TW201629661A - Traveling vehicle system and traveling state changing method - Google Patents

Abstract

A traveling vehicle system provided with a traveling vehicle (101) that travels along a traveling path (200) determined on the basis of traveling information, wherein markers (102) are arranged in the vicinity of the traveling path (200), the traveling vehicle is provided with an information acquisition device (111) for acquiring change information indicated by the markers (102) and a changing unit (112) for changing the traveling information on the basis of the change information acquired from the markers (102), and the traveling vehicle (101) is made to travel on the basis of the new traveling information that has been changed by the changing unit (112).

Description

Mobile car system and moving state change method

The present invention relates to a mobile vehicle system having a mobile vehicle that automatically moves in a predetermined travel path.

In recent years, there has been a transfer vehicle system in which a moving vehicle that can transport articles can be automatically moved in a warehouse or a factory, and articles are efficiently transported.

In the above-mentioned mobile vehicle system, the map of the area where the mobile vehicle can be moved and the moving path that has been determined to be moved on the map are pre-stored to the mobile vehicle, and the mobile vehicle is based on the stored information and the current location and current The transition state and control of the migration by its own judgment (for example, refer to Patent Document 1).

[Previous Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2012-108715

However, in an area where the moving vehicle is automatically moved, such as a warehouse or a factory, the unexpected disposal of the falling object in the warehouse or the maintenance of the industrial machinery installed in the factory may be performed. deal with.

In this case, the moving vehicle cannot move in the predetermined moving path. OK, so the operator must enter the information indicating the new migration path again for the mobile vehicle. The rewriting of the moving path of this mobile vehicle requires some level of expertise and the operation takes time.

The present invention has been made in view of the above problems, and an object thereof is to provide a transfer vehicle system and a transition state changing method that can easily change a predetermined travel route without requiring professional knowledge.

In order to achieve the above object, the bicycle system of the present invention is provided with a traveler who moves along a predetermined travel route based on the travel information, and is characterized in that it is freely configurable in the vicinity of the travel path of the transfer vehicle. The identification vehicle includes: an information acquisition device that acquires change information included in the marker disposed in the vicinity of the travel route; and a change unit that changes based on the change information acquired from the marker The travel information; and the travel vehicle moves according to the new travel information changed by the change unit.

As a result, if the operator arranges the marker in the vicinity of the travel route, the travel route of the mobile vehicle can be easily changed even for an operator who does not have professional knowledge.

Moreover, the identifier may be a visually recognized logo that is visually recognizable by the person corresponding to the change information provided by the marker.

Thereby, the operator can change the travel route of the moving vehicle without fail and surely. Moreover, the situation in which the mobile vehicle moves with the unexpected travel information can be notified to the operator, so that the operator can perform the work with peace of mind.

Further, the information acquisition device may be configured to optically read the visual identification mark and obtain the change information.

Thereby, the change information provided by the marker can be easily matched with the change information recognized by the person who sees the marker, and the manufacture of the marker can be facilitated.

Further, the moving vehicle may further include an obstacle detector for detecting an obstacle existing on and in the vicinity of the traveling path, and the marker may be provided by the obstacle detector when disposed near the traveling path. In the detected reaction unit, the information acquisition device acquires the change information from the marker based on the detection information including that the reaction unit has been detected by the obstacle detector.

Thereby, the energy consumption of the mobile vehicle can be reduced without having to keep the information acquisition device always running.

Further, the traveling vehicle may be decelerated or stopped based on the detection information that the obstacle detector has detected the reaction unit, and the information acquisition device acquires the change information after the bicycle is decelerated or stopped.

Thereby, the probability that the information acquisition device obtains the change information can be improved, and the state in which the mobile vehicle violates the marker and the unexpected migration occurs can be prevented.

Further, in order to achieve the above object, the method for changing the transition state of the present invention is to provide a travel vehicle system including a mobile vehicle that moves in a predetermined travel route based on the travel information, and the travel information is changed. The information that is freely arrangable and that is arbitrarily arranged is disposed in the vicinity of the travel path of the mobile vehicle, and the information acquisition device acquires the change information of the marker disposed in the vicinity of the travel route, and causes the change unit to The change information obtained by the identifier changes the travel information, and the mobile vehicle is moved according to the new travel information changed by the change unit.

Therefore, if the operator arranges the marker in the vicinity of the traveling route, the worker can be easily changed even if the worker does not have professional knowledge. Line path, etc.

Further, a program for causing a computer to execute each process included in the above-described transition state changing method is also an embodiment of the present invention. Of course, it is also an embodiment of the present invention to implement a recording medium storing the program.

According to the present invention, the traveling state of the traveling vehicle can be changed in a simple manner.

100‧‧‧mobile system

101‧‧‧Mobile car

102‧‧‧Marks

111‧‧‧Information acquisition device

112‧‧‧Change Department

113‧‧‧ obstacle detector

114‧‧‧ Storage Department

115‧‧‧Transition Control Department

121‧‧‧Visual Identification Mark

122‧‧‧Disclosed components

123‧‧‧ pillar

124‧‧‧Abutment

125‧‧‧Reaction Department

200‧‧‧Transition path

201‧‧‧ branch point

210‧‧‧ destination

211‧‧‧ device

Figure 1 is a top plan view of the transfer system from above.

Figure 2 is a perspective view showing the marker and the moving vehicle moving in the vicinity of the marker.

Figure 3 is a perspective view showing the marker.

Fig. 4 is a block diagram showing the functional unit of the mobile vehicle together with the mechanism unit.

Figures 5(a) to (i) are diagrams showing examples of visual identification marks.

Figure 6 is a plan view showing a predetermined travel path by arrows.

Figure 7 is a diagram showing the new migration path after the change.

Fig. 8 is a view showing the state of transition after the change.

Fig. 9 is a perspective view showing another embodiment of the marker.

Fig. 10 is a perspective view showing another embodiment of the marker.

Next, an embodiment of the traveling vehicle system and the traveling state changing method of the present invention will be described with reference to the drawings. Furthermore, the following embodiments merely show an example of the traveling vehicle system and the transition state changing method of the present invention. Therefore, the scope of the present invention is determined by reference to the following embodiments and is determined by the content of the claims The invention is not limited to the following embodiments. Therefore, among the constituent elements of the following embodiments, the constituent elements that are not described in the independent claims of the most general concept of the present invention are not necessarily required to achieve the problem of the present invention, but are more suitable as a constituent. Explain.

In addition, the drawings are schematic diagrams for appropriately emphasizing or omitting the present invention and adjusting the ratios. Therefore, there are cases in which the relationship between the actual shape and the position and the ratio are different.

Figure 1 is a top plan view of the transfer system from above.

As shown in the figure, the bicycle system 100 includes a system in which the traveling vehicle 101 is automatically (autonomously) moved by the traveling path 200, and is provided with a marker 102.

Figure 2 is a perspective view showing the marker and the moving vehicle moving in the vicinity of the marker.

Figure 3 is a perspective view showing the marker.

The marker 102 is a member that can be freely disposed in the vicinity of the traveling path 200 of the traveling vehicle 101, and is a member that carries change information for changing the traveling information held by the traveling vehicle 101.

Here, the member that can be freely disposed is, for example, a member that can be transported by a human hand, and can be disposed to a degree such that the marker 102 is disposed in the vicinity of the travel path 200 by human power.

Further, the travel path 200 refers not only to the case where there is actually a path that can be visually recognized, but also a path that is imaginarily formed on a map or the like based on the travel information.

In the case of the present embodiment, the marker 102 is a member that can be placed on a floor surface or the like in an upright state, and includes a member 122 for revealing, a pillar 123, and And the base 124, and these can be integrally transported.

In addition, the change information may have a function as an identification code for changing the travel information held by the mobile vehicle 101. That is, the change information may include specific information for changing the travel information, and the change information may also include information identifying a plurality of types of information that are stored in the controller of the mobile vehicle 101 for change.

The revealing member 122 is a member that reveals a visually identifiable marker 121 that can be visually recognized by a person. The shape of the revealing member 122 is not particularly limited. However, in the case of the present embodiment, it is a thin plate-shaped member, and a visually-recognizable mark 121 is disclosed on one surface. Further, the marker 102 is provided with a plurality of (two in the present embodiment) illuminating members 122, and is disposed such that the back side of the illuminating member 122 on which the refusal of the ref. It is a state in which the visual identification mark 121 can be visually recognized from a wide range.

The visual identification mark 121 disclosed by the revealing member 122 corresponds to the change information provided by the identifier 102, and when the operator or the like visually recognizes the visual identification mark 121, the visual identification mark 121 can be recognized and revealed. How the identifier 102 changes the travel information of the mobile vehicle 101. That is, the visual identification mark 121 is an individual mark composed of the same or more types of information as the change information, and is a mark indicating the same content as the change information. Specifically, the visual identification mark 121 shown in FIG. 3 is a human-recognizable sign prohibiting a right turn, and the identifier 102 of the visual identification mark 121 is revealed, and the information of the mobile vehicle 101 to be turned right is changed to Turn right to the information other than the person.

Further, in the case of the present embodiment, since the visual identification mark 121 itself functions as a change information (details will be described later), the marker 102 There are no additional components and devices for changing information.

Further, the marker 102 may be provided with an information carrying member such as a barcode or an information carrying device such as an RF (Radio Frequency) tag as a member for carrying the change information. In this case, the design of the visual identification mark 121 may be determined in such a manner that the information to be carried is associated with the visually recognized mark 121 (for example, in a one-to-one correspondence). That is, the information carried by the marker 102 can be associated with the visual identification mark 121, so that the action of the mobile vehicle 101 based on the information carried and the recognition of the visual identification mark 121 visually recognized by the operator can be made. Consistent.

The pillar 123 is used to maintain the revealing member 122 at the height of the human eye in such a manner that the standing person can easily recognize the visually recognized mark 121, and maintain the revealing member 122 at a position that does not hinder the movement of the traveling vehicle 101. Construct the component. Further, the pillar 123 is not a member necessary for the marker 102. For example, as long as the revealing member 122 is an elongated member extending to the ground, the pillar 123 may not be particularly provided.

The base 124 is placed on a floor surface or the like and is a structural member for maintaining the revealing member 122 at a predetermined position. The base 124 requires a certain amount of weight in order to stabilize the position of the revealing member 122, but is a weight that can satisfy the movable property of the marker 102.

Further, in the case of the present embodiment, the marker 102 is provided with the reaction portion 125. The reaction unit 125 is a member for detecting that the marker 102 disposed in the vicinity of the traveling path 200 is detected by the obstacle detector 113 (described later) provided in the traveling vehicle 101. The reaction unit 125 is disposed at a position that can be detected by the obstacle detector 113, but is disposed at a position that does not interfere with the goods and the like held by the traveling vehicle 101 and the traveling vehicle 101. In the case of the present embodiment, between the base 124 and the revealing member 122, the pillar 123 of the marker 102 protrudes toward the travel path 200.

Further, the reaction unit 125 preferably recognizes the nature and state of an actual obstacle such as a cargo or a person. For example, when the obstacle detector 113 is a device that detects an obstacle by reflection of light, the reaction portion 125 may be constituted by a reflection member such as a mirror having a high reflectance of light. In this case, the light reflected by the reaction portion 125 is lighter than that reflected from the general obstacle, and since the intensity detected by the obstacle detector 113 is significantly different, it can be recognized as the reaction portion 125 and thus is preferable. .

Further, the marker 102 may not necessarily include the reaction portion 125, and a part of the revealing member 122 or the base 124 functions as the reaction portion 125.

Fig. 4 is a block diagram showing the functional unit of the mobile vehicle together with the mechanism unit.

As shown in FIGS. 4 and 2, the traveling vehicle 101 is a vehicle that moves on a predetermined traveling route based on predetermined movement information. In the case of the present embodiment, the traveling vehicle 101 is a transportable vehicle that can transport goods, and is provided with a transfer device (not shown) that can transfer goods between industrial equipment, workstations, and the like. Further, the traveling vehicle 101 is not moved along the track, but is a mover on the travel path that is preliminarily determined as information while autonomously recognizing the position.

Here, the migration information refers to map information including a map of the travelable area of the mobile vehicle 101, and a travel route in which the mobile vehicle 101 self-exploration based on the map information and determines the destination to the destination, and the input travel route and the travel time. Information on the speed, information on whether to display the transition status, information on the destination, etc.

The mobile vehicle 101 includes an information acquisition device 111 and a change unit 112. Further, in the case of the present embodiment, the traveling vehicle 101 includes an obstacle detector 113, a storage unit 114 for storing movement information, and the like; and a movement control unit 115, the root thereof The movement of the mobile vehicle 101 is controlled according to the migration information.

The information acquisition device 111 is a device that acquires change information included in the marker 102 disposed in the vicinity of the travel route. The information acquisition device 111 is not particularly limited as long as it can obtain the change information. In the case of the present embodiment, since the visual identification mark 121 disclosed by the revealing member 122 of the marker 102 is the change information, the information acquiring device 111 is only a device that can recognize the visual identification mark 121 by image analysis or the like. Just fine. The information acquisition device 111 can be exemplified by a camera including a camera that optically reads the visual identification mark 121 and acquires a digital image, and can analyze the obtained digital image to specify the shape of the visual identification mark 121. An image analysis program to obtain information about the device.

In the case of the present embodiment, the traveling vehicle 101 is provided with the information acquiring device 111 on both the right and left sides in the traveling direction of the traveling vehicle 101. The purpose is to obtain the change information even when the marker 102 is placed on either side of the travel path 200.

Further, the information acquisition device 111 may be any device corresponding to the carrier member or the carrier device that changes the information provided in the marker 102. For example, when the barcode is used to display the change information, the information acquisition device 111 is The barcode reader, and when the change information is written to the RF tag, the information acquisition device 111 is an RF tag reader.

The change unit 112 is a processing unit that changes the travel information on which the transfer vehicle 101 is based and moves to the new travel information based on the change information acquired by the information acquisition device 111 from the marker 102.

Specifically, for example, when the change information acquired by the information acquisition device 111 is "prohibited right turn", the change unit 112 confirms the predetermined transfer fee. Whether the message is turned to the right at the next branch point, and if it is turned to the right, the next migration information can be read from the storage unit 114 and the destination can be extracted, and the branch road after the change information is obtained (the branch point) ) Go to the right and re-explore the migration path to the destination and change to the new migration information. Moreover, a plurality of migration information may be stored in the storage unit 114 in advance, and when the change information is acquired, the plurality of migration information is changed to the best migration information to which the change information is added. Thereby, the moving state of the next moving vehicle 101 can be changed by the marker 102.

Further, the changing unit 112 controls the movement control unit 115 based on the new movement information after the change, and moves the traveling vehicle 101.

Furthermore, the change information is not only forbidding to turn left and right, but also for information that reduces the speed of the mobile vehicle 101 (for example, 50%), or prohibits the information of the return, or cancels the restrictions and changes the information to the original travel information. Or, all information that is changed to the original travel information based on the change information changed by the marker 102 is released. Furthermore, in the specification and the scope of the patent application, the term "moving state" means not only the meaning of the moving speed of the moving vehicle 101 but also the meaning of the moving path.

In this case, for example, the visual identification flag 121 corresponding to the change information for prohibiting the straight line advancement at the next branch point can be made to change the information corresponding to the prohibition of turning right at the next branch point as shown in FIG. 5(a). As shown in FIG. 5(b), the visual identification mark 121 causes the visual identification mark 121 corresponding to the change information for prohibiting the leftward turn at the next branch point, as shown in FIG. 5(c), so as to correspond to the transfer vehicle 101. As shown in FIG. 5(d), the visual identification mark 121 of the change information whose speed is reduced by 50% is changed, and the visual identification mark 121 corresponding to the change information for reducing the speed of the traveling vehicle 101 by 30% is as shown in FIG. 5(e). As shown in FIG. 5(f), the visual identification mark 121 corresponding to the change information for releasing the speed reduction is such that the visual identification mark 121 corresponding to the change information for prohibiting the folding back is as shown in FIG. 5(g). As shown in FIG. 5(h), the visual identification mark 121 corresponding to the change information for canceling the prohibition of the return is shown in FIG. 5(i).

The obstacle detector 113 is a device that detects an obstacle existing on and near the traveling path 200. The obstacle detector 113 is often attached to a device that normally moves the autonomous vehicle 101. The traveling vehicle 101 moves while confirming the situation around the moving vehicle 101 by the obstacle detector 113, thereby ensuring safety.

The road vehicle 101 uses the obstacle detector 113, and causes the information acquisition device 111 to operate by detecting the detection information of the obstacle detected by the obstacle detector 113, and acquires the change information from the marker 102.

Further, when the obstacle detector 113 detects the marker 102 as an obstacle in the vicinity of the travel path 200, the information acquisition device 111 may be operated. Further, as in the case of the present embodiment, the reaction portion 125 in which the special property and state can be detected by the obstacle detector 113 can be provided in the marker 102, and the reaction portion 125 can be detected only by the obstacle detector 113. In the case where the information acquisition device 111 is operated, the change information is acquired from the marker 102.

Thereby, the energy saving of the traveling vehicle 101 can be achieved without causing the information acquisition device 111 to always operate.

Further, the obstacle detector 113 may detect that the detection information of the reaction unit 125 is used as a trigger to control the movement control unit 115, and the traveling vehicle 101 is decelerated or stopped, and the information acquisition device 111 is decelerated to the predetermined position of the mobile vehicle 101. After the speed is below or after the stop, the change information is obtained from the marker 102.

In addition, when the information of the change has been obtained, the information indicating the presence of the obstacle detected by the obstacle detector 113 may be released, and the moving vehicle may be removed. 101 continues to move.

As a result, errors in the acquisition of change information can be greatly reduced.

Next, a method of changing the traveling state using the traveling vehicle system 100 as described above will be described.

Figure 6 is a plan view showing a predetermined travel path by arrows.

As shown in FIG. 6, the mobile vehicle 101 is scheduled to reach the destination 210 with the shortest travel path 200 (indicated by the dashed line in FIG. 6). However, since it is necessary to maintain the device 211 disposed in the vicinity of the predetermined travel path 200, the travel path 200 located in the vicinity of the device 211 must be set to be prohibited. In this case, the operator transports the marker 102 having the change information forbidding the right turn to the vicinity of the travel path 200 in which the transfer vehicle 101 on the side of the device 211 enters, and places it on the floor. On the surface.

The mobile vehicle 101 grasps the presence of the marker 102 in advance by the obstacle detector 113, and starts preparation for obtaining the change information from the marker 102.

The mobile vehicle 101 acquires the change information from the marker 102 by the information acquisition device 111 in the vicinity of the marker 102. In the case of the present embodiment, the obstacle detector 113 detects that the reaction unit 125 is a trigger to operate the information acquisition device 111, and acquires the change information from the marker 102.

Next, the changing unit 112 searches for the route based on the change information acquired from the marker 102, and changes the migration information. Specifically, for example, when the change information acquired by the information acquisition device 111 is a case where the right turn is prohibited, the change unit 112 determines whether or not the next branch point in the predetermined travel information is turned right. When the judgment result is a right turn, the route is not turned to the right and reaches the destination, and the travel information is changed. Furthermore, not only the exploration of the path, but also the predetermined number of Path and select any other change method such as other paths.

Figure 7 is a diagram showing the new migration path 200 after the change.

As shown in FIG. 7, the mobile vehicle 101 is a new travel route 200 in a region where the work is performed by the maintenance of the device 211 based on the new travel information changed by the change unit 112 (in FIG. 7 Moved in dotted lines.

According to the above, even a worker who does not have the expertise to rewrite the travel information of the mobile vehicle 101 can secure a safe work area only by placing the marker 102 in the vicinity of the travel path 200. Moreover, since the movement information of all the moving vehicles 101 can be changed only by providing the marker 102, the operation and time for rewriting the movement information can be omitted.

Further, for example, as shown in FIG. 8, a marker 102 having a change in speed reduction information may be provided in a portion starting from a predetermined section (indicated by a thick line in FIG. 8), and may be provided at the end portion. The marker 102 that cancels the change information of the speed drop is easily changed, and the moving state of the traveling vehicle 101 such as the speed of the predetermined section is easily changed. Specifically, for example, when the marker 102 having the change information of the speed drop of 50% is provided, the transfer vehicle 101 that has acquired the change information from the marker 102 moves at 50% of the predetermined travel speed. Thereafter, the speed is maintained until the position of the marker 102 having the change information of the release speed drop is reached, and when the change information is acquired from the marker 102, the speed is reduced, and the vehicle 101 is returned to the predetermined transition. speed.

Furthermore, the present invention is not limited to the above embodiment. For example, other embodiments in which the constituent elements described in the present specification are arbitrarily combined or a plurality of constituent elements are removed may be used as an embodiment of the present invention. Further, the above-described embodiments are expressed by the contents described in the patent scope without departing from the gist of the present invention. Modifications which can be obtained by various modifications of ordinary skill in the art to which the present invention pertains are also included in the present invention.

For example, as shown in FIG. 9, the base 124 may be fixed in advance in the vicinity of the travel path 200, and the revealing member 122 or the like may be detachably attached to the base 124.

Thereby, the positional relationship between the revealing member 122 and the reaction portion 125 with respect to the traveling path 200 can be always fixed, and the contact between the marker 102 and the traveling vehicle 101 can be avoided as much as possible. In particular, when the travel path 200 is imaginarily determined, since the travel path 200 cannot be visually recognized by a person, it is possible to prevent the marker 102 from exceeding the travel path 200 by mistakenly setting the place of the marker 102. error.

Further, a rotation stopper is provided between the base 124 and the pillar 123, and it is also possible to determine the direction in which the surface of the revealing member 122 faces.

Further, in a place where the marker 102 needs to be frequently disposed, the marker 102 may be rotatably preliminarily attached to the base 124 fixed to the floor surface or the like in a tiltable manner, and the marker 102 may be provided as needed. Stand up and configure. Thereby, the workability of the worker can be improved without carrying the marker 102.

(industrial availability)

The present invention can be utilized in a warehouse system or a factory system including a traveling vehicle that moves along a path on a floor surface or the like.

101‧‧‧Mobile car

102‧‧‧Marks

111‧‧‧Information acquisition device

113‧‧‧ obstacle detector

200‧‧‧Transition path

Claims (7)

A mobile vehicle system is provided with a traveler who moves on a predetermined travel route according to travel information, and has a freely dispositionable marker in the vicinity of the travel path of the transfer vehicle, and the travel vehicle has a news acquisition device that acquires change information included in the marker disposed in the vicinity of the travel route; and a change unit that changes the travel information based on change information acquired from the marker; the travel vehicle is based on The migration is performed by the new migration information changed by the change unit. The mobile car system of claim 1, wherein the identifier corresponds to the change information provided by the identifier, and displays a visually recognized visually identifiable sign. The mobile car system of claim 2, wherein the information acquisition device optically reads the visual identification mark to obtain change information. The traveling vehicle system according to any one of claims 1 to 3, wherein the moving vehicle has an obstacle detector for detecting an obstacle existing on and in the vicinity of the traveling path, the marker being provided with When the vicinity of the travel path, the information acquisition device is detected by the obstacle detector, and the information acquisition device is detected by the obstacle detector. The detection information of the reaction unit is described, and the change information is obtained from the marker. The traveling system of claim 4, wherein the moving vehicle is decelerated or stopped according to detection information that the obstacle detector has detected the reaction unit, and the information acquisition device is decelerated by the moving vehicle, or After the stoppage, the change information is obtained, and when the change information is obtained, the result of detecting the obstacle is released and the migration of the mobile vehicle is restarted. A mobile vehicle system is provided with a traveler who moves on a predetermined travel route based on travel information, wherein the travel vehicle includes an information acquisition device that acquires the marker that is freely disposed in the vicinity of the travel route The change information provided; and the change unit that changes the travel information based on the change information obtained from the mark; the transfer vehicle moves according to the new travel information changed by the change unit. A method for changing a state of transition is a method of changing a travel information provided in a travel vehicle having a travel route that travels on a predetermined travel route according to travel information, and is provided with a changeable information and a freely configurable marker. The change information included in the marker disposed in the vicinity of the travel route is acquired by the information acquisition device in the vicinity of the travel route of the mobile vehicle, and the change unit changes based on the change information acquired from the marker The above migration Information, and the moving vehicle is moved according to the new travel information changed by the change unit.