane 100 extends and the distance sensor 150 itself And outputs it to the movement control device 300. [ In the movement control apparatus 300, the guide position specifying section 320 specifies the position of the guide 200 based on the distance information from the distance sensor 150. The movement control unit 330 controls the running direction of the tire-type door-type crane 100 so that the guide position specifying unit 320 is positioned such that the position of the specific guide 200 approaches the reference position.

This reduces the likelihood that the guide 200 can not be detected or the possibility that the position of the guide 200 is erroneously detected and the guide 200 is rotated at a higher resolution than in the case of the magnet system, Can be detected.

Specifically, the guide position specifying unit 320 determines the position of the guide 200 based on the distance from the distance sensor 150 to the road surface RS and the guide 200, respectively (i.e., based on the height of the guide 200) 200). The distance from the distance sensor 150 to the road surface RS and the distance from the distance sensor 150 to the guide 200 even if the guide 200 is contaminated with dust or the like on the guide 200, It is possible to detect the distance to the mobile terminal 200. In this respect, it is possible to reduce the possibility that the guide position specifying unit 320 can not detect the guide 200, or the possibility that the position of the guide 200 is erroneously detected.

In addition, a method of measuring a distance by an optical method such as using a laser beam or an image of a sensed image, or a method of measuring a distance by using an ultrasonic wave is a method of detecting the magnetic force from the magnet by the magnet detection sensor It is easier to increase the resolution than the method. In this respect, in the crane system 1, the position of the guide 200 can be detected with higher resolution than in the magnet system. It is possible to increase the straightness of the tire-type crane 100 in the crane system 1 by detecting the position of the guide 200 with high resolution (i.e., reduce the meandering of the tire-type crane 100) .

Further, by using the guide 200 made of a hard material such as iron, the possibility of the deformation of the guide 200 and the loss of the guide 200 over time can be reduced.

However, the height of the guide 200 may be different from the height of the road surface RS. In particular, the guide 200 is not limited to being provided protruding from the road surface RS as shown in Fig. 1, but may be provided concave from the road surface RS.

7 is a perspective view showing an example of a guide 200 recessed from the road surface RS. In the figure, a guide 200 and a line L11 are shown, and the guide 200 is provided along a line L11. The line L11 represents the boundary of the traveling lane of the tire-type door-type cranes 100. The guide 200 is concave from the road surface RS of the traveling lane of the tire-type door type cranes 100, It is provided along the direction.

However, the line L41 is shown in the figure to indicate the height of the road surface RS. The line L41 does not need to be actually specified in the running lanes of the tire-type door-type crane 100.

As shown in Fig. 7, the guide 200 is lower than the road surface RS. As a result, the position of the guide 200 can be detected by detecting the position of the tire-type door-type crane 100 having a different height from the road surface RS.

In addition, since the guide 200 is lower than the road surface RS, it is possible to reduce the possibility that the guide 200 is interfered with, for example, the possibility that a person falls over the guide 200 can be reduced.

Line L22 shows the traveling direction of the tire-type door-type cranes 100. Fig. As in the case of Fig. 2, the tire-type door-type crane 100 can travel the traveling lane by detecting the position of the guide 200 and traveling along the guide 200. [

However, the shape of the guide 200 is not limited to the rectangular shape shown in Fig. The shape of the guide 200 may be a shape that can indicate the direction of the travel path of the tire-type door-type crane 100 due to the difference in height from the road surface RS. For example, (The bottom of the groove) may be rounded.

The depth of the guide 200 is such that it is detectable that the guide 200 has a height different from that of the road surface RS. For example, the depth of the guide 200 may be 5 millimeters (mm) or 10 millimeters.

It is sufficient that the width of the guide 200 and the height of the guide 200 at a different height from the road surface RS can be detected. For example, the guide 200 may have a width of 5 millimeters or 10 millimeters.

However, in order to prevent foreign matter such as dust from entering the guide 200, a member for transmitting laser light such as glass may be inserted into the guide 200, for example.

However, in order to secure the rigidity of the guide 200, a slightly large groove may be provided on the road surface RS so as to sandwich the iron plate having the concave portion of the shape of the guide 200. [

However, the height of the guide 200 from the road surface RS may be different from other areas of the guide 200.

Fig. 8 is an explanatory diagram showing an example of a guide 200 having regions having different heights. This figure shows an example in which the guide 200 is viewed from the side of the side and a line L22 shows the running direction of the tire-type door-type crane 100. [

In the area A201 of the guide 200, the height from the road surface RS changes stepwise, and the area A202 is the highest. The tire-type door-type crane 100 can detect the position of the traveling lane by detecting a change in the height of the guide 200. [ For example, when the height of the guide 200 changes at the travel stop position of the tire-type door-type crane 100, the tire-type door-type crane 100 is stopped at the position of the highest area A202, It is possible to detect that the stop position has been reached and stop automatically.

However, the number of stages in the case where the guide 200 changes stepwise is not limited to the four stages shown in Fig. 8, but may be one stage or more. That is, when the height of the guide 200 changes, the tire-type door-type crane 100 can detect the position in the travel lane.

9 is a graph showing an example of the height of the guide 200 in the scanning range of the distance sensor 150. Fig. This figure shows an example in which the guide 200 has the shape shown in Fig. 8 and the tire-type door-type crane 100 travels at a constant speed. 9, the horizontal axis represents time, and the vertical axis represents height.

The tire-type door-type crane 100 passes through a position corresponding to the area A201 in Fig. 8 between time T11 and T14. As a result, the height of the guide 200 changes stepwise from time T11 to time T14. The tire-type door-type crane 100 passes through a position corresponding to the area A202 in Fig. 8 between time T12 and T13. Therefore, the height of the guide 200 is the highest between time T12 and T13.

Here, the position corresponding to the area of the guide 200 is the position of the tire-type door frame cranes 100 including the area in the scanning range of the distance sensor 150. For example, the position corresponding to the area A201 is the position of the tire-type door frame cranes 100 including the area A201 in the scanning range of the distance sensor 150. [ Likewise, the position corresponding to the area A202 is the position of the tire-type door frame cranes 100 in which the area A202 is included in the scanning range of the distance sensor 150. [

For example, when a command is given to stop at a position corresponding to the area A202, such as when a container is dropped at a position corresponding to the area A202, the movement control unit 330 controls the movement It is possible to detect that the vehicle has reached the position corresponding to the area A202 based on the distance information and to stop the tire-type door-type crane 100. [

The height of the guide 200 at the end of the travel lane may be different from the height of the other area. Thereby, the movement control section 330 can detect that the end of the travel lane has been reached, and can prevent the tire-type door-type crane 100 from moving beyond the end of the travel lane and traveling outside the travel lane.

The movement control section 330 detects the lowered height of the guide 200 and returns to the position immediately before the height of the guide 200 is lowered to stop the movement of the area A202, And stops the tire-type door-type crane 100 at a position corresponding to the position of the door. More specifically, the movement control unit 330 reads the distance indicated by the distance information with respect to the position of the guide 200 specified by the guide position specifying unit 320, and stores the history of the distance. Then, the movement control unit 330 detects that the read distance has become smaller (closer) and then becomes larger (closer), thereby returning the tire-type door-type cranes 100 to a position immediately before the distance increases.

Alternatively, the movement control unit 330 may determine that the stop position has been reached when the distance value of the distance has been stored in advance and the distance read from the distance information has become smaller than the threshold value.

Alternatively, the movement control unit 330 may store the distance value of the distance and the speed of the tire-type crane 100 in advance and set the speed of the tire-type crane 100 according to the distance read from the distance information do. In this case, as the height of the guide 200 changes stepwise as in the example of Fig. 8, the movement control section 330 can gradually lower the speed of the tire-type door-type cranes 100 and stop them.

10 is a flowchart showing an example of a process sequence in which the movement control device 300 controls the traveling direction of the tire-type door frame type crane 100 when the tire-type frame type crane 100 is automatically stopped. When the mobile control device 300 is instructed to stop the tire-type door-type crane 100, the process of FIG. 10 is repeatedly performed instead of the process of FIG. The instruction to stop the tire-type door-type crane 100 is performed by, for example, a person or a program.

Steps S201 and S202 in Fig. 10 are the same as steps S101 and S102 in Fig. 6, respectively.

After step S202, the movement control unit 330 reads the distance corresponding to the position of the specified guide 200 by the guide position specifying unit 320 from the distance information obtained by the distance information obtaining unit 310 (step S203) .

Then, the movement control unit 330 sets the traveling speed of the tire-type door-type crane 100 based on the distance obtained in step S203 (step S204). In step S204, based on the distance obtained in step S203, the movement control section 330 determines whether or not the tire-type door-type crane 100 has reached the stop position. If it is determined that the tire- The door-type crane 100 may be stopped. Alternatively, the movement control unit 330 may previously store the distance and the traveling speed in association with each other, and set the speed corresponding to the distance obtained in step S203.

Steps S205 to S207 are the same as steps S103 to S105 in Fig. After step S207, the processing of Fig. 10 is terminated.

However, the change in the height of the guide 200 is not limited to the stepwise change as in the example of Fig.

11 is an explanatory view showing an example of a guide 200 having a region where the height is moderately changed. This figure shows an example in which the guide 200 is viewed from the side of the side and a line L22 shows the running direction of the tire-type door-type crane 100. [

In the area A211 of the guide 200, the height from the road surface RS changes gently, and is the highest at the position P212. The tire-type door-type crane 100 can detect the position of the traveling lane by detecting a change in the height of the guide 200. [ For example, the height of the guide 200 is changed at the travel stop position of the tire-type door-type crane 100, so that the tire-type door-type crane 100 is stopped at the highest position P212, It can be detected automatically and stopped automatically.

The movement control section 330 detects the position at which the guide 200 is at its highest level and detects the position of the guide 200 in a manner similar to the case where the height of the guide 200 changes stepwise The tire-type door-type crane 100 may be stopped. Specifically, the movement control section 330 may detect that the distance has become smaller after the distance is reduced, and return the tire-type door-type cranes 100 to a position immediately before the distance is increased to stop the movement.

Alternatively, the movement control unit 330 may determine that the stop position has been reached when the distance value of the distance has been stored in advance and the distance read from the distance information has become smaller than the threshold value.

Alternatively, the movement control unit 330 may previously store the distance threshold value and the speed of the tire-type crane 100 in correspondence with each other, and set the speed of the tire-type crane 100 according to the distance read from the distance information You can.

Alternatively, the movement control unit 330 may previously store a function indicating the relationship between the distance and the speed, and set the speed of the tire-like type crane 100 according to the distance read from the distance information based on the function .

However, the guide 200 may have a region having a different width instead of or in addition to regions having different heights.

12 is an explanatory diagram showing an example of a guide 200 having areas with different widths. This figure shows an example in which the guide 200 is viewed from the upper side and a line L22 shows the running direction of the tire-type door-type crane 100.

In the region A221 of the guide 200, the width changes stepwise, and the width in the region A222 is the widest. As in the case where the height of the guide 200 changes, the tire-type door-type crane 100 can detect the position of the traveling lane by detecting the width change of the guide 200. [

It is not necessary to increase the height of the guide 200 by indicating the position of the guide 200 in the travel lane. Thereby, the possibility that the guide 200 is disturbed can be reduced.

However, when the guide position specifying unit 320 specifies the position of the edge portion of the guide 200 as the position of the guide 200, the width of the guide 200 may be changed only on one side. Concretely, the width may be changed only on the side opposite to the corner portion where the guide position specifying portion 320 specifies the position.

However, the width change of the guide 200 is not limited to the stepwise change as in the example of Fig.

Fig. 13 is an explanatory diagram showing an example of a guide 200 having a region in which the width gradually changes. This figure shows an example in which the guide 200 is viewed from the upper side and a line L22 shows the running direction of the tire-type door-type crane 100.

In the region A231 of the guide 200, the width is gradually changed and widest in the position P232. As in the case of detecting a change in the height of the guide 200, the tire-type door-type crane 100 can detect the position in the travel lane by detecting the width change of the guide 200. [

However, the number of guides 200 may indicate the position in the travel lane.

14 is an explanatory view showing an example in which a plurality of guides 200 are arranged. This figure shows an example in which the guide 200 is viewed from the upper side and a line L22 shows the running direction of the tire-type door-type crane 100.

In the example shown in the figure, the travel lane is divided into a plurality of addresses, and areas A31, A32, and A33 correspond to addresses 1, 2, and 3, respectively. As described above, the number of the guides 200 is different depending on the position of the traveling lane, so that the movement control section 330 can detect the position in the traveling lane.

For example, as described above, the movement control section 330 can detect the address in the travel lane. Thereby, the movement control section 330 can stop the tire-type door-type crane 100 at a specific stop position among the plurality of stop positions.

The stop position of the dropping place or the like of the container may be indicated by a change in the number of guides 200. [ Thereby, the movement control section 330 can detect that the stop position has been reached, and can stop the tire-type door-type crane 100 at the stop position.

The number of guides 200 may be changed at the end of the running lane. Thereby, the movement control section 330 can detect that the end of the travel lane has been reached, and can prevent the tire-type door-type crane 100 from moving beyond the end of the travel lane and traveling outside the travel lane.

As described above, the movement control section 330 controls the traveling speed of the tire-type door-type cranes 100 based on at least one of the height, the width, and the number of the guide 200.

Thus, the movement control section 330 can control the speed of the tire-type door-type cranes 100 based on the position of the tire-type door type cranes 100 in the direction in which the travel lane extends. For example, the movement control section 330 can stop the tire-type door-type crane 100 at the stop position. Further, the movement control section 330 can prevent the tire-type door-type crane 100 from moving beyond the end of the traveling lane and traveling outside the traveling lane.

The movement control section 330 specifies the position of the tire-type door-type cranes 100 in the running direction of the tire-type door-type cranes 100 based on the number of the guides 200, , And controls the running speed of the tire-type door-type crane (100).

Thereby, the movement control section 330 can specify the position of the tire-type door-type cranes 100 in the direction in which the traveling lane extends, and can control the speed of the tire-type door type cranes 100 based on the specific position . For example, the movement control section 330 can stop the tire-type door-type crane 100 at a specific stop position among a plurality of stop positions.

However, a program for realizing all or part of the functions of the mobile control device 300 is recorded on a computer-readable recording medium, the program recorded on the recording medium is read into the computer system and executed, . Here, the " computer system " includes hardware such as an OS and a peripheral device.

The " computer system " includes a homepage providing environment (or a display environment) if the WWW system is used.

The "computer-readable recording medium" refers to a storage medium such as a flexible disk, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, or a hard disk built in a computer system. The term " computer-readable recording medium " refers to a medium in which a program is dynamically maintained for a short period of time, such as a communication line when a program is transmitted through a communication line such as a network such as the Internet or a telephone line, Such as a volatile memory in a computer system which is a computer system for storing a program for a predetermined period of time. The program may be one for realizing a part of the functions described above, or may be realized by a combination with the program already recorded in the computer system.

Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific structure is not limited to these embodiments, and design modifications and the like that do not depart from the gist of the present invention are also included.

Industrial availability

A distance information acquisition unit that acquires distance information indicating a distance between each of the plurality of positions in the direction intersecting with the direction in which the moving path of the moving object having the distance sensor extends and the distance sensor; A guide position specifying unit that specifies a position of a guide provided along a direction in which the moving path extends in a height different from the road surface of the moving path of the moving object based on the distance information acquired by the distance information obtaining unit; And a movement control unit for controlling the moving direction of the moving body so that the position of the specific guide approaches the predetermined position.

According to the above-described movement control apparatus, it is possible to reduce the possibility that the guide can not be detected, the possibility of erroneously detecting the position of the guide, and the position of the guide can be detected with higher resolution than in the case of the magnet system.

1 Crane system
100 Tire-style crane
110 Crane body
111 beam part
121, 122 legs
131, 132 tires
140 Electric appliance box
150 Distance sensor
160 Suspension mechanism
161 Trolleys
162 spreader
163 suspension rope
164 Traction Machine
200 guides
300 movement control device
310 Distance information acquisition unit
320 guide position specifying part
330 movement control unit
411, 412 Driving motor

Claims (9)

A distance information acquiring section that acquires distance information indicating a distance between each of the plurality of positions in the direction intersecting the direction in which the moving path of the moving object having the distance sensor extends and the distance sensor,
A guide position specifying unit that specifies a position of a guide provided along a direction in which the movement path extends in a height different from the road surface of the moving path of the moving object based on the distance information obtained by the distance information obtaining unit;
And a movement control unit for controlling the moving direction of the moving body such that the position of the guide is closer to a predetermined position. The method according to claim 1,
Wherein the movement control unit controls the moving speed of the moving body based on at least one of a height, a width, and a number of the guide. The method according to claim 1,
Wherein the movement control unit specifies the position of the moving object based on the number of the guides and controls the moving speed of the moving object based on the specified position. A distance sensor,
A distance information acquiring unit that acquires distance information indicating a distance between each of the plurality of positions in the direction intersecting the direction in which the moving object itself travels and the distance sensor;
A guide position specifying unit that specifies a position of a guide provided along a direction in which the movement path extends in a height different from the road surface of the moving path of the moving object based on the distance information obtained by the distance information obtaining unit;
And a movement control unit for controlling the moving direction of the moving body such that the position of the specific guide approaches the predetermined position. A guide provided along a direction in which the moving path extends in a height different from the road surface of the moving path of the moving object,
A distance sensor,
A distance information acquisition unit that acquires distance information indicating a distance between each of the plurality of positions in the direction intersecting the direction in which the moving path of the moving object extends and the distance sensor,
A guide position specifying unit for specifying the position of the guide based on the distance information obtained by the distance information obtaining unit,
And a movement control unit for controlling a moving direction of the moving body such that the position of the guide is closer to a predetermined position. 6. The method of claim 5,
Wherein the guide protrudes from the road surface along a direction in which the moving path of the moving object extends. 6. The method of claim 5,
Wherein the guide is recessed from the road surface along a direction in which the moving path of the moving object extends. A movement control method for a movement control apparatus,
A distance information acquiring step of acquiring distance information indicating a distance between each of the plurality of positions in the direction intersecting with the direction in which the moving path of the moving object having the distance sensor extends,
A guide position specifying step of specifying, based on the distance information acquired in the distance information acquiring step, a position of a guide provided along a direction in which the movement path extends in a height different from the road surface of the moving path of the moving body;
And a movement control step of controlling the moving direction of the moving body so that the position of the specific guide approaches the predetermined position in the guide position specifying step. On the computer,
A distance information acquiring step of acquiring distance information indicating a distance between each of the plurality of positions in the direction intersecting with the direction in which the moving path of the moving object having the distance sensor extends,
A guide position specifying step of specifying, based on the distance information acquired in the distance information acquiring step, a position of a guide provided along a direction in which the movement path extends in a height different from the road surface of the moving path of the moving body;
And a movement control step of controlling the moving direction of the moving body so that the position of the specific guide approaches the predetermined position in the guide position specifying step.

Images