WO2014156501A1

WO2014156501A1 - Automatic guided vehicle

Info

Publication number: WO2014156501A1
Application number: PCT/JP2014/055380
Authority: WO
Inventors: 一登白根; 拓久哉中; 正木　良三
Original assignee: 株式会社日立産機システム
Priority date: 2013-03-25
Filing date: 2014-03-04
Publication date: 2014-10-02
Also published as: JP6109616B2; CN105103069B; CN105103069A; JP2014186680A

Abstract

Disclosed is a technique in which a laser area-measurement sensor is mounted on an automatic guided vehicle in a manner so as to include the rear thereof as a detection range, and in which the position and/or orientation of a cart are/is detected on the basis of the measurement result of the laser area-measurement sensor. This automatic guided vehicle is an automatic guided vehicle (100) capable of connecting with a cart (200) and transporting the same, and comprises a laser area-measurement sensor (105) capable of measuring the rear of the vehicle. The laser area-measurement sensor (105) detects the position and/or orientation of the cart (200). Particularly, on the basis of the measurement result of the laser area-measurement sensor (105), the automatic guided vehicle: approaches a cart (200) that is in the rear of the vehicle and not yet connected thereto, and connects with said cart (200); travels rearward with the cart (200) connected thereto; or stops traveling if the cart (200) that was connected to and traveling with the vehicle gets disconnected and the positional relationship between the vehicle and the cart (200) no longer corresponds to the positional relationship in a state where the vehicle and the cart were connected.

Description

Automated guided vehicle

The present invention relates to an automatic transport vehicle, and more particularly to a technique that is effective when applied to a cart pulling type automatic transport vehicle that can transport by connecting a cart.

As background art in this technical field, for example, there is JP-A-2009-288931 (Patent Document 1). This publication states that “when a transported object is connected to the own machine, the transported object is prevented from being shaken and interfering with the surrounding environment when avoiding an obstacle”. There is also JP-A-2004-98233 (Patent Document 2). This publication describes that “it provides an autonomous mobile robot that makes it possible to determine an optimal travel route”.

JP 2009-288931 A JP 2004-98233 A

In transport systems used in production lines and automated warehouses, automatic transport vehicles and mobile robots are often used. As control methods for these automatic transport vehicles and mobile robots, there are a method in which the travel locus is set in advance, and a method in which the vehicle travels while generating a travel locus during control execution. Naturally, the automated guided vehicles and mobile robots that generate a travel locus at the time of control execution are more flexible in avoiding obstacles and more free when changing routes than those that set the travel locus in advance. Excellent in degree.

On the other hand, in order to improve the efficiency of conveyance in a conveyance system using an automatic conveyance vehicle or a mobile robot, there are many materials that can be pulled by connecting a cart as an object to be conveyed to the automatic conveyance vehicle or mobile robot in the system. This is considered to be more effective. At this time, the trolley that is the object to be transported for the automated guided vehicle is considered to be motive power and power source from the viewpoint of its price, ease of structure, and degree of spread (provided in many ordinary factories). It is desirable not to have a device that requires.

As a result of examination by the present inventor on the trolley-to-carriage that pulls such a trolley with an automatic guided vehicle (AGV), the following has been clarified. For example, it has been found that there are the following problems when considering a case where goods are carried on a carriage between production lines in a factory. The description will be made in the order of <A: manual conveyance> and <B: automatic conveyance by an automatic conveyance vehicle> with reference to FIGS. FIG. 12 is a diagram for explaining an example of general manual conveyance. FIG. 13 is a diagram for explaining an example of automatic conveyance by a general automatic conveyance vehicle. FIG. 14 is a diagram for explaining an example of the size of the carriage yard and the trolley in FIG. 13, and FIG. 15 is a diagram for explaining an example of the positions of the work space and the trolley yard.

<A: Manual conveyance>
In the manual conveyance, as shown in FIG. 12, there are workers in the work space 1 and the work space 2, and work is performed using the facilities of the production facility 1 and the production facility 2. In the production facility 2, the articles produced in the production facility 1 are also used as materials. An operator in the work space 1 places an article produced by the production facility 1 on a carriage. When a predetermined number of articles are placed on the cart, the worker in the work space 1 places the cart in the cart yard 1. There is a transport worker between the production facility 1 and the production facility 2. When the transport worker finds a cart placed in the cart yard 1, the transport worker carries the cart to the cart yard 2.

・ Work space 1 and work space 2 cannot be accessed by anyone other than the respective worker because of obstacles to work or safety issues. Further, from the viewpoint of the work efficiency of the workers in the work space 1 and the work space 2 and the efficiency on the factory space, the distance between the carriage parking place 1 and the work space 1 and between the carriage parking place 2 and the work space 2 is It is desirable to be as short as possible.

<B: Automatic conveyance by automatic conveyance vehicle>
In the situation of FIG. 12 described above, as shown in FIG. 13, consider a case where labor is saved by replacing conveyance by a conveyance worker with conveyance by an automatic conveyance vehicle. Since the object to be transported is a cart, it is desirable that the automated transport vehicle is a cart pulling type automatic transport vehicle. The conveyance sequence by the automatic conveyance vehicle is as follows.
(1) In the cart yard 1, the automated guided vehicle automatically connects the carts.
(2) The automated guided vehicle travels to the trolley yard 2 while being connected to the trolley.
(3) In the cart yard 2, the automatic guided vehicle releases the connection with the cart.

In the above steps (1), (2), and (3), the following problems occur.

<< B1: Step (1) >>
In the case of manual conveyance as shown in FIG. 12 above, the carriage yard is often set by drawing a line on the floor or applying a tape or the like. At that time, in order to prevent a person from placing an excessive positioning burden when placing the cart, as shown in FIG. 14, a margin of about 10 cm may be provided in the front, rear, left and right with respect to the size of the cart. is there.

The position of the carriage placed in such a carriage yard varies about ± 10 cm depending on the situation.

By setting the size of the trolley to the limit of the size of the trolley, there will be no variation, but in that case, precise positioning is required when workers in the work space place the trolley at the trolley, and it takes time. As a result, work efficiency decreases.

In addition, some kind of jig can be installed in the trolley yard, but it may be difficult for reasons such as obstructing layout changes or obstructing pedestrians. In addition, some modifications can be made to the carts, but if the number of carts is large, modification is required for all the carts, and the cost of the modification becomes a problem.

Therefore, it is desirable that the automated guided vehicle can be automatically connected to a cart having a variation in position placed on the cart location without modifying the cart or the cart location.

<< B2: Step (2) >>
Although the cart and the automatic transport vehicle are connected via some connecting mechanism, the connection may be disconnected at an unintended place during traveling for some reason. In such a case, it is desirable that the automated guided vehicle stops traveling at that location and issues a warning by light or sound as necessary.

<< B3: About Step (3) >>
Since the automated guided vehicle is towed with a cart connected to the rear of the machine, as shown in FIG. A gap is required. Although this gap depends on the size of the automatic conveyance vehicle, even a generally known small automatic conveyance vehicle has a total length of nearly 1 m, and therefore it is required to be 1.5 m or more in consideration of travel allowance.

As described above, it is desirable that the distance between the work space and the carriage yard is close from the viewpoint of work efficiency and space efficiency, and such a gap causes a decrease in efficiency. Therefore, it is desirable to eliminate a gap between the work space and the carriage yard in order to reduce the distance between the work space and the carriage yard.

The problems related to steps (1), (2), and (3) above are individually resolved from the viewpoints of downsizing and cost reduction of automated guided vehicles and cost reduction of the entire system. It is desirable to solve the problem by preparing one solution for the automated guided vehicle rather than preparing it.

Therefore, the present invention has been made in view of the above-described problems, and a typical object thereof is to mount a laser range sensor on an automatic guided vehicle so as to include the rear of the own machine as a detection range. Another object of the present invention is to provide a technique for detecting one or both of the position and orientation of the carriage based on the measurement result of the laser range sensor.

The above and other objects and novel features of the present invention will be apparent from the description of this specification and the accompanying drawings.

Of the inventions disclosed in this application, the outline of typical ones will be briefly described as follows.

That is, a typical automated guided vehicle is an automated guided vehicle that can be transported by connecting carts, and has the following characteristics.

(1) The automated guided vehicle includes a laser range sensor capable of measuring the rear of the machine, and the laser range sensor detects one or both of the position and orientation of the carriage.

(2) The automated guided vehicle includes a laser range sensor capable of measuring the rear of the own machine, and is located behind the own machine and connected to the own machine based on a measurement result of the laser range sensor. Close to the cart that is not, and connect the cart.

(3) The automated guided vehicle includes a laser range sensor capable of measuring the back of the self-machine, and travels backward in a state where the cart is connected based on a measurement result of the laser range sensor.

(4) The automatic transport vehicle includes a laser range sensor capable of measuring a rear side of the own vehicle. Based on a measurement result of the laser range sensor, the cart that has been connected and disconnected is detached, When the positional relationship between the vehicle and the carriage does not correspond to the positional relationship in the connected state, the traveling is stopped.

Among the inventions disclosed in the present application, effects obtained by typical ones will be briefly described as follows.

In other words, a typical effect is that a laser range sensor is mounted on an automated guided vehicle so as to include the rear of the machine as a detection range, and one or both of the position and orientation of the carriage are determined by the measurement result of the laser range sensor Can be detected.

It is a figure for demonstrating an example of a structure of the automatic conveyance vehicle and trolley | bogie in one embodiment of this invention. In FIG. 1, it is the figure which looked at the automatic conveyance vehicle and the trolley | bogie from the upper surface. In FIG. 1, it is a figure for demonstrating an example of the measurement range of a laser range sensor. In FIG. 1, it is a figure for demonstrating an example of the control method which moves an automatic conveyance vehicle. In FIG. 1, it is a figure for demonstrating the principle which detects the position and direction of a trolley | bogie. In FIG. 1, it is a figure for demonstrating the relationship between the angle | corner of a trolley | bogie, and the triangle by a laser range sensor. In FIG. 1, it is a flowchart for demonstrating an example of the control method which connects an automatic conveyance vehicle to a trolley | bogie. In FIG. 7, it is a figure for demonstrating the positional relationship of an automatic conveyance vehicle and a trolley | bogie. In FIG. 1, it is a figure for demonstrating the garage putting system of an automatic conveyance vehicle. In FIG. 1, it is a flowchart for demonstrating an example of the control method which reverse | retreats an automatic conveyance vehicle in the state which connected the trolley | bogie. In FIG. 10, it is a figure for demonstrating the positional relationship of an automatic conveyance vehicle and a trolley | bogie. It is a figure for demonstrating an example of general manual conveyance. It is a figure for demonstrating an example of the automatic conveyance by a general automatic conveyance vehicle. In FIG. 13, it is a figure for demonstrating an example of the size of a trolley | bogie place and a trolley | bogie. In FIG. 13, it is a figure for demonstrating an example of the position of a work space and a truck parking place.

In the following embodiments, when it is necessary for the sake of convenience, the description will be divided into a plurality of embodiments or sections. However, unless otherwise specified, they are not irrelevant and one is the other. There are some or all of the modifications, details, supplementary explanations, and the like. Further, in the following embodiments, when referring to the number of elements (including the number, numerical value, quantity, range, etc.), particularly when clearly indicated, and when clearly limited to a specific number in principle, etc. Except, it is not limited to the specific number, and may be more or less than the specific number.

Further, in the following embodiments, the constituent elements (including element steps and the like) are not necessarily indispensable unless otherwise specified and apparently indispensable in principle. Needless to say. Similarly, in the following embodiments, when referring to the shape and positional relationship of components and the like, the shape is substantially the same unless otherwise specified and the case where it is not clearly apparent in principle. And the like are included. The same applies to the above numerical values and ranges.

[Outline of the embodiment]
First, an outline of the embodiment will be described. In the outline of the present embodiment, as an example, the description will be given with the corresponding components, reference numerals, etc. of the embodiment in parentheses.

A typical automated guided vehicle according to the present embodiment is an automated guided vehicle (100) that can be coupled to a cart (200) and has the following characteristics.

(1) The automated guided vehicle includes a laser range sensor (105) capable of measuring the rear side of the own vehicle, and the laser range sensor detects one or both of the position and orientation of the carriage (step (1)). , (2), one solution to the problem related to (3)).

(2) The automatic transport vehicle includes a laser range sensor (105) capable of measuring the rear side of the own machine, is located behind the own machine based on a measurement result of the laser range sensor, and the own machine And approaching the cart not connected to the vehicle to connect the cart (solution to the problem of step (1)).

(3) The automated guided vehicle includes a laser range sensor (105) capable of measuring the rear of the machine, and travels backward in a state where the cart is connected based on a measurement result of the laser range sensor ( Solution to the problem of step (3)).

(4) The automated guided vehicle includes a laser range sensor (105) capable of measuring the rear of the own vehicle, and the cart that has been connected and disconnected is removed based on the measurement result of the laser range sensor, When the positional relationship between the own machine and the cart does not correspond to the positional relationship in the connected state, the traveling is stopped (solution to the problem of step (2)).

An embodiment based on the outline of the present embodiment described above will be described in detail below based on the drawings. Note that components having the same function are denoted by the same reference symbols throughout the drawings for describing the embodiment, and the repetitive description thereof will be omitted.

[One Embodiment]
The automated guided vehicle and the cart connected to the automated guided vehicle in the present embodiment will be described with reference to FIGS.

<Configuration and operation of automated guided vehicle and cart>
The configuration and operation of the automated guided vehicle and the carriage in this embodiment will be described with reference to FIGS. FIG. 1 is a diagram for explaining an example of the configuration of the automatic transport vehicle 100 and the carriage 200. FIG. 2 is a view of the automatic transport vehicle 100 and the carriage 200 as viewed from above. FIG. 3 is a diagram for explaining an example of a measurement range of the laser range sensor 105. FIG. 4 is a diagram for explaining an example of a control method for moving the automatic transport vehicle 100.

FIG. 1 shows a configuration of an automated guided vehicle 100 according to the present embodiment and a carriage 200 that can be connected to and transported by the automated guided vehicle 100. The automated guided vehicle 100 according to the present embodiment is a trolley pulling type automated guided vehicle capable of connecting and transporting the trolley 200.

The automatic transport vehicle 100 includes a moving mechanism 101, a connecting mechanism 107, a connection detection sensor 108 that detects whether the carriage 200 is connected, an external sensor 104 that measures the surroundings of the own machine, A laser range sensor 105 for measuring the rear and a control device 106 are provided. Here, the own machine in the measurement of the external sensor 104 and the laser range sensor 105 refers to the main body of the automatic transport vehicle 100.

The moving mechanism 101 includes a driving wheel 102 connected via a device (not shown) for generating power and a power transmission mechanism (not shown) including a direct drive system (not shown). By rotating 102, the caster 103 which is a driven wheel is also rotated, and the automatic conveyance vehicle 100 can be moved. Here, an example in which the driving wheel 102 is provided on the rear side and the caster 103 is provided on the front side is illustrated. The configurations of the drive wheel 102 and caster 103 are not limited to this, and can be appropriately selected by those skilled in the art.

The connecting mechanism 107 is an arm-like mechanism attached to the rear portion of the automatic guided vehicle 100, and can be moved up and down around the root portion. A hole 110 is formed at the tip of the arm 109, and the automatic conveyance vehicle 100 and the cart 200 can be connected by lowering the arm 109 and hooking the hole 110 on the pin 203 provided in the cart 200. When the arm 109 is raised (indicated by a two-dot chain line in FIG. 1), the automatic conveyance vehicle 100 and the carriage 200 are separated. The raising and lowering of the arm 109 is not limited to this, but can be driven using, for example, a motor.

When the carriage 200 is connected to the automatic transport vehicle 100 via the connection mechanism 107, it is detected by the connection detection sensor 108 and transmitted to the control device 106. The connection detection sensor 108 is not limited to this, but for example, the angle of the arm can be measured with an encoder to detect the connection state. The connection detection sensor 108 may be a sensor that can detect the state of the arm 109. For example, a mechanical switch such as a limit switch may be used, or an electrical contact state may be detected.

Further, since the automatic transport vehicle 100 is provided with an external sensor 104 on the front surface of the automatic transport vehicle 100, the external sensor 104 detects buildings, objects, people, and the like around the automatic transport vehicle 100, and detects them. The information can be acquired and the content can be transmitted to the control device 106 for processing. The external sensor 104 is not limited to this, and for example, a laser distance sensor that scans with an infrared laser and detects the distance to surrounding buildings, objects, people, and the like is used.

Furthermore, in the present embodiment, a laser range sensor 105 for measuring the rear of the own machine is also provided on the rear side of the upper surface of the automatic transport vehicle 100. The laser range sensor 105 can detect a carriage 200 behind the automated guided vehicle 100 and acquire information such as the position and orientation of the carriage 200, and the contents can be transmitted to the control device 106 for processing. The laser range sensor 105 is not limited to this. For example, a laser distance sensor that scans with an infrared laser and detects the distance from the carriage 200 is used.

And the control apparatus 106 controls the moving mechanism 101 so that the trolley | bogie 200 can be conveyed. Specifically, based on the current position of the automated guided vehicle 100 obtained based on the information acquired by the external sensor 104, the target position, and the surrounding conditions of the automated guided vehicle 100, the moving mechanism 101 A traveling control signal is transmitted to the vehicle to perform traveling control. Further, based on the position and orientation of the carriage 200 obtained based on the information acquired by the laser range sensor 105, traveling such as when the carriage 200 is connected or when the carriage 200 is connected and transported is controlled. .

In the automatic guided vehicle 100 according to the present embodiment, identification of the current position of the automatic guided vehicle 100 and the like are realized by a map generation and position identification function provided in the control device 106. The map generation function statistically processes measurement information of the environment (such as surrounding buildings and objects) collected in advance by the external sensor 104, and creates a map of the environment in which the automated guided vehicle 100 moves. The position identification function matches the measurement information measured by the external sensor 104 and a previously created map when the automated guided vehicle 100 actually moves, and the position where the measurement information and the map match ( x, y) and posture (θ) can be calculated to identify the position of the aircraft.

As described above, the automated guided vehicle 100 according to the present embodiment is a trackless automated guided vehicle capable of autonomously traveling according to the situation by obtaining its own position without guidance equipment. In this autonomous traveling, it is possible to decelerate, avoid, stop, etc. according to the distance from the obstacle by detecting the obstacle by the external sensor 104. Furthermore, it is possible to automatically select and travel to a designated target point such as a route with the shortest time, a route with no obstacles, or a route without traffic jams.

The cart 200 connected to the automated guided vehicle 100 according to the present embodiment can be appropriately selected by those skilled in the art. For example, the cart 200 includes two casters 201 and two universal casters 202. . Here, an example in which the caster 201 is provided on the rear side and the universal caster 202 is provided on the front side is illustrated.

FIG. 2 is a top view of the configuration of the automatic conveyance vehicle 100 and the carriage 200 shown in FIG. 1, and shows the front direction of the laser range sensor 105 provided in the automatic conveyance vehicle 100 in the present embodiment. FIG. 3 shows an example of the measurement range of the laser range sensor 105.

The laser range sensor 105 is attached to the rear side of the upper surface of the automated guided vehicle 100 as shown in FIG. Then, as shown in FIG. 3, the laser range sensor 105 measures a range of about 220 ° behind the automated guided vehicle 100, and in particular, a carriage 200 to be connected to the rear of the automated guided vehicle 100, Alternatively, the connected cart 200 is detected, and information such as the position and orientation of the cart 200 is acquired and transmitted to the control device 106.

FIG. 4 is a diagram for explaining an example of a control method for moving the automatic guided vehicle 100 shown in FIG. 1, and shows a configuration of wheels included in the automatic guided vehicle 100 in the present embodiment.

The moving mechanism 101 of the automatic transport vehicle 100 includes two drive wheels 102, a left drive wheel 102L and a right drive wheel 102R. The left driving wheel 102L and the right driving wheel 102R are arranged in parallel with each other and fixed in the direction toward the traveling direction of the automatic guided vehicle 100. The drive wheel 102 includes a drive wheel whose steering angle can be controlled in addition to a drive wheel whose direction is fixed. Furthermore, the automatic transport vehicle 100 includes a left caster 103L and a right caster 103R as casters 103 as driven wheels. The caster 103 includes a caster whose direction is fixed, a free caster whose direction is not fixed, a caster capable of controlling the rudder angle, and the like. Here, a free caster is used.

The rotation speed of the left driving wheel 102L and the right driving wheel 102R can be controlled independently. For example, when the rotation speeds of the left driving wheel 102L and the right driving wheel 102R are equal, the automatic transport vehicle 100 goes straight, and when the rotation speeds of the left driving wheel 102L and the right driving wheel 102R are different, the automatic transport vehicle 100 is Make a turn. In this case, the curvature of the curve is determined by the difference in rotation speed between the left drive wheel 102L and the right drive wheel 102R. Further, the straight movement and the turning are not limited to the forward movement, and the backward movement is also possible.

For example, if the rotation speed per unit time of the left drive wheel 102L is larger than the rotation speed per unit time of the right drive wheel 102R, the automatic guided vehicle 100 turns rightward. On the other hand, when the rotation speed per unit time of the left drive wheel 102L is smaller than the rotation speed per unit time of the right drive wheel 102R, the automatic guided vehicle 100 turns leftward.

Also, when the rotation direction of the left driving wheel 102L and the rotation direction of the right driving wheel 102R are opposite to each other, the automatic guided vehicle 100 turns on the spot.

In FIG. 1, the cart 200 connected to the automatic transport vehicle 100 includes, for example, two casters 201 whose directions are fixed in the traveling direction of the cart 200 and two universal casters 202 whose directions are not fixed. Yes.

<Solutions to the problem of automatic conveyance by conventional automatic conveyance vehicles>
With reference to FIGS. 5 to 11, a solution to the problem of automatic conveyance by a conventional automatic conveyance vehicle in the automatic conveyance vehicle according to the present embodiment will be described. FIG. 5 is a diagram for explaining the principle of detecting the position and orientation of the carriage 200. FIG. 6 is a diagram for explaining the relationship between the angle of the carriage 200 and the triangle by the laser range sensor 105.

As described above, the automated guided vehicle 100 according to the present embodiment is equipped with the laser range sensor 105 so as to include the rear side of the own machine as a detection range, and the position of the carriage 200 is determined by the measurement result of the laser range sensor 105. Or one or both of the orientations can be detected. An example of the principle of detecting the position and orientation of the carriage 200 will be described with reference to FIGS.

(1) When the carriage 200 enters the measurement range of the laser range sensor 105, the laser light emitted from the laser range sensor 105 hits the front surface of the carriage 200 as shown in FIG. The distance to the front surface of 200 is measured.

(2) On the other hand, the laser beam that did not hit the front surface of the carriage 200 hits an object far from the carriage 200, and the distance to that point is measured. Usually, the point to be measured is a point sufficiently far away from the cart 200, so that it can be distinguished from the front surface of the cart 200. Thereby, the corners (both ends of the front surface) of the carriage 200 can be detected.

(3) The angle direction of the carriage 200 detected in (2) as seen from the laser range sensor 105 is a laser irradiation direction as shown in FIG. 6 and is known. Further, the distance to the corner of the carriage 200 is the measurement result itself by the laser range sensor 105. Thus, the position and orientation of the carriage 200 relative to the laser range sensor 105 can be detected by calculating from the relationship between the angle of the carriage 200 and the triangle by the laser range sensor 105.

Note that the method of actually calculating the position and orientation of the carriage 200 from the measurement result of the laser range sensor 105 is not limited to this.

<< B1: Solution to the problem of step (1) >>
Step (1) is a step in which the automatic transport vehicle 100 automatically connects the cart 200 in the cart storage area. The solution to the problem of step (1) is that the automatic guided vehicle 100 is automatically connected to the cart 200 with a variation in the position of the cart 200 without modifying the cart 200 or the cart location. Is to be able to do it.

As described above, the connecting mechanism 107 that connects the cart 200 and the automatic transport vehicle 100 is lowered by lowering the arm 109 attached to the rear portion of the automatic transport vehicle 100 and forming a hole 110 formed at the tip of the arm 109. Hook on the pin 203 provided on the carriage 200. Thereby, the automatic conveyance vehicle 100 and the trolley | bogie 200 can be connected. When the cart 200 is connected to the automatic transport vehicle 100, it is detected by the connection detection sensor 108 and transmitted to the control device 106.

In addition, as described above, if the position and orientation of the carriage 200 are known from the measurement result of the laser range sensor 105, the position and orientation of the automated guided vehicle 100 that can be connected to the carriage 200 can be set. Using the position and orientation that can be connected to the carriage 200 as a target point, the automatic guided vehicle 100 is moved toward the target point. As a control method for connecting the automatic transport vehicle 100 to the carriage 200, for example, there are methods as shown in FIGS. FIG. 7 is a flowchart for explaining an example of a control method for connecting the automatic guided vehicle 100 to the cart 200, and FIG. 8 is a diagram for explaining the positional relationship between the automatic guided vehicle 100 and the cart 200 in the control method. .

First, the position and orientation of the carriage 200 are detected by the laser range sensor 105 (S301). The positional relationship between the automatic transport vehicle 100 and the carriage 200 in S301 is as shown in FIG. This detection information is transmitted to the control device 106.

Next, the control device 106 determines whether the position and orientation of the carriage 200 have been detected (S302). If it is not detected as a result of the determination in S302, after waiting for a certain time (S303), the process returns to S301. If it is detected as a result of the determination in S302, the automatic guided vehicle 100 turns on the spot (S304). The positional relationship between the automatic transport vehicle 100 and the carriage 200 in S304 is as shown in FIG.

Next, the control device 106 determines whether the rear front of the own machine (automatic transport vehicle 100) is facing the direction of the target point (cart 200) (S305). If the result of determination in S305 is not suitable, the process returns to S304. As a result of the determination in S305, if the vehicle is facing, the automatic guided vehicle 100 moves straight back (S306). The positional relationship between the automatic transport vehicle 100 and the carriage 200 in S306 is as shown in FIG.

Next, the control device 106 determines whether the automatic guided vehicle 100 has reached the target point (S307). As a result of the determination in S307, if not reached, the process returns to S306. As a result of the determination in S307, if the vehicle arrives, the automatic guided vehicle 100 turns on the spot (S308). The positional relationship between the automatic transport vehicle 100 and the carriage 200 in S308 is as shown in FIG.

Next, the control device 106 determines whether the rear front of the own machine (the automatic transport vehicle 100) faces the direction of the carriage 200 (S309). If the result of determination in S309 is not suitable, the process returns to S308. If the result of determination in S309 is that the vehicle is facing, the automatic guided vehicle 100 stops traveling (S310). And the control apparatus 106 operates the connection mechanism 107, and connects with the trolley | bogie 200 (S311). The positional relationship between the automated guided vehicle 100 and the carriage 200 in S311 is as shown in FIG.

As described above, the automated guided vehicle 100 can be automatically connected to the cart 200 having a variation in the positions of the carts without changing the cart 200 or the carts.

<< B2: Solution to the Problem of Step (2) >>
Step (2) is a step in which the automated guided vehicle 100 travels to the trolley parking place in a state where it is connected to the trolley 200. The solution to the problem of step (2) is that if the connection is disconnected at an unintended location during traveling, the automatic guided vehicle 100 stops traveling at that location, and an alarm by light or sound as necessary. Is to be able to emit.

Since the cart 200 and the automatic transport vehicle 100 are mechanically connected during the traveling of the automatic transport vehicle 100 and the cart 200, the position of the cart 200 is relative to the automatic transport vehicle 100 in the measurement result of the laser range sensor 105. It falls within a certain range. For example, in FIG. 3 described above, the carriage 200 falls within the measurement range of the laser range sensor 105.

When the cart 200 and the automatic transport vehicle 100 are disconnected, the cart 200 is left behind because it has no power. For this reason, the position of the carriage 200 deviates from the assumed range. For example, in FIG. 3 described above, the carriage 200 deviates from the measurement range of the laser range sensor 105. In this case, the control device 106 stops the automatic conveyance vehicle 100 and issues an alarm by light or sound.

As described above, when the connection is disconnected at an unintended location during traveling, the automatic guided vehicle 100 can stop traveling at the location and issue an alarm by light or sound.

<< B3: Solution to the Problem of Step (3) >>
Step (3) is a step in which the automatic guided vehicle 100 releases the connection with the cart 200 in the cart storage area. The solution to the problem of step (3) is to make it possible to eliminate the gap between the work space and the carriage yard in order to reduce the distance between the work space and the carriage yard.

For this purpose, a garage storing method of the automatic guided vehicle 100 as shown in FIG. 9 is adopted. FIG. 9 is a diagram for explaining a garage storage method of the automatic transport vehicle 100. As shown in FIG. 9, the carriage 200 may be inserted into the carriage parking place 2 from behind so that the automated guided vehicle 100 does not enter between the carriage parking place 2 and the work space 2. In order to insert the carriage 200 from behind, the automatic guided vehicle 100 may be turned back in front of the carriage parking place 2 and moved backward. In this way, the cart 200 connected to the automatic transport vehicle 100 is put into the cart parking place 2 by the garage storage method.

When the direction of the carriage 200 relative to the own machine can be measured, a control method for moving the automatic guided vehicle 100 backward is, for example, a method as shown in FIGS. Conversely, when the direction of the carriage 200 relative to the own machine cannot be measured, the automatic guided vehicle 100 cannot be moved backward.

FIG. 10 is a flowchart for explaining an example of a control method for retracting the automatic transport vehicle 100 in a state where the cart 200 is connected. FIG. 11 is a diagram for explaining the positional relationship between the automatic transport vehicle 100 and the cart 200 in the control method. FIG.

First, the position and orientation of the carriage 200 are detected by the laser range sensor 105 (S401). This detection information is transmitted to the control device 106.

Next, the control device 106 determines whether the position and orientation of the carriage 200 have been detected (S402). As a result of the determination in S402, if it cannot be detected, an alarm is issued (S403) and the process ends.

If it is detected as a result of the determination in S402, next, the control device 106 determines whether the directions of the carriage 200 and the own machine (automatic conveyance vehicle 100) are aligned (S404). If the result of determination in S404 is that they are complete, the automated guided vehicle 100 moves straight back (S405). The positional relationship between the automated guided vehicle 100 and the carriage 200 in S405 is as shown in FIG.

If the result of determination in S404 is that they are not complete, it is next determined whether the carriage 200 is facing right with respect to the own machine (automatic conveyance vehicle 100) (S406). As a result of the determination in S406, if the vehicle is facing right, the automatic guided vehicle 100 moves backward while turning right (S407). The positional relationship between the automated guided vehicle 100 and the carriage 200 in S407 is as shown in FIG.

As a result of the determination in S406, if the vehicle is facing left, the automatic guided vehicle 100 moves backward while turning left (S408). The positional relationship between the automated guided vehicle 100 and the carriage 200 in S408 is as shown in FIG.

After the end of S405, S407, and S408, the control device 106 determines whether or not the automatic guided vehicle 100 has reached the target point (cart location) (S409). As a result of the determination in S409, if not reached, the process returns to S401. If the result of the determination in S409 is that it has reached, the automatic guided vehicle 100 stops traveling (S410).

As described above, by inserting the carriage 200 into the carriage yard from behind, the gap between the work space and the trolley yard can be eliminated.

<Effect of one embodiment>
According to the automatic transport vehicle 100 and the cart 200 connected to the automatic transport vehicle 100 in the present embodiment described above, the following effects can be obtained.

(1) The automated guided vehicle 100 includes a laser range sensor 105 that can measure the rear of the vehicle, and the laser range sensor 105 can detect one or both of the position and orientation of the carriage 200. .

(2) The automated guided vehicle 100 includes a laser range sensor 105 that can measure the rear side of the own vehicle, so that the automated guided vehicle 100 automatically connects the cart 200 in the carriage yard. On the basis of the measurement result, the vehicle 200 can be approached and connected to the vehicle 200 that is behind the vehicle and is not connected to the vehicle.

(3) The automated guided vehicle 100 includes a laser range sensor 105 that can measure the rear side of the own vehicle, so that the automated ranging vehicle 100 is disconnected from the cart 200 in the carriage yard. On the basis of the measurement result, it is possible to travel backward with the carriage 200 connected.

(4) The automatic transport vehicle 100 includes a laser range sensor 105 that can measure the rear of the own vehicle, and the laser range sensor is a step in which the automatic transport vehicle 100 travels to the trolley parking place in a state of being connected to the trolley 200. Based on the measurement result of 105, when the cart 200 that has traveled in a connected manner is disconnected, and the positional relationship between the vehicle and the cart 200 does not correspond to the positional relationship in the coupled state, the travel can be stopped. .

(5) The automatic transport vehicle 100 includes the control device 106 that controls the operation of the own device based on the measurement result of the laser range sensor 105, thereby controlling the travel of the own device by the control device 106 and the cart. 200 connections can be controlled.

(6) From the above (1) to (5), the control device 106 combines a plurality of operations (2) to (4) based on the result detected by the laser range sensor 105 of (1). Can be controlled.

(7) Since the automated guided vehicle 100 includes the external sensor 104 that can measure the surroundings of the own machine, the control device 106 can control the traveling of the own machine including the measurement result of the external sensor 104.

(8) Since the automatic guided vehicle 100 includes the connection detection sensor 108 that can detect the connection between the self-machine and the cart 200, the control device 106 includes the detection result of the connection detection sensor 108 so that the self-machine travels. Can be controlled.

(9) Since the automatic conveyance vehicle 100 includes the moving mechanism 101 that moves the own machine, the control device 106 can control the movement of the own machine by controlling the moving mechanism 101.

(10) Since the automatic transport vehicle 100 includes the connection mechanism 107 that can be connected to and disconnected from the carriage 200, the control device 106 controls the connection mechanism 107 to connect and disconnect the own apparatus and the carriage 200. Can be controlled.

As mentioned above, the invention made by the present inventor has been specifically described based on the embodiment. However, the present invention is not limited to the embodiment, and various modifications can be made without departing from the scope of the invention. Needless to say. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described. Further, it is possible to add, delete, and replace other configurations with respect to a part of the configuration of the above-described embodiment.

For example, in the above-described embodiment, the automatic guided vehicle has been described. However, the present invention is not limited to this, and can be applied to an autonomous moving body such as a robot that moves autonomously.

DESCRIPTION OF SYMBOLS 100 Automatic conveyance vehicle 101 Movement mechanism 102 Driving wheel 103 Caster 104 External sensor 105 Laser range sensor 106 Control device 107 Connection mechanism 108 Connection detection sensor 109 Arm 110 Hole 200 Cart 201 Caster 202 Caster 203 Pin

Claims

An automated guided vehicle that can transport by connecting carts,
An automatic transport vehicle that includes a laser range sensor capable of measuring the rear of the vehicle, and detects one or both of the position and orientation of the carriage by the laser range sensor.
An automated guided vehicle that can transport by connecting carts,
A laser range sensor capable of measuring the rear of the aircraft, and based on the measurement result of the laser range sensor, the vehicle is located behind the vehicle and is not connected to the vehicle. An automated guided vehicle that connects the carts.
An automated guided vehicle that can transport by connecting carts,
An automatic transport vehicle that includes a laser range sensor capable of measuring the rear of its own machine and travels backward in a state where the cart is connected based on a measurement result of the laser range sensor.
An automated guided vehicle that can transport by connecting carts,
Provided with a laser range sensor capable of measuring the rear of the own machine, based on the measurement result of the laser range sensor, the cart that was traveling in conjunction is disconnected, and the positional relationship between the own machine and the cart is connected An automated guided vehicle that stops traveling when it no longer corresponds to the positional relationship of the state.
In the automatic guided vehicle according to any one of claims 1 to 4,
Further, a control device for controlling the operation of the own machine based on the measurement result of the laser range sensor,
The said control apparatus is an automatic conveyance vehicle which controls the driving | running | working of the said own machine, and controls the connection of the said trolley | bogie.
In the automatic conveyance vehicle of Claim 5,
The controller is
Based on the result of detecting one or both of the position or orientation of the carriage by the laser range sensor,
An operation of approaching the carriage that is behind the own machine and not connected to the own machine to connect the carriage;
An operation of traveling backward with the cart connected;
The operation of stopping traveling when the cart that has been connected and running is disengaged, and the positional relationship between the own vehicle and the cart no longer corresponds to the positional relationship of the connected state;
An automated guided vehicle that controls multiple combinations.
In the automatic conveyance vehicle of Claim 5,
Furthermore, an external sensor capable of measuring the surroundings of the own machine is provided,
The said control apparatus is an automatic conveyance vehicle which controls the driving | running | working of the said own machine based on the measurement result of the said external sensor.
In the automatic conveyance vehicle of Claim 5,
Furthermore, a connection detection sensor capable of detecting the connection between the own machine and the carriage is provided,
The said control apparatus is an automatic conveyance vehicle which controls the driving | running | working of the said own machine based on the detection result of the said connection detection sensor.
In the automatic conveyance vehicle of Claim 5,
Furthermore, a moving mechanism for moving the machine is provided,
The said control apparatus is an automatic conveyance vehicle which controls the driving | running | working of the said own machine by controlling the said moving mechanism.
In the automatic conveyance vehicle of Claim 5,
Furthermore, a connection mechanism that can be connected to and disconnected from the carriage is provided,
The said control apparatus is an automatic conveyance vehicle which controls the said connection mechanism and controls connection and disconnection of the said own machine and the said trolley | bogie.