WO2016103562A1 - Traveling vehicle system and traveling state changing method - Google Patents

Traveling vehicle system and traveling state changing method Download PDF

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Publication number
WO2016103562A1
WO2016103562A1 PCT/JP2015/005704 JP2015005704W WO2016103562A1 WO 2016103562 A1 WO2016103562 A1 WO 2016103562A1 JP 2015005704 W JP2015005704 W JP 2015005704W WO 2016103562 A1 WO2016103562 A1 WO 2016103562A1
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Prior art keywords
traveling
information
traveling vehicle
marker
change
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PCT/JP2015/005704
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French (fr)
Japanese (ja)
Inventor
康郎 平古場
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村田機械株式会社
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Priority to JP2016565874A priority Critical patent/JPWO2016103562A1/en
Publication of WO2016103562A1 publication Critical patent/WO2016103562A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present invention relates to a traveling vehicle system including a traveling vehicle that automatically travels along a predetermined traveling route.
  • the traveling vehicle stores in advance a map of an area in which the traveling vehicle can travel and a travel route that determines which path on the map the vehicle travels.
  • the vehicle is controlled by its own judgment based on the current information and the current position and the current traveling state (see, for example, Patent Document 1).
  • the traveling vehicle since the traveling vehicle cannot travel on the planned traveling route, the worker needs to re-input information indicating the new traveling route to the traveling vehicle.
  • Such a rewriting operation of the traveling route of the traveling vehicle requires a certain amount of specialized knowledge, and the operation requires time.
  • This invention is made
  • a traveling vehicle system is a traveling vehicle system including a traveling vehicle that travels on a traveling route determined based on traveling information, and is located near the traveling route of the traveling vehicle.
  • the traveling vehicle includes an information acquisition device that acquires change information included in the marker disposed in the vicinity of the travel route, and change information acquired from the marker.
  • a change unit that changes the travel information, and travels based on the new travel information changed by the change unit.
  • the worker can simply change the traveling route of the traveling vehicle even if the worker has no specialized knowledge only by placing the marker near the traveling route.
  • the marker may be displayed with a visual recognition mark corresponding to change information provided in the marker and visible to a person.
  • the information acquisition device may be one that optically reads the visual recognition mark and acquires change information.
  • the traveling vehicle includes an obstacle detector that detects an obstacle present on and in the vicinity of the traveling route, and the marker is attached to the obstacle detector when disposed in the vicinity of the traveling route.
  • a reaction unit to be detected may be provided, and the information acquisition device may acquire change information from the marker based on detection information including that the obstacle detector has detected the reaction unit.
  • the traveling vehicle decelerates or stops based on detection information including that the obstacle detector has detected the reaction unit, and the information acquisition device causes the traveling vehicle to decelerate or stop.
  • Change information may be acquired from
  • the probability that the information acquisition device acquires change information can be improved, and the occurrence of a state in which the traveling vehicle travels unexpectedly against the sign body can be prevented.
  • a traveling state changing method is a traveling vehicle system including a traveling vehicle traveling along a traveling route determined based on traveling information.
  • a change method comprising change information that is provided with change information and can be freely arranged in the vicinity of the travel route of the traveling vehicle, and the change information provided in the sign body disposed in the vicinity of the travel route is information
  • the travel unit is changed based on the change information acquired by the acquisition device and acquired from the marker, and the travel vehicle is driven based on the new travel information changed by the change unit.
  • the worker can simply change the traveling route of the traveling vehicle even if the worker has no specialized knowledge only by placing the marker near the traveling route.
  • the traveling state of the traveling vehicle can be changed by a simple method.
  • FIG. 1 is a plan view showing the traveling vehicle system from above.
  • FIG. 2 is a perspective view showing a sign body and a traveling vehicle that travels in the vicinity of the sign body.
  • FIG. 3 is a perspective view showing the marker.
  • FIG. 4 is a block diagram illustrating a functional unit included in the traveling vehicle together with a mechanism unit.
  • FIG. 5 is a diagram illustrating an example of the visual recognition mark.
  • FIG. 6 is a plan view showing a planned travel route with an arrow.
  • FIG. 7 is a diagram illustrating a new travel route after the change.
  • FIG. 8 is a diagram illustrating the travel state 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.
  • FIG. 1 is a plan view showing the traveling vehicle system from above.
  • the traveling vehicle system 100 is a system including a traveling vehicle 101 that travels automatically (autonomously) along a traveling route 200 and includes a marker 102.
  • FIG. 2 is a perspective view showing a sign body and a traveling vehicle traveling in the vicinity of the sign body.
  • FIG. 3 is a perspective view showing the marker.
  • the sign body 102 is a member that can be freely arranged in the vicinity of the travel route 200 of the traveling vehicle 101, and is a member that carries change information for changing traveling information held by the traveling vehicle 101. .
  • the freely arrangeable member is, for example, a size and weight that can be carried by human power, and if necessary, the marker 102 is arranged near the travel route 200 by human power. It is a member of the grade which can do.
  • the travel route 200 may be a route virtually formed on a map or the like based on travel information as well as a case where there is an actually visible route.
  • the sign body 102 is a member that can be placed upright on a floor surface or the like, and the posting member 122, the support column 123, and the base 124 can be carried together. I have.
  • the change information only needs to have a role as an identification code for changing the travel information held by the traveling vehicle 101. That is, the change information may include specific information for changing the travel information, and the change information includes a plurality of types of information for change stored in the controller of the traveling vehicle 101 or the like. Information for identification may be included.
  • the posting member 122 is a member that can post a visual recognition mark 121 that can be visually recognized by a person.
  • the shape of the posting member 122 is not particularly limited, but in the case of the present embodiment, it is a thin plate-like member, and the visual recognition mark 121 is posted on one surface.
  • the sign body 102 includes a plurality of posting members 122 (two in this embodiment), and is wide by arranging the back side of the posting member 122 on which the visual recognition mark 121 is not posted to face inward.
  • the visual recognition mark 121 can be visually recognized from the range.
  • the visual recognition mark 121 posted on the posting member 122 corresponds to the change information included in the sign body 102, and when the visual recognition mark 121 is visually recognized by an operator or the like, the sign body 102 on which the visual recognition mark 121 is posted is the traveling vehicle 101. It is possible to recognize how to change the traveling information. That is, the visual recognition mark 121 is an individual mark composed of the same or more types as the type of change information, and is a mark representing the same content as the change information. Specifically, the visual recognition mark 121 shown in FIG. 3 is a mark that allows a person to recognize that a right turn is prohibited, and the marker 102 on which the visual recognition mark 121 is posted turns the information of the traveling vehicle 101 about to make a right turn. It is to be changed to other information.
  • the marker 102 does not include any member or device that carries the change information.
  • the marker 102 may separately include an information carrying member such as a barcode or an information carrying device such as an RF tag as a member carrying the change information.
  • the design of the visual recognition mark 121 may be determined so that the carried information and the visual recognition mark 121 correspond (for example, one-to-one correspondence).
  • the information carried on the marker 102 and the visual recognition mark 121 are associated with each other, and the behavior of the traveling vehicle 101 based on the carried information may coincide with the recognition of the worker who visually recognizes the visual recognition mark 121.
  • the support post 123 maintains the posting member 122 at the height of the human eye so that a person standing on the visual recognition mark 121 can easily recognize, and maintains the posting member 122 at a position that does not hinder the traveling of the traveling vehicle 101. It is a structural member for doing.
  • pillar 123 is not an indispensable member of the marker 102, for example, if the posting member 122 is an elongate member extended to a floor surface, the support
  • the base 124 is a structural member that is placed on a floor surface or the like to maintain the posting member 122 in a predetermined position.
  • the base 124 needs a certain amount of weight to stabilize the position of the posting member 122, but has a weight that satisfies the portability of the marker 102.
  • the marker 102 includes a reaction unit 125.
  • the reaction unit 125 is a member that is attached so that the marker 102 disposed in the vicinity of the travel route 200 is detected by an obstacle detector 113 (described later) included in the travel vehicle 101.
  • the reaction part 125 is arrange
  • it is arranged between the base 124 and the posting member 122 so as to protrude from the support post 123 of the marker 102 toward the travel route 200.
  • the reaction unit 125 preferably has a property that can be distinguished from actual obstacles such as luggage and people.
  • the reaction unit 125 may be configured by a reflecting member such as a mirror having high light reflectance.
  • the light reflected by the reaction unit 125 is preferable because the intensity detected by the obstacle detector 113 is clearly different from the light reflected from the normal obstacle, and the reaction unit 125 can be identified. .
  • the marker 102 does not include the reaction unit 125 separately, and a part of the posting member 122 or the base 124 may function as the reaction unit 125.
  • FIG. 4 is a block diagram showing a functional unit included in the traveling vehicle together with a mechanism unit.
  • the traveling vehicle 101 is a vehicle that travels on a travel route determined based on predetermined travel information.
  • the traveling vehicle 101 is a transport vehicle capable of transporting loads, and a transfer device (see FIG. 5) that can transfer loads to and from other equipment such as industrial machines and stations. Not shown). Further, the traveling vehicle 101 does not move along the rail, but can travel on a travel route virtually determined in advance as information while autonomously recognizing the position.
  • the travel information refers to map information indicating a region where the traveling vehicle 101 can travel, the traveling vehicle 101 searches based on the map information by itself, a travel route to a predetermined destination, and an input travel It includes information on the route, the speed at the time of traveling, information indicating the traveling state such as whether to switch back, information on the destination, and the like.
  • the traveling vehicle 101 includes an information acquisition device 111 and a changing unit 112.
  • the traveling vehicle 101 includes an obstacle detector 113, a storage unit 114 that stores traveling information and the like, and a traveling control unit 115 that controls traveling of the traveling vehicle 101 based on the traveling information. ing.
  • the information acquisition device 111 is a device that acquires change information provided in the sign body 102 arranged in the vicinity of the travel route.
  • the information acquisition device 111 is not particularly limited as long as it can acquire change information.
  • the information acquisition device 111 is an apparatus that can identify the visual recognition mark 121 by image analysis or the like. I just need it.
  • the information acquisition device 111 includes a camera that can optically read the visual recognition mark 121 and acquire a digital image, and an image analysis that can identify the shape of the visual recognition mark 121 by analyzing the obtained digital image.
  • An apparatus that includes a program and acquires change information can be exemplified.
  • the traveling vehicle 101 includes information acquisition devices 111 on both the left and right sides in the traveling direction of the traveling vehicle 101. This is because the change information can be acquired even when the marker 102 is arranged on either side of the travel route 200.
  • the information acquisition device 111 may be a device corresponding to the change information holding member or the support device included in the marker 102.
  • the information acquisition device 111 may be When the change information is written in 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 that the traveling vehicle 101 has traveled based on the change information acquired by the information acquisition device 111 from the marker 102 to new travel information.
  • the change unit 112 confirms whether or not to make a right turn at the next branch point in predetermined travel information, and turns right. If so, the previous travel information is read out from the storage unit 114, the destination is extracted, and the travel route that reaches the destination without making a right turn on the fork (branch point) immediately after the change information is acquired is searched again. You can change to new driving information.
  • a plurality of pieces of travel information may be stored in the storage unit 114 in advance, and when the change information is acquired, the plurality of pieces of travel information may be changed to optimum travel information that takes the change information into account. As described above, the traveling state of the traveling vehicle 101 ahead of the marker 102 can be changed.
  • the changing unit 112 controls the traveling control unit 115 based on the new traveling information that has been changed to cause the traveling vehicle 101 to travel.
  • the change information is not limited to turning right and left, but is information for reducing the speed of the traveling vehicle 101 (for example, 50%), information for prohibiting switchback, or the original travel information by releasing these restrictions.
  • the information to be changed, the information to be changed to the original traveling information by canceling all of the traveling information changed based on the marker 102 may be used.
  • the term “traveling state” is used to include not only the traveling speed of the traveling vehicle 101 but also the traveling route.
  • the visual recognition mark 121 corresponding to the change information that prohibits straight traveling at the next branch point is as shown in FIG. 5A
  • the visual recognition corresponding to the change information that prohibits the right turn at the next branch point is as shown in FIG. 5B
  • the visual recognition mark 121 corresponding to the change information prohibiting the left turn at the next branch point is as shown in FIG.
  • the visual recognition mark 121 corresponding to the change information to be reduced by 50% is as shown in FIG. 5D
  • the visual recognition mark 121 corresponding to the change information to reduce the speed of the traveling vehicle 101 by 30% is shown in FIG.
  • the visual mark 121 corresponding to the change information for releasing the speed reduction is as shown in FIG.
  • FIG. 5F and the visual mark 121 corresponding to the change information prohibiting the switchback is shown in FIG.
  • the visual recognition mark 121 corresponding to the change information for canceling the switchback prohibition is as shown in FIG. 5 (h)
  • the visual recognition mark 121 corresponding to the change information for canceling all the change information is shown in FIG. 5 (i). What should I do?
  • the obstacle detector 113 is a device that detects obstacles existing on and in the vicinity of the travel route 200.
  • the obstacle detector 113 is a device that is often attached to a traveling vehicle 101 that generally travels autonomously, and the traveling vehicle 101 checks the surrounding conditions of the traveling vehicle 101 with the obstacle detector 113. Ensure safety by driving.
  • the traveling vehicle 101 uses the obstacle detector 113, operates the information acquisition device 111 using the detection information indicating that the obstacle detector 113 has detected some obstacle, and acquires change information from the sign body 102. It is supposed to be.
  • the information acquisition device 111 may be operated. Further, as in the case of the present embodiment, when the obstacle detector 113 detects the reaction unit 125 by providing the label 102 with the reaction unit 125 having a special property that is detected by the obstacle detector 113. Only the information acquisition device 111 may be operated to acquire change information from the marker 102.
  • the travel control unit 115 is controlled by using detection information indicating that the obstacle detector 113 has detected the reaction unit 125 as a trigger, and the traveling vehicle 101 is decelerated or stopped. It is also possible to acquire change information from the marker 102 after decelerating to a predetermined speed or less or after stopping.
  • the traveling vehicle 101 may resume traveling.
  • FIG. 6 is a plan view showing the planned travel route with arrows.
  • the traveling vehicle 101 planned the shortest traveling route 200 (indicated by a broken line in FIG. 6) in order to reach the destination 210.
  • the operator since it is necessary to maintain the device 211 arranged in the vicinity of the planned travel route 200, it is necessary to block the travel route 200 in the vicinity of the device 211.
  • the operator carries the sign body 102 having the right turn prohibition change information in the vicinity of the travel route 200 in front of the branch point 201 where the traveling vehicle 101 enters the apparatus 211 side and places it on the floor surface.
  • the traveling vehicle 101 grasps the presence of the marker 102 in advance by the obstacle detector 113 and starts preparation for acquiring change information from the marker 102.
  • the traveling vehicle 101 acquires change information from the marker 102 by the information acquisition device 111 in the vicinity of the marker 102.
  • the information acquisition device 111 is activated by the fact that the obstacle detector 113 has detected the reaction unit 125 and acquires change information from the marker 102.
  • the change unit 112 searches for a route based on the change information acquired from the sign body 102, and changes the travel information. Specifically, for example, when the change information acquired by the information acquisition device 111 is prohibited to turn right, the changing unit 112 determines whether or not the next branch point makes a right turn in predetermined travel information. If the result of the determination is to turn right, the route reaching the destination is searched without making a right turn, and the travel information is changed. In addition to searching for a route, any change method may be employed, such as defining a plurality of routes in advance and selecting another route from among them.
  • FIG. 7 is a diagram showing a new travel route 200 after the change.
  • the traveling vehicle 101 has a new travel route 200 (see FIG. 5) that avoids an area where the worker is working for maintenance of the apparatus 211 based on the new travel information changed by the changing unit 112. 7) (indicated by a broken line).
  • a marker 102 having speed-down change information is installed at the beginning of a predetermined section (indicated by a thick line in FIG. 8), and the speed-down canceling is performed at the end. It is also possible to easily change the traveling state of the traveling vehicle 101 such as the speed of a predetermined section by installing the marker 102 provided with the change information. Specifically, for example, when the sign body 102 having the change information for 50% speed reduction is installed, the traveling vehicle 101 that has acquired the change information from the sign body 102 is 50% of the predetermined traveling speed.
  • the traveling vehicle 101 When the vehicle travels and then the speed reduction is canceled by maintaining the speed up to the place where the sign body 102 having the change information for canceling the speed down is installed and acquiring the change information from the sign body 102, the traveling vehicle 101 returns to a predetermined traveling speed.
  • the present invention is not limited to the above embodiment.
  • another embodiment realized by arbitrarily combining the components described in this specification and excluding some of the components may be used as an embodiment of the present invention.
  • the present invention includes modifications obtained by making various modifications conceivable by those skilled in the art without departing from the gist of the present invention, that is, the meaning described in the claims. It is.
  • the base 124 may be fixed in the vicinity of the travel route 200, and the posting member 122 and the like may be detachable from the base 124.
  • the positional relationship between the posting member 122 and the reaction unit 125 with respect to the travel route 200 can always be constant, and the contact between the marker 102 and the traveling vehicle 101 can be avoided as much as possible.
  • the travel route 200 is virtually determined, a person cannot visually recognize the travel route 200, so that the sign body 102 protrudes into the travel route 200 by mistake in the installation location of the sign body 102. You can prevent mistakes.
  • a detent is provided between the base 124 and the support column 123 so that the direction in which the surface of the posting member 122 faces can also be determined.
  • the sign body 102 is pivotally attached to a base 124 fixed to a floor or the like so that the sign body 102 can be brought down. It is good also as what arrange
  • the present invention can be used for a warehouse system or a factory system equipped with a traveling vehicle that travels on a floor surface or the like along a route.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

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

走行車システム、走行状態変更方法Traveling vehicle system, driving state change method
　本願発明は、予め定められた走行経路を自動的に走行する走行車を備えた走行車システムに関する。 The present invention relates to a traveling vehicle system including a traveling vehicle that automatically travels along a predetermined traveling route.
　近年、倉庫や工場において物品を搬送することのできる走行車を自動的に走行させ、効率的に物品の搬送を行う走行車システムが存在している。 In recent years, there is a traveling vehicle system that automatically travels a traveling vehicle capable of transporting an article in a warehouse or a factory and efficiently transports the article.
　このような走行車システムにおいては、走行車が走行することができる領域のマップやマップ上のどの通路を走行するかを定めた走行経路を予め走行車に記憶させておき、走行車は記憶している情報と現在位置や現在の走行状態とに基づき自らの判断で走行を制御している（例えば、特許文献１参照）。 In such a traveling vehicle system, the traveling vehicle stores in advance a map of an area in which the traveling vehicle can travel and a travel route that determines which path on the map the vehicle travels. The vehicle is controlled by its own judgment based on the current information and the current position and the current traveling state (see, for example, Patent Document 1).
特開２０１２－１０８７１５号公報JP 2012-108715 A
　ところが、倉庫や工場などの走行車が自動的に走行する領域においては、倉庫内に発生した予期せぬ落下物の処理や、工場内に設置されている産業機械のメンテナンスなど予定外の処理を行うことがある。 However, in areas where vehicles such as warehouses and factories run automatically, unplanned processing such as processing of unexpected falling objects generated in the warehouse and maintenance of industrial machinery installed in the factory. There are things to do.
　この場合、走行車は予定している走行経路を走行することができないため、作業者は走行車に新しい走行経路を示す情報を再入力する必要がある。このような走行車の走行経路の書き換え作業はある程度の専門的な知識が必要であり、また、その作業に時間を要するものである。 In this case, since the traveling vehicle cannot travel on the planned traveling route, the worker needs to re-input information indicating the new traveling route to the traveling vehicle. Such a rewriting operation of the traveling route of the traveling vehicle requires a certain amount of specialized knowledge, and the operation requires time.
　本願発明は、上記課題に鑑みなされたものであり、専門的な知識を要することなく簡便に予め定められた走行経路を変更することができる走行車システムおよび走行状態変更方法の提供を目的とする。 This invention is made | formed in view of the said subject, and it aims at provision of the traveling vehicle system and the traveling state change method which can change the predetermined traveling route simply without requiring specialized knowledge. .
　上記目的を達成するために、本願発明にかかる走行車システムは、走行情報に基づき定められた走行経路を走行する走行車を備える走行車システムであって、前記走行車の前記走行経路の近傍に、自在に配置可能な標識体を備え、前記走行車は、前記走行経路の近傍に配置された前記標識体が備える変更情報を取得する情報取得装置と、前記標識体から取得した変更情報に基づき前記走行情報を変更する変更部とを備え、前記変更部により変更された新たな走行情報に基づき走行することを特徴とする。 In order to achieve the above object, a traveling vehicle system according to the present invention is a traveling vehicle system including a traveling vehicle that travels on a traveling route determined based on traveling information, and is located near the traveling route of the traveling vehicle. The traveling vehicle includes an information acquisition device that acquires change information included in the marker disposed in the vicinity of the travel route, and change information acquired from the marker. A change unit that changes the travel information, and travels based on the new travel information changed by the change unit.
　これによれば、作業者が走行経路の近傍に標識体を配置するだけで、専門的な知識が無い作業者であっても走行車の走行経路などを簡便に変更することができる。 According to this, the worker can simply change the traveling route of the traveling vehicle even if the worker has no specialized knowledge only by placing the marker near the traveling route.
　また、前記標識体は、前記標識体が備える変更情報に対応し、人が視認することができる視認マークが表示されるものでもよい。 Further, the marker may be displayed with a visual recognition mark corresponding to change information provided in the marker and visible to a person.
　これによれば、作業者が間違えることなく確実に走行車の走行経路を変更することができる。また、予定外の走行情報で走行車が走行することを作業者に報知することができ、作業者は安心して作業を実施することができる。 According to this, it is possible to reliably change the travel route of the traveling vehicle without making a mistake by the operator. Further, it is possible to notify the worker that the traveling vehicle travels with unscheduled travel information, and the worker can perform the work with peace of mind.
　また、前記情報取得装置は、前記視認マークを光学的に読み取って変更情報を取得するものでもかまわない。 Further, the information acquisition device may be one that optically reads the visual recognition mark and acquires change information.
　これによれば、標識体が備える変更情報と当該標識体を見た人が認識する変更情報とを簡単に適合させることができ、標識体の製造を容易にすることができる。 According to this, it is possible to easily adapt the change information included in the sign body and the change information recognized by the person who has seen the sign body, thereby facilitating the manufacture of the sign body.
　また、前記走行車は、走行経路上、および、その近傍に存在する障害物を検出する障害物検出器を備え、前記標識体は、走行経路近傍に配置された際に前記障害物検出器に検出される反応部を備え、前記情報取得装置は、前記障害物検出器が前記反応部を検出したことを含む検出情報に基づき前記標識体から変更情報を取得してもよい。 In addition, the traveling vehicle includes an obstacle detector that detects an obstacle present on and in the vicinity of the traveling route, and the marker is attached to the obstacle detector when disposed in the vicinity of the traveling route. A reaction unit to be detected may be provided, and the information acquisition device may acquire change information from the marker based on detection information including that the obstacle detector has detected the reaction unit.
　これによれば、情報取得装置を常に稼働させておく必要がなくなり、走行車のエネルギー消費を低減することができる。 According to this, it is not necessary to always operate the information acquisition device, and the energy consumption of the traveling vehicle can be reduced.
　また、前記走行車は、前記障害物検出器が前記反応部を検出したことを含む検出情報に基づき減速、または、停止し、前記情報取得装置は、前記走行車が減速、または、停止してから変更情報を取得してもよい。 In addition, the traveling vehicle decelerates or stops based on detection information including that the obstacle detector has detected the reaction unit, and the information acquisition device causes the traveling vehicle to decelerate or stop. Change information may be acquired from
　これによれば、情報取得装置が変更情報を取得する確率を向上させることができ、走行車が標識体に反して予期せぬ走行をする状態の発生を未然に防止することができる。 According to this, the probability that the information acquisition device acquires change information can be improved, and the occurrence of a state in which the traveling vehicle travels unexpectedly against the sign body can be prevented.
　また、上記目的を達成するために、本願発明にかかる走行状態変更方法は、走行情報に基づき定められた走行経路を走行する走行車を備える走行車システムにおいて、前記走行情報を変更する走行状態の変更方法であって、変更情報を備え、自在に配置可能な標識体を前記走行車の前記走行経路の近傍に配置し、前記走行経路の近傍に配置された前記標識体が備える変更情報を情報取得装置により取得し、前記標識体から取得した変更情報に基づき前記走行情報を変更部が変更し、前記変更部により変更された新たな走行情報に基づき前記走行車を走行させることを特徴とする。 In order to achieve the above object, a traveling state changing method according to the present invention is a traveling vehicle system including a traveling vehicle traveling along a traveling route determined based on traveling information. A change method, comprising change information that is provided with change information and can be freely arranged in the vicinity of the travel route of the traveling vehicle, and the change information provided in the sign body disposed in the vicinity of the travel route is information The travel unit is changed based on the change information acquired by the acquisition device and acquired from the marker, and the travel vehicle is driven based on the new travel information changed by the change unit. .
　これによれば、作業者が走行経路の近傍に標識体を配置するだけで、専門的な知識が無い作業者であっても走行車の走行経路などを簡便に変更することができる。 According to this, the worker can simply change the traveling route of the traveling vehicle even if the worker has no specialized knowledge only by placing the marker near the traveling route.
　なお、前記走行状態変更方法が含む各処理をコンピュータに実行させるためのプログラムを実施することも本願発明の実施に該当する。無論、そのプログラムが記録された記録媒体を実施することも本願発明の実施に該当する。 In addition, implementing the program for making a computer perform each process which the said driving | running | working state change method includes also corresponds to implementation of this invention. Of course, implementing the recording medium in which the program is recorded also corresponds to the implementation of the present invention.
　本願発明によれば、簡単な方法で走行車の走行状態を変更することが可能となる。 According to the present invention, the traveling state of the traveling vehicle can be changed by a simple method.
図１は、走行車システムを上方から示す平面図である。FIG. 1 is a plan view showing the traveling vehicle system from above. 図２は、標識体と標識体の近傍を走行する走行車を示す斜視図である。FIG. 2 is a perspective view showing a sign body and a traveling vehicle that travels in the vicinity of the sign body. 図３は、標識体を示す斜視図である。FIG. 3 is a perspective view showing the marker. 図４は、走行車が備える機能部を機構部と共に示すブロック図である。FIG. 4 is a block diagram illustrating a functional unit included in the traveling vehicle together with a mechanism unit. 図５は、視認マークの例を示す図である。FIG. 5 is a diagram illustrating an example of the visual recognition mark. 図６は、予定されている走行経路を矢印で示す平面図である。FIG. 6 is a plan view showing a planned travel route with an arrow. 図７は、変更後の新たな走行経路を示す図である。FIG. 7 is a diagram illustrating a new travel route after the change. 図８は、変更後の走行状態を示す図である。FIG. 8 is a diagram illustrating the travel state after the change. 図９は、標識体の他の実施の形態を示す斜視図である。FIG. 9 is a perspective view showing another embodiment of the marker. 図１０は、標識体の他の実施の形態を示す斜視図である。FIG. 10 is a perspective view showing another embodiment of the marker.
　次に、本願発明に係る走行車システム、走行状態変更方法の実施の形態について、図面を参照しつつ説明する。なお、以下の実施の形態は、本願発明に係る走行車システム、走行状態変更方法の一例を示したものに過ぎない。従って本願発明は、以下の実施の形態を参考に請求の範囲の文言によって範囲が画定されるものであり、以下の実施の形態のみに限定されるものではない。よって、以下の実施の形態における構成要素のうち、本発明の最上位概念を示す独立請求項に記載されていない構成要素については、本発明の課題を達成するのに必ずしも必要ではないが、より好ましい形態を構成するものとして説明される。 Next, an embodiment of a traveling vehicle system and a traveling state changing method according to the present invention will be described with reference to the drawings. The following embodiments are merely examples of the traveling vehicle system and the traveling state changing method according to the present invention. Accordingly, the scope of the present invention is defined by the wording of the claims with reference to the following embodiments, and is not limited to the following embodiments. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present invention are not necessarily required to achieve the object of the present invention. It will be described as constituting a preferred form.
　また、図面は、本願発明を示すために適宜強調や省略、比率の調整を行った模式的な図となっており、実際の形状や位置関係、比率とは異なる場合がある。 The drawings are schematic diagrams in which emphasis, omission, and ratio adjustment are performed as appropriate to show the present invention, and may differ from actual shapes, positional relationships, and ratios.
　図１は、走行車システムを上方から示す平面図である。 FIG. 1 is a plan view showing the traveling vehicle system from above.
　同図に示すように、走行車システム１００は、走行経路２００を自動的（自律的）に走行する走行車１０１を備えるシステムであって、標識体１０２を備えている。 As shown in the figure, the traveling vehicle system 100 is a system including a traveling vehicle 101 that travels automatically (autonomously) along a traveling route 200 and includes a marker 102.
　図２は、標識体と標識体の近傍を走行する走行車を示す斜視図である。 FIG. 2 is a perspective view showing a sign body and a traveling vehicle traveling in the vicinity of the sign body.
　図３は、標識体を示す斜視図である。 FIG. 3 is a perspective view showing the marker.
　標識体１０２は、走行車１０１の走行経路２００の近傍に、自在に配置可能な部材であり、走行車１０１が保持している走行情報を変更させるための変更情報を担持している部材である。 The sign body 102 is a member that can be freely arranged in the vicinity of the travel route 200 of the traveling vehicle 101, and is a member that carries change information for changing traveling information held by the traveling vehicle 101. .
　ここで、自在に配置可能な部材とは、例えば人力により運ぶことができる程度の大きさ、および、重さであって、必要に応じて走行経路２００の近傍に、人力によって標識体１０２を配置することができる程度の部材である。 Here, the freely arrangeable member is, for example, a size and weight that can be carried by human power, and if necessary, the marker 102 is arranged near the travel route 200 by human power. It is a member of the grade which can do.
　また、走行経路２００とは、実際に視認できる経路が存在する場合ばかりでなく、走行情報に基づきマップなどの上に仮想的に形成される経路であってもかまわない。 In addition, the travel route 200 may be a route virtually formed on a map or the like based on travel information as well as a case where there is an actually visible route.
　本実施の形態の場合、標識体１０２は、床面などの上に立設状態で配置することができる部材であり、掲示部材１２２と、支柱１２３と、基台１２４とを一体として持ち運び可能に備えている。 In the case of the present embodiment, the sign body 102 is a member that can be placed upright on a floor surface or the like, and the posting member 122, the support column 123, and the base 124 can be carried together. I have.
　また、変更情報とは、走行車１０１が保持している走行情報を変更させるための識別符号としての役割を有していればよい。つまり、変更情報は、走行情報を変更するための具体的な情報を含んでいてもよく、また、変更情報は、走行車１０１のコントローラなどに記憶されている変更するための複数種類の情報を識別する情報を含んでいてもよい。 Further, the change information only needs to have a role as an identification code for changing the travel information held by the traveling vehicle 101. That is, the change information may include specific information for changing the travel information, and the change information includes a plurality of types of information for change stored in the controller of the traveling vehicle 101 or the like. Information for identification may be included.
　掲示部材１２２は、人が視認することができる視認マーク１２１を掲示することができる部材である。掲示部材１２２の形状は特に限定されるものではないが、本実施の形態の場合は、薄い板状の部材であり、一面に視認マーク１２１が掲示されたものとなっている。また、標識体１０２は、掲示部材１２２を複数（本実施の形態では２枚）備えており、視認マーク１２１が掲示されていない掲示部材１２２の裏側を内方に向くように配置することで広い範囲から視認マーク１２１が視認できる状態となっている。 The posting member 122 is a member that can post a visual recognition mark 121 that can be visually recognized by a person. The shape of the posting member 122 is not particularly limited, but in the case of the present embodiment, it is a thin plate-like member, and the visual recognition mark 121 is posted on one surface. In addition, the sign body 102 includes a plurality of posting members 122 (two in this embodiment), and is wide by arranging the back side of the posting member 122 on which the visual recognition mark 121 is not posted to face inward. The visual recognition mark 121 can be visually recognized from the range.
　掲示部材１２２に掲示される視認マーク１２１は、標識体１０２が備える変更情報に対応し、視認マーク１２１を作業者などが視認した場合、当該視認マーク１２１が掲示された標識体１０２が走行車１０１の走行情報をどのように変更させるかを認識することができるものとなっている。つまり、視認マーク１２１は、変更情報の種類と同数以上の種類からなる個別のマークであり、変更情報と同内容を表すマークである。具体的には、図３に示す視認マーク１２１は、人が右折禁止を認識できるマークであり、当該視認マーク１２１が掲示された標識体１０２は、右折をしようとしている走行車１０１の情報を右折以外の情報に変更させるものとなっている。 The visual recognition mark 121 posted on the posting member 122 corresponds to the change information included in the sign body 102, and when the visual recognition mark 121 is visually recognized by an operator or the like, the sign body 102 on which the visual recognition mark 121 is posted is the traveling vehicle 101. It is possible to recognize how to change the traveling information. That is, the visual recognition mark 121 is an individual mark composed of the same or more types as the type of change information, and is a mark representing the same content as the change information. Specifically, the visual recognition mark 121 shown in FIG. 3 is a mark that allows a person to recognize that a right turn is prohibited, and the marker 102 on which the visual recognition mark 121 is posted turns the information of the traveling vehicle 101 about to make a right turn. It is to be changed to other information.
　また本実施の形態の場合、当該視認マーク１２１自体が変更情報として機能しているため（詳細は後述する）、標識体１０２は、変更情報を担持する部材や装置を別途備えていない。 Further, in the case of the present embodiment, since the visual recognition mark 121 itself functions as change information (details will be described later), the marker 102 does not include any member or device that carries the change information.
　なお、標識体１０２は、変更情報を担持する部材としてバーコードなどの情報担持部材や、ＲＦタグのような情報担持装置などを別途備えていてもかまわない。この場合、担持された情報と視認マーク１２１とが対応（例えば１対１に対応）するように視認マーク１２１のデザインを決定すればよい。つまり、標識体１０２に担持される情報と、視認マーク１２１とを関連づけ、担持された情報に基づく走行車１０１の挙動と、視認マーク１２１を視認した作業者の認識が一致するものとしてもよい。 Note that the marker 102 may separately include an information carrying member such as a barcode or an information carrying device such as an RF tag as a member carrying the change information. In this case, the design of the visual recognition mark 121 may be determined so that the carried information and the visual recognition mark 121 correspond (for example, one-to-one correspondence). In other words, the information carried on the marker 102 and the visual recognition mark 121 are associated with each other, and the behavior of the traveling vehicle 101 based on the carried information may coincide with the recognition of the worker who visually recognizes the visual recognition mark 121.
　支柱１２３は、視認マーク１２１を立っている人が容易に認識できるように掲示部材１２２を人の目の高さ程度に維持し、掲示部材１２２が走行車１０１の走行の妨げにならない位置に維持するための構造部材である。なお、支柱１２３は、標識体１０２の必須の部材ではなく、例えば、掲示部材１２２が床面まで延びる細長い部材であれば、特に支柱１２３は無くてもかまわない。 The support post 123 maintains the posting member 122 at the height of the human eye so that a person standing on the visual recognition mark 121 can easily recognize, and maintains the posting member 122 at a position that does not hinder the traveling of the traveling vehicle 101. It is a structural member for doing. In addition, the support | pillar 123 is not an indispensable member of the marker 102, for example, if the posting member 122 is an elongate member extended to a floor surface, the support | pillar 123 may not be in particular.
　基台１２４は、床面などに載置されて掲示部材１２２を所定の位置に維持するための構造部材である。基台１２４は、掲示部材１２２の位置を安定させるためにはある程度の重量が必要であるが、標識体１０２の可搬性も満たす重量となっている。 The base 124 is a structural member that is placed on a floor surface or the like to maintain the posting member 122 in a predetermined position. The base 124 needs a certain amount of weight to stabilize the position of the posting member 122, but has a weight that satisfies the portability of the marker 102.
　また本実施の形態の場合、標識体１０２は、反応部１２５を備えている。反応部１２５は、走行経路２００の近傍に配置された標識体１０２が、走行車１０１が備える障害物検出器１１３（後述）に検出されるために取り付けられる部材である。反応部１２５は、障害物検出器１１３に検出される位置に配置されるが走行車１０１や走行車１０１が保持している荷物などとは干渉しない位置に配置されている。本実施の形態の場合は、基台１２４と掲示部材１２２との間に標識体１０２の支柱１２３から走行経路２００に向かって突出状に配置されている。 In the case of the present embodiment, the marker 102 includes a reaction unit 125. The reaction unit 125 is a member that is attached so that the marker 102 disposed in the vicinity of the travel route 200 is detected by an obstacle detector 113 (described later) included in the travel vehicle 101. Although the reaction part 125 is arrange | positioned in the position detected by the obstacle detector 113, it is arrange | positioned in the position which does not interfere with the traveling vehicle 101 or the luggage | bag etc. which the traveling vehicle 101 hold | maintained. In the case of the present embodiment, it is arranged between the base 124 and the posting member 122 so as to protrude from the support post 123 of the marker 102 toward the travel route 200.
　また、反応部１２５は、荷物や人などの実際の障害物とは識別可能な性状であることが好ましい。例えば、障害物検出器１１３が光の反射を利用して障害物を検出する装置である場合、反応部１２５は、光の反射率の高い鏡などの反射部材で構成されてもよい。この場合、反応部１２５で反射された光は通常の障害物から反射した光とは障害物検出器１１３が検出する強度が明らかに異なり、反応部１２５であることを識別することができるため好ましい。 Also, the reaction unit 125 preferably has a property that can be distinguished from actual obstacles such as luggage and people. For example, when the obstacle detector 113 is an apparatus that detects an obstacle using reflection of light, the reaction unit 125 may be configured by a reflecting member such as a mirror having high light reflectance. In this case, the light reflected by the reaction unit 125 is preferable because the intensity detected by the obstacle detector 113 is clearly different from the light reflected from the normal obstacle, and the reaction unit 125 can be identified. .
　なお、標識体１０２は反応部１２５を別途備えることなく、掲示部材１２２や基台１２４の一部を反応部１２５として機能させてもかまわない。 Note that the marker 102 does not include the reaction unit 125 separately, and a part of the posting member 122 or the base 124 may function as the reaction unit 125.
　図４は、走行車が備える機能部を機構部と共に示すブロック図である。 FIG. 4 is a block diagram showing a functional unit included in the traveling vehicle together with a mechanism unit.
　同図や図２に示すように、走行車１０１は、予め定められた走行情報に基づき定められた走行経路を走行する車である。本実施の形態の場合、走行車１０１は、荷物を搬送することができる搬送車であり、産業機械やステーションなどの他の設備との間で荷物を移載することのできる移載装置（図示せず）を備えている。また、走行車１０１は、レールに沿って移動するものではなく、自律的に位置を認識しながら情報として予め仮想的に定められた走行経路を移動することができるものとなっている。 As shown in FIG. 2 and FIG. 2, the traveling vehicle 101 is a vehicle that travels on a travel route determined based on predetermined travel information. In the case of the present embodiment, the traveling vehicle 101 is a transport vehicle capable of transporting loads, and a transfer device (see FIG. 5) that can transfer loads to and from other equipment such as industrial machines and stations. Not shown). Further, the traveling vehicle 101 does not move along the rail, but can travel on a travel route virtually determined in advance as information while autonomously recognizing the position.
　ここで、走行情報とは、走行車１０１が走行可能な領域を示すマップ情報や、走行車１０１がマップ情報に基づき自らが探索し、予め定めた目的地までの走行経路や、入力された走行経路、走行時の速度の情報や、スイッチバックするか否かなどの走行状態を示す情報、目的地の情報などを含むものである。 Here, the travel information refers to map information indicating a region where the traveling vehicle 101 can travel, the traveling vehicle 101 searches based on the map information by itself, a travel route to a predetermined destination, and an input travel It includes information on the route, the speed at the time of traveling, information indicating the traveling state such as whether to switch back, information on the destination, and the like.
　走行車１０１は、情報取得装置１１１と、変更部１１２とを備えている。また、本実施の形態の場合、走行車１０１は、障害物検出器１１３と走行情報などを記憶する記憶部１１４と、走行情報に基づき走行車１０１の走行を制御する走行制御部１１５とを備えている。 The traveling vehicle 101 includes an information acquisition device 111 and a changing unit 112. In the case of the present embodiment, the traveling vehicle 101 includes an obstacle detector 113, a storage unit 114 that stores traveling information and the like, and a traveling control unit 115 that controls traveling of the traveling vehicle 101 based on the traveling information. ing.
　情報取得装置１１１は、走行経路の近傍に配置された標識体１０２が備える変更情報を取得する装置である。情報取得装置１１１は、変更情報を取得できるものであれば特に制限されるものではない。本実施の形態の場合、標識体１０２の掲示部材１２２に掲示された視認マーク１２１そのものが変更情報であるため、情報取得装置１１１は、視認マーク１２１を画像解析などにより識別することができる装置であればよい。当該情報取得装置１１１としては、視認マーク１２１を光学的に読み取ってデジタル画像を取得することができるカメラと、得られたデジタル画像を解析して視認マーク１２１の形状を特定することができる画像解析プログラムとを備えて変更情報を取得する装置を例示することができる。 The information acquisition device 111 is a device that acquires change information provided in the sign body 102 arranged in the vicinity of the travel route. The information acquisition device 111 is not particularly limited as long as it can acquire change information. In the case of the present embodiment, since the visual recognition mark 121 itself posted on the posting member 122 of the sign body 102 is change information, the information acquisition device 111 is an apparatus that can identify the visual recognition mark 121 by image analysis or the like. I just need it. The information acquisition device 111 includes a camera that can optically read the visual recognition mark 121 and acquire a digital image, and an image analysis that can identify the shape of the visual recognition mark 121 by analyzing the obtained digital image. An apparatus that includes a program and acquires change information can be exemplified.
　本実施の形態の場合、走行車１０１は、走行車１０１の進行方向に向かって左右の両方に情報取得装置１１１を備えている。走行経路２００のいずれの側に標識体１０２が配置された場合でも変更情報を取得できるようにするためである。 In the case of the present embodiment, the traveling vehicle 101 includes information acquisition devices 111 on both the left and right sides in the traveling direction of the traveling vehicle 101. This is because the change information can be acquired even when the marker 102 is arranged on either side of the travel route 200.
　なお、情報取得装置１１１は、標識体１０２が備える変更情報の担持部材や担持装置に対応する装置であればよく、例えば、変更情報がバーコードで表されている場合は、情報取得装置１１１は、バーコードリーダーであり、変更情報がＲＦタグに書き込まれている場合は、情報取得装置１１１はＲＦタグリーダーとなる。 The information acquisition device 111 may be a device corresponding to the change information holding member or the support device included in the marker 102. For example, when the change information is represented by a barcode, the information acquisition device 111 may be When the change information is written in the RF tag, the information acquisition device 111 is an RF tag reader.
　変更部１１２は、標識体１０２から情報取得装置１１１が取得した変更情報に基づき走行車１０１が基づいて走行していた走行情報を新たな走行情報に変更する処理部である。 The change unit 112 is a processing unit that changes the travel information that the traveling vehicle 101 has traveled based on the change information acquired by the information acquisition device 111 from the marker 102 to new travel information.
　具体的に例えば、変更部１１２は、情報取得装置１１１が取得した変更情報が「右折禁止」であれば、予め定められた走行情報において次の分岐点で右折するか否かを確認し、右折するものであれば、先の走行情報を記憶部１１４から読み出して目的地を抽出し、変更情報を取得した直後の分かれ道（分岐点）において右折せずに目的地にたどり着く走行経路を探索し直し、新しい走行情報に変更してもかまわない。また、予め複数の走行情報を記憶部１１４に記憶させておき、変更情報を取得した際に、複数の走行情報から変更情報を加味した最適な走行情報に変更してもかまわない。以上により標識体１０２より先の走行車１０１の走行状態を変更することが可能となる。 Specifically, for example, if the change information acquired by the information acquisition device 111 is “no right turn”, the change unit 112 confirms whether or not to make a right turn at the next branch point in predetermined travel information, and turns right. If so, the previous travel information is read out from the storage unit 114, the destination is extracted, and the travel route that reaches the destination without making a right turn on the fork (branch point) immediately after the change information is acquired is searched again. You can change to new driving information. In addition, a plurality of pieces of travel information may be stored in the storage unit 114 in advance, and when the change information is acquired, the plurality of pieces of travel information may be changed to optimum travel information that takes the change information into account. As described above, the traveling state of the traveling vehicle 101 ahead of the marker 102 can be changed.
　また、変更部１１２は、変更した新たな走行情報に基づき走行制御部１１５を制御して走行車１０１を走行させる。 Further, the changing unit 112 controls the traveling control unit 115 based on the new traveling information that has been changed to cause the traveling vehicle 101 to travel.
　なお、変更情報は、右左折禁止ばかりでなく、走行車１０１のスピードをダウン（例えば５０％）させる情報や、スイッチバックを禁止する情報、または、これらの制限を解除して元の走行情報に変更する情報や、標識体１０２に基づき変更した走行情報の全てを解除して元の走行情報に変更する情報等でもかまわない。なお明細書、および、請求の範囲において、走行状態の文言は、走行車１０１の走行スピードばかりでなく走行経路も含む意味で用いている。 The change information is not limited to turning right and left, but is information for reducing the speed of the traveling vehicle 101 (for example, 50%), information for prohibiting switchback, or the original travel information by releasing these restrictions. The information to be changed, the information to be changed to the original traveling information by canceling all of the traveling information changed based on the marker 102 may be used. In the specification and claims, the term “traveling state” is used to include not only the traveling speed of the traveling vehicle 101 but also the traveling route.
　この場合例えば、次の分岐点での直進を禁止する変更情報に対応する視認マーク１２１は、図５の（ａ）のようにし、次の分岐点での右折を禁止する変更情報に対応する視認マーク１２１は、図５の（ｂ）のようにし、次の分岐点での左折を禁止する変更情報に対応する視認マーク１２１は、図５の（ｃ）のようにし、走行車１０１のスピードを５０％ダウンさせる変更情報に対応する視認マーク１２１は、図５の（ｄ）のようにし、走行車１０１のスピードを３０％ダウンさせる変更情報に対応する視認マーク１２１は、図５の（ｅ）のようにし、スピードダウンを解除する変更情報に対応する視認マーク１２１は、図５の（ｆ）のようにし、スイッチバックを禁止する変更情報に対応する視認マーク１２１は、図５の（ｇ）のようにし、スイッチバック禁止を解除する変更情報に対応する視認マーク１２１は、図５の（ｈ）のようにし、全ての変更情報を解除する変更情報に対応する視認マーク１２１は、図５の（ｉ）のようにすればよい。 In this case, for example, the visual recognition mark 121 corresponding to the change information that prohibits straight traveling at the next branch point is as shown in FIG. 5A, and the visual recognition corresponding to the change information that prohibits the right turn at the next branch point. The mark 121 is as shown in FIG. 5B, and the visual recognition mark 121 corresponding to the change information prohibiting the left turn at the next branch point is as shown in FIG. The visual recognition mark 121 corresponding to the change information to be reduced by 50% is as shown in FIG. 5D, and the visual recognition mark 121 corresponding to the change information to reduce the speed of the traveling vehicle 101 by 30% is shown in FIG. The visual mark 121 corresponding to the change information for releasing the speed reduction is as shown in FIG. 5F, and the visual mark 121 corresponding to the change information prohibiting the switchback is shown in FIG. Like The visual recognition mark 121 corresponding to the change information for canceling the switchback prohibition is as shown in FIG. 5 (h), and the visual recognition mark 121 corresponding to the change information for canceling all the change information is shown in FIG. 5 (i). What should I do?
　障害物検出器１１３は、走行経路２００上、および、その近傍に存在する障害物を検出する装置である。障害物検出器１１３は、一般的に自律的に走行する走行車１０１に取り付けられることが多い装置であり、走行車１０１は、障害物検出器１１３により走行車１０１の周囲の状況を確認しながら走行することで安全を確保する。 The obstacle detector 113 is a device that detects obstacles existing on and in the vicinity of the travel route 200. The obstacle detector 113 is a device that is often attached to a traveling vehicle 101 that generally travels autonomously, and the traveling vehicle 101 checks the surrounding conditions of the traveling vehicle 101 with the obstacle detector 113. Ensure safety by driving.
　走行車１０１は、当該障害物検出器１１３を用い、障害物検出器１１３が何らかの障害物を検出したこと示す検出情報をトリガーとして情報取得装置１１１を稼働させ、標識体１０２から変更情報を取得するものとしている。 The traveling vehicle 101 uses the obstacle detector 113, operates the information acquisition device 111 using the detection information indicating that the obstacle detector 113 has detected some obstacle, and acquires change information from the sign body 102. It is supposed to be.
　さらに、障害物検出器１１３が走行経路２００の近傍に障害物として標識体１０２を検出した場合に、情報取得装置１１１を稼働させてもかまわない。さらに、本実施の形態の場合のように、標識体１０２に障害物検出器１１３に検出される特殊な性状の反応部１２５を設けることで、障害物検出器１１３が反応部１２５を検出した場合のみ情報取得装置１１１を稼働させて、標識体１０２から変更情報を取得するものとしてもかまわない。 Furthermore, when the obstacle detector 113 detects the marker 102 as an obstacle in the vicinity of the travel route 200, the information acquisition device 111 may be operated. Further, as in the case of the present embodiment, when the obstacle detector 113 detects the reaction unit 125 by providing the label 102 with the reaction unit 125 having a special property that is detected by the obstacle detector 113. Only the information acquisition device 111 may be operated to acquire change information from the marker 102.
　これによれば、情報取得装置１１１を常に稼働させておく必要がなくなり、走行車１０１の省エネルギー化を図ることが可能となる。 According to this, it is not necessary to always operate the information acquisition device 111, and energy saving of the traveling vehicle 101 can be achieved.
　さらに、障害物検出器１１３が反応部１２５を検出したことを示す検出情報をトリガーとして走行制御部１１５を制御し、走行車１０１を減速、または、停止させ、情報取得装置１１１は、走行車１０１が所定の速度以下に減速した後、または、停止した後に標識体１０２から変更情報を取得するものでもかまわない。 Further, the travel control unit 115 is controlled by using detection information indicating that the obstacle detector 113 has detected the reaction unit 125 as a trigger, and the traveling vehicle 101 is decelerated or stopped. It is also possible to acquire change information from the marker 102 after decelerating to a predetermined speed or less or after stopping.
　さらに、変更情報を取得した場合、障害物検出器１１３が検出した障害物が存在する旨の情報を解除して走行車１０１が走行を再開するものとしてもよい。 Furthermore, when the change information is acquired, the information indicating that the obstacle detected by the obstacle detector 113 is canceled and the traveling vehicle 101 may resume traveling.
　これによれば、変更情報の取得ミスを大幅に減少させることが可能となる。 This makes it possible to greatly reduce mistakes in obtaining change information.
　次に、以上のような走行車システム１００を用いた走行状態の変更方法を説明する。 Next, a method for changing the traveling state using the traveling vehicle system 100 as described above will be described.
　図６は、予定されている走行経路を矢印で示す平面図である。 FIG. 6 is a plan view showing the planned travel route with arrows.
　同図に示すように、走行車１０１は、目的地２１０に到達するために最短の走行経路２００（図６中において破線で示す。）を予定していた。しかしながら、予定していた走行経路２００の近傍に配置されている装置２１１をメンテナンスする必要が生じたため、装置２１１の近傍にある走行経路２００を通行止めにする必要がある。この場合、作業者は、装置２１１側に走行車１０１が進入してくる分岐点２０１の手前の走行経路２００の近傍に右折禁止の変更情報を備えた標識体１０２を運んで床面上に載置する。 As shown in the figure, the traveling vehicle 101 planned the shortest traveling route 200 (indicated by a broken line in FIG. 6) in order to reach the destination 210. However, since it is necessary to maintain the device 211 arranged in the vicinity of the planned travel route 200, it is necessary to block the travel route 200 in the vicinity of the device 211. In this case, the operator carries the sign body 102 having the right turn prohibition change information in the vicinity of the travel route 200 in front of the branch point 201 where the traveling vehicle 101 enters the apparatus 211 side and places it on the floor surface. Put.
　走行車１０１は、当該標識体１０２の存在を障害物検出器１１３により事前に把握し、標識体１０２から変更情報を取得する準備を始める。 The traveling vehicle 101 grasps the presence of the marker 102 in advance by the obstacle detector 113 and starts preparation for acquiring change information from the marker 102.
　走行車１０１は、標識体１０２の近傍において情報取得装置１１１により標識体１０２から変更情報を取得する。本実施の形態の場合は、障害物検出器１１３が反応部１２５を検出したことをトリガーとして情報取得装置１１１が稼働し、標識体１０２から変更情報を取得する。 The traveling vehicle 101 acquires 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 information acquisition device 111 is activated by the fact that the obstacle detector 113 has detected the reaction unit 125 and acquires change information from the marker 102.
　次に、標識体１０２から取得した変更情報に基づき変更部１１２が経路の探索を行い、走行情報を変更する。具体的に例えば、情報取得装置１１１が取得した変更情報が右折禁止であった場合、予め定められた走行情報において次の分岐点が右折するか否かを変更部１１２が判断する。判断結果が右折する場合は、右折をせずに目的地へ到達する径路を探索し、走行情報を変更する。なお、経路の探索ばかりでなく、予め複数の経路を定めておき、その中から別の経路を選択するなど、任意の変更方法を採用しうる。 Next, the change unit 112 searches for a route based on the change information acquired from the sign body 102, and changes the travel information. Specifically, for example, when the change information acquired by the information acquisition device 111 is prohibited to turn right, the changing unit 112 determines whether or not the next branch point makes a right turn in predetermined travel information. If the result of the determination is to turn right, the route reaching the destination is searched without making a right turn, and the travel information is changed. In addition to searching for a route, any change method may be employed, such as defining a plurality of routes in advance and selecting another route from among them.
　図７は、変更後の新たな走行経路２００を示す図である。 FIG. 7 is a diagram showing a new travel route 200 after the change.
　同図に示すように、走行車１０１は、変更部１１２により変更された新たな走行情報に基づき装置２１１のメンテナンスのために作業者が作業している領域を回避する新たな走行経路２００（図７中において破線で示す。）を走行する。 As shown in the figure, the traveling vehicle 101 has a new travel route 200 (see FIG. 5) that avoids an area where the worker is working for maintenance of the apparatus 211 based on the new travel information changed by the changing unit 112. 7) (indicated by a broken line).
　以上によれば、走行車１０１が有する走行情報を書き換えるような専門的な知識が無い作業者であっても、標識体１０２を走行経路２００の近傍に設置するだけで、安全な作業領域を確保することができる。また、標識体１０２を設置するだけで全ての走行車１０１の走行情報を変更することができるため、走行情報を書き換える手間を省略することが可能となる。 According to the above, even a worker who does not have specialized knowledge to rewrite the travel information of the traveling vehicle 101 can ensure a safe work area simply by installing the marker 102 near the travel route 200. can do. Moreover, since the travel information of all the traveling vehicles 101 can be changed only by installing the sign body 102, it is possible to omit the trouble of rewriting the travel information.
　また、例えば図８に示すように所定の区間（図８中において太線で示す。）の始まりの部分にスピードダウンの変更情報を備えた標識体１０２を設置し、終わりの部分にスピードダウン解除の変更情報を備えた標識体１０２を設置することで、容易に所定区間のスピードなどの走行車１０１の走行状態を変更させることも可能である。具体的に例えば、５０％スピードダウンの変更情報を備えた標識体１０２が設置された場合、当該標識体１０２から変更情報を取得した走行車１０１は、予め定められていた走行速度の５０％で走行し、その後スピードダウン解除の変更情報を備えた標識体１０２が設置されている箇所まで当該スピードを維持し、当該標識体１０２から変更情報を取得することによりスピードダウンが解除されると走行車１０１は、予め定められた走行速度に戻る。 Further, for example, as shown in FIG. 8, a marker 102 having speed-down change information is installed at the beginning of a predetermined section (indicated by a thick line in FIG. 8), and the speed-down canceling is performed at the end. It is also possible to easily change the traveling state of the traveling vehicle 101 such as the speed of a predetermined section by installing the marker 102 provided with the change information. Specifically, for example, when the sign body 102 having the change information for 50% speed reduction is installed, the traveling vehicle 101 that has acquired the change information from the sign body 102 is 50% of the predetermined traveling speed. When the vehicle travels and then the speed reduction is canceled by maintaining the speed up to the place where the sign body 102 having the change information for canceling the speed down is installed and acquiring the change information from the sign body 102, the traveling vehicle 101 returns to a predetermined traveling speed.
　なお、本願発明は、上記実施の形態に限定されるものではない。例えば、本明細書において記載した構成要素を任意に組み合わせて、また、構成要素のいくつかを除外して実現される別の実施の形態を本願発明の実施の形態としてもよい。また、上記実施の形態に対して本願発明の主旨、すなわち、請求の範囲に記載される文言が示す意味を逸脱しない範囲で当業者が思いつく各種変形を施して得られる変形例も本願発明に含まれる。 Note that the present invention is not limited to the above embodiment. For example, another embodiment realized by arbitrarily combining the components described in this specification and excluding some of the components may be used as an embodiment of the present invention. In addition, the present invention includes modifications obtained by making various modifications conceivable by those skilled in the art without departing from the gist of the present invention, that is, the meaning described in the claims. It is.
　例えば、図９に示すように、基台１２４を走行経路２００の近傍に固定しておき、掲示部材１２２等を基台１２４に対して着脱自在にしてもかまわない。 For example, as shown in FIG. 9, the base 124 may be fixed in the vicinity of the travel route 200, and the posting member 122 and the like may be detachable from the base 124.
　これによれば、掲示部材１２２や反応部１２５の走行経路２００に対する位置関係を常に一定にすることができ、標識体１０２と走行車１０１との接触を可及的に回避することが可能となる。特に走行経路２００が仮想的に定められている場合は、当該走行経路２００を人が視認することができないため、標識体１０２の設置場所を間違えて標識体１０２が走行経路２００内にはみ出すなどの間違いを防止できる。 According to this, the positional relationship between the posting member 122 and the reaction unit 125 with respect to the travel route 200 can always be constant, and the contact between the marker 102 and the traveling vehicle 101 can be avoided as much as possible. . In particular, when the travel route 200 is virtually determined, a person cannot visually recognize the travel route 200, so that the sign body 102 protrudes into the travel route 200 by mistake in the installation location of the sign body 102. You can prevent mistakes.
　なお、基台１２４と支柱１２３との間には回り止めが設けられており、掲示部材１２２の面が向く方向も定めることができるものとなっている。 It should be noted that a detent is provided between the base 124 and the support column 123 so that the direction in which the surface of the posting member 122 faces can also be determined.
　また、頻繁に標識体１０２を設置する必要がある場所には、標識体１０２を倒すことができるように床面などに固定された基台１２４に回動可能に取り付けておき、必要な際には標識体１０２を起立させて配置するものとしてもよい。これによれば、標識体１０２を運ぶ必要がなくなり、作業者の作業性を向上させることが可能となる。 In addition, in places where the sign body 102 needs to be frequently installed, the sign body 102 is pivotally attached to a base 124 fixed to a floor or the like so that the sign body 102 can be brought down. It is good also as what arrange | positions the marker 102 upright. According to this, it becomes unnecessary to carry the marker body 102, and it becomes possible to improve the workability of the operator.
　本願発明は、床面上などを経路に従って走行する走行車を備えた倉庫システムや工場システムなどに利用可能である。 The present invention can be used for a warehouse system or a factory system equipped with a traveling vehicle that travels on a floor surface or the like along a route.
１００　走行車システム
１０１　走行車
１０２　標識体
１１１　情報取得装置
１１２　変更部
１１３　障害物検出器
１１４　記憶部
１１５　走行制御部
１２１　視認マーク
１２２　掲示部材
１２３　支柱
１２４　基台
１２５　反応部
２００　走行経路
２０１　分岐点
２１０　目的地
２１１　装置 DESCRIPTION OF SYMBOLS 100 Traveling vehicle system 101 Traveling vehicle 102 Marking body 111 Information acquisition apparatus 112 Change part 113 Obstacle detector 114 Storage part 115 Travel control part 121 Visual recognition mark 122 Posting member 123 Post 124 Base 125 Reaction part 200 Travel path 201 Branch point 210 Destination 211 Device

Claims (7)

  1. 　走行情報に基づき定められた走行経路を走行する走行車を備える走行車システムであって、
    　前記走行車の前記走行経路の近傍に、自在に配置可能な標識体を備え、
    　前記走行車は、
    　前記走行経路の近傍に配置された前記標識体が備える変更情報を取得する情報取得装置と、
    　前記標識体から取得した変更情報に基づき前記走行情報を変更する変更部とを備え、
    　前記変更部により変更された新たな走行情報に基づき走行する走行車システム。     A traveling vehicle system comprising a traveling vehicle traveling along a traveling route determined based on traveling information,
    In the vicinity of the travel route of the traveling vehicle, comprising a sign body that can be freely arranged,
    The traveling vehicle is
    An information acquisition device for acquiring change information provided in the marker arranged in the vicinity of the travel route;
    A change unit that changes the travel information based on the change information acquired from the marker,
    A traveling vehicle system that travels based on new traveling information changed by the changing unit.
  2. 　前記標識体は、
    　前記標識体が備える変更情報に対応し、人が視認することができる視認マークが表示される請求項１に記載の走行車システム。     The marker is
    The traveling vehicle system according to claim 1, wherein a visual recognition mark that can be visually recognized by a person is displayed corresponding to the change information included in the marker.
  3. 　前記情報取得装置は、
    　前記視認マークを光学的に読み取って変更情報を取得する請求項２に記載の走行車システム。     The information acquisition device includes:
    The traveling vehicle system according to claim 2, wherein change information is acquired by optically reading the visual recognition mark.
  4. 　前記走行車は、
    　走行経路上、および、その近傍に存在する障害物を検出する障害物検出器を備え、
    　前記標識体は、
    　走行経路近傍に配置された際に前記障害物検出器に検出される反応部を備え、
    　前記情報取得装置は、前記障害物検出器が前記反応部を検出したことを含む検出情報に基づき前記標識体から変更情報を取得する請求項１～３のいずれか一項に記載の走行車システム。     The traveling vehicle is
    Provided with an obstacle detector that detects obstacles present on and in the vicinity of the travel route,
    The marker is
    Comprising a reaction part that is detected by the obstacle detector when placed in the vicinity of the travel route;
    The traveling vehicle system according to any one of claims 1 to 3, wherein the information acquisition device acquires change information from the marker based on detection information including that the obstacle detector has detected the reaction unit. .
  5. 　前記走行車は、
    　前記障害物検出器が前記反応部を検出したことを含む検出情報に基づき減速、または、停止し、
    　前記情報取得装置は、前記走行車が減速、または、停止してから変更情報を取得し、
    　変更情報を取得した場合、障害物としての検出を解除して走行を再開する請求項４に記載の走行車システム。     The traveling vehicle is
    Deceleration based on detection information including that the obstacle detector has detected the reaction unit, or stop,
    The information acquisition device acquires change information after the traveling vehicle decelerates or stops,
    The traveling vehicle system according to claim 4, wherein when the change information is acquired, the detection as an obstacle is canceled and the traveling is resumed.
  6. 　走行情報に基づき定められた走行経路を走行する走行車を備える走行車システムであって、
    　前記走行車は、
    　前記走行経路の近傍に自在に配置可能な前記標識体が備える変更情報を取得する情報取得装置と、
    　前記標識体から取得した変更情報に基づき前記走行情報を変更する変更部とを備え、
    　前記変更部により変更された新たな走行情報に基づき走行する走行車システム。     A traveling vehicle system comprising a traveling vehicle traveling along a traveling route determined based on traveling information,
    The traveling vehicle is
    An information acquisition device for acquiring change information provided in the marker that can be freely arranged in the vicinity of the travel route;
    A change unit that changes the travel information based on the change information acquired from the marker,
    A traveling vehicle system that travels based on new traveling information changed by the changing unit.
  7. 　走行情報に基づき定められた走行経路を走行する走行車を備える走行車システムにおいて、前記走行情報を変更する走行状態の変更方法であって、
    　変更情報を備え、自在に配置可能な標識体を前記走行車の前記走行経路の近傍に配置し、
    　前記走行経路の近傍に配置された前記標識体が備える変更情報を情報取得装置により取得し、
    　前記標識体から取得した変更情報に基づき前記走行情報を変更部が変更し、
    　前記変更部により変更された新たな走行情報に基づき前記走行車を走行させる走行状態変更方法。     In a traveling vehicle system including a traveling vehicle traveling along a traveling route determined based on traveling information, a traveling state changing method for changing the traveling information,
    It is provided with change information, and a marker that can be freely arranged is arranged in the vicinity of the traveling route of the traveling vehicle,
    Change information provided in the marker placed in the vicinity of the travel route is acquired by an information acquisition device,
    The change unit changes the travel information based on the change information acquired from the sign body,
    A traveling state changing method for causing the traveling vehicle to travel based on new traveling information changed by the changing unit.
PCT/JP2015/005704 2014-12-25 2015-11-16 Traveling vehicle system and traveling state changing method WO2016103562A1 (en)

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