WO2016203550A1 - Dispositif et procédé de création de données de trajet - Google Patents

Dispositif et procédé de création de données de trajet Download PDF

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Publication number
WO2016203550A1
WO2016203550A1 PCT/JP2015/067338 JP2015067338W WO2016203550A1 WO 2016203550 A1 WO2016203550 A1 WO 2016203550A1 JP 2015067338 W JP2015067338 W JP 2015067338W WO 2016203550 A1 WO2016203550 A1 WO 2016203550A1
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WO
WIPO (PCT)
Prior art keywords
data
movement
route
route data
guided vehicle
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Application number
PCT/JP2015/067338
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English (en)
Japanese (ja)
Inventor
淳 飯阪
俊孝 林
Original Assignee
富士機械製造株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 富士機械製造株式会社 filed Critical 富士機械製造株式会社
Priority to PCT/JP2015/067338 priority Critical patent/WO2016203550A1/fr
Priority to JP2017524183A priority patent/JPWO2016203550A1/ja
Publication of WO2016203550A1 publication Critical patent/WO2016203550A1/fr
Priority to JP2021088325A priority patent/JP2021121974A/ja

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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 route data creation device and a route data creation method.
  • teaching data including the travel route and the like is created.
  • master teaching data is created using one master among a plurality of automated guided vehicles, and the teaching data of each guided vehicle is created by adapting the teaching data to other automated guided vehicles. is doing.
  • Patent Document 1 every time the movement route is changed, for example, the equipment layout in the system is changed, the master teaching data must be recreated by using the master automatic guided vehicle. Thus, since it is necessary to create teaching data by actually using the master automatic guided vehicle, the creation of teaching data may be troublesome.
  • the main object of the present invention is to make it possible to easily create route data of a moving route of an automated guided vehicle.
  • the present invention adopts the following means in order to achieve the main object described above.
  • the route data creation device of the present invention is a route data creation device that creates route data indicating a travel route of an automatic guided vehicle, and moves a predetermined moving body along a planned travel route of the automatic guided vehicle.
  • the movement data acquisition part which acquires the movement data of the said mobile body at the time, and the route data creation part which produces the said route data using the acquired said movement data make it a summary.
  • the route data creation device of the present invention creates route data indicating the movement route of the automatic guided vehicle using the movement data when a predetermined moving body is moved along the planned movement route of the automatic guided vehicle. For this reason, when creating route data of a moving route, it is only necessary to move a predetermined moving body, and it is not always necessary to use an automatic guided vehicle. Therefore, creation of route data can be facilitated.
  • the route data creation unit may create the route data by setting point data indicating points on the travel route using the travel data. it can. In this way, when editing such as correction of route data, correction of part of the point data may be completed, so that editing of the route data can be facilitated.
  • the route data creation unit uses the start point and end point movement data among the movement data included in the section in which the moving body has moved linearly, to start and end point data. It is also possible to create route data for a section in which the automatic guided vehicle is linearly moved. In this way, the route data of the linear movement section can be created with a small number of point data, so that the data amount can be suppressed.
  • the route data creation unit may set the direction change amount of the moving body in the point data using the movement data when the moving body changes the moving direction. Further, route data of a turning point where the automatic guided vehicle is turned may be created. In this way, since the amount of change in the moving direction of the moving body can be reflected in the turning amount of the automatic guided vehicle, a turning instruction to the automatic guided vehicle can be easily set.
  • the route data creation unit may set the spot data at a higher density in a specific section of the travel route than sections other than the specific section. . In this way, even if there is a section requiring high accuracy in the movement position of the automatic guided vehicle, it can be appropriately handled.
  • the route data creation method of the present invention is a route data creation method for creating route data indicating a movement route of an automated guided vehicle, (A) obtaining movement data of the moving body when a predetermined moving body is moved along a scheduled movement path of the automatic guided vehicle; And (b) creating the route data using the acquired movement data.
  • the route data creation method of the present invention creates route data indicating the movement route of the automatic guided vehicle using the movement data when a predetermined moving body is moved along the planned movement route of the automatic guided vehicle. For this reason, route data can be easily created.
  • this route data creation method various aspects of the above-described route data creation device may be adopted, or steps for realizing each function of the above-described route data creation device may be added.
  • the block diagram which shows the outline of a structure of the route data creation system 10 and the automatic guided vehicle 40.
  • Explanatory drawing which shows an example of the movement path
  • the flowchart which shows an example of a movement data transmission process.
  • the flowchart which shows an example of a route data registration process.
  • the flowchart which shows an example of the point data setting process of a non-specific area.
  • Explanatory drawing which shows a mode that the point data P are set.
  • Explanatory drawing which shows an example of the programmed route data.
  • FIG. 1 is a block diagram showing an outline of the configuration of the route data creation system 10 and the automatic guided vehicle 40
  • FIG. 2 is an explanatory diagram showing an example of a moving route of the automatic guided vehicle 40.
  • the route data creation system 10 is a system for creating route data of the movement route of the automated guided vehicle 40.
  • the route data creation system 10 includes a portable terminal 20 such as a tablet terminal or a smartphone terminal that can be carried by the worker M, and a management device 30 that can exchange data with the portable terminal 20.
  • the management device 30 also performs traveling management of the automatic guided vehicle 40 based on the route data. Note that a device other than the management device 30 may manage the traveling of the automatic guided vehicle 40.
  • the mobile terminal 20 includes a control unit 22, a storage unit 23, a communication unit 24, a display operation unit 25, and a sensor unit 26.
  • the control unit 22 includes a CPU, a ROM, a RAM, and the like, and controls the entire terminal.
  • the storage unit 23 stores various data such as processing programs.
  • the storage unit 23 stores, as a processing program, a program for performing movement data transmission processing to be described later.
  • the communication unit 24 is wirelessly connected to a network (not shown) and exchanges data with the management device 30.
  • the display operation unit 25 includes a touch panel, operation buttons, and the like, displays various types of information to the worker M, and receives input of various instructions from the worker M.
  • the sensor unit 26 includes various sensors (for example, a GPS sensor, a gyro sensor, a geomagnetic sensor, and an acceleration sensor) for detecting the position and orientation (rotation) of the mobile terminal 20.
  • the control unit 22 detects the position and orientation of the mobile terminal 20 based on the output value from the sensor unit 26.
  • the management device 30 includes a control unit 32, a storage unit 33, a communication unit 34, a display unit 35, and an operation unit 36.
  • the control unit 32 includes a CPU, a ROM, a RAM, and the like, and controls the entire apparatus.
  • the storage unit 33 stores various data such as processing programs.
  • the storage unit 33 stores, as a processing program, a program for performing route data registration processing, which will be described later, a program for managing traveling of the automatic guided vehicle 40, and the like.
  • the communication unit 34 is connected to a network (not shown) by wireless or wired communication, and exchanges data with the mobile terminal 20 and the automated guided vehicle 40.
  • the display unit 35 includes a display, displays route data, and displays a traveling state of the automatic guided vehicle 40.
  • the operation unit 36 includes a mouse, a keyboard, and the like, and receives input of various instructions from the worker M.
  • the automatic guided vehicle 40 loads the member L containing various components on the loading unit 41.
  • the automatic guided vehicle 40 automatically travels when a control unit (not shown) drives and controls a travel motor (not shown) connected to the wheels 42.
  • the automatic guided vehicle 40 automatically loads the member L in the storage place A (see FIG. 2) such as a parts preparation room on the loading portion 41, and uses it in the use places B1 to B3 (see FIG. 2) where the member L is used.
  • the member L is automatically replenished, or the member L used at the usage locations B1 to B3 is automatically collected.
  • a component mounting apparatus for taking out components housed in the member L and mounting them on the substrate is arranged.
  • Examples of the member L include a tape feeder that accommodates components on a tape wound in a reel shape.
  • the route data creation system 10 creates route data for the three travel routes R1 to R3 that connect the storage location A and the usage locations B1 to B3.
  • Each of the travel routes R1 to R3 of the present embodiment is composed of a section where the automatic guided vehicle 40 moves in a straight line (straight movement section) and a corner at a right angle (turning point) except for the vicinity of the use places B1 to B3.
  • the automatic guided vehicle 40 moves in a curved line (sections (1) and (2) in the enlarged view).
  • two automatic guided vehicles 40 travel on these three travel routes R1 to R3.
  • the route data creation system 10 determines the XY coordinate system of the traveling area of the automatic guided vehicle 40 using a predetermined position such as the vicinity of the storage location A as a reference position (origin position), and uses the position in the XY coordinate system to determine route data. Create
  • FIG. 3 is a flowchart illustrating an example of the movement data transmission process executed by the control unit 22 of the mobile terminal 20.
  • the control unit 22 of the portable terminal 20 executes the movement data transmission process when the worker M operates the display operation unit 25 and is instructed to execute a process for creating route data.
  • the control unit 22 of the mobile terminal 20 first displays an operation screen on the display operation unit 25 (S100) and waits for the worker M to perform a start operation (S110).
  • the control unit 22 displays an operation screen including various buttons for touch operation such as a start button and an end button, and an operation description.
  • the worker M holds the mobile terminal 20 in a horizontal state with the touch panel facing upward, touches the start button, then walks along a scheduled movement route, and is in a horizontal state when walking.
  • the upper portion 20a (see FIG. 1) of the mobile terminal 20 is directed in the traveling direction. In other words, the worker M advances the scheduled movement route with the portable terminal 20 held in a horizontal state as if it were an automatic guided vehicle 40.
  • the control unit 22 determines that the worker M has performed the start operation in S110, the control unit 22 transmits a start command indicating the start of the process to the management apparatus 30 (S120). Subsequently, the control unit 22 detects the movement data T (x, y, q) of the mobile terminal 20 based on the output value from the sensor unit 26 (S130).
  • the movement data T includes the position (x, y) and the direction (rotation direction) (q) of the mobile terminal 20 in the xy coordinate system that can be detected by the control unit 22 of the mobile terminal 20.
  • control unit 22 accepts settings such as the stride of the worker M in advance, detects the number of steps of the worker M, and detects the movement data T using the movement distance based on the stride and the number of steps. Good. Further, the control unit 22 may detect the movement data T in the XY coordinate system of the traveling area of the automatic guided vehicle 40.
  • the specific section is a section in which route data is created in detail.
  • a worker M touches a designation button on the operation screen of the display operation unit 25
  • designation of a specific section is started.
  • the worker M touches the designation cancellation button on the operation screen of the display operation unit 25 while the specific section is specified the specification of the specific section is canceled (terminated).
  • the specific section is specified in the vicinity of a place where high positional accuracy is required to move the member L in and out of the loading unit 41 of the automatic guided vehicle 40, such as the storage place A and the use places B1 to B3.
  • the sections (1) and (2) in which the automated guided vehicle 40 moves in the vicinity of the use places B1 to B3 are designated as specific sections. For this reason, a non-specific area becomes a linear movement area and a turning point.
  • the control unit 22 When determining that the specific section is designated in S140, the control unit 22 transmits the movement data command including the movement data T (x, y, q) to the management apparatus 30 with the designation of the specific section (S150). The process proceeds to S170. When determining that the specific section is not specified, the control unit 22 transmits a movement data command including the movement data T (x, y, q) to the management apparatus 30 without specifying the specific section (S160). ), And proceeds to S170.
  • the control unit 22 determines whether or not it is the detection timing of the movement data T (S170) and whether or not the worker M has performed an end operation (S180), both of which are negative. Then, the process returns to S170 and is repeated.
  • the detection timing of the movement data T is a timing every predetermined time (for example, 0.5 seconds or 1 second).
  • the worker M performs an end operation by touching the end button on the operation screen of the display operation unit 25. If the control unit 22 determines in S170 that it is the detection timing, the control unit 22 returns to S130 and repeats the process.
  • the control unit 22 transmits an end command indicating the end of the process to the management apparatus 30 (S190), and ends the movement data transmission process.
  • the mobile terminal 20 transmits the movement data T (x, y, q) of the mobile terminal 20 to the management apparatus 30 periodically (every predetermined time) together with the presence / absence of designation of the specific section.
  • the orientation of the portable terminal 20 changes by about 90 degrees at the corner.
  • the orientation of the mobile terminal 20 gradually changes, and the orientation of the mobile terminal 20 differs by about 90 degrees between the start point and the end point of each section. It will be a thing.
  • FIG. 4 is a flowchart illustrating an example of route data registration processing executed by the control unit 32 of the management device 30.
  • the control unit 32 of the management device 30 executes this process when receiving a start command from the mobile terminal 20.
  • the control unit 32 of the management device 30 determines that the movement data command from the mobile terminal 20 has been received (S200), the movement data T (x, y, q included in the movement data command). ) And are stored in chronological order (S210).
  • the mobile terminal 20 may transmit the movement data T (x, y, q) with time data.
  • the control part 32 repeats the process of S200 and S210 until it determines with having received the completion
  • the control unit 32 When determining that the end command has been received in S220, the control unit 32 sets the movement data T (x, y, q) arranged in chronological order as the processing object from the top in order, and the movement data T (x, y, q) to be processed. q) is read (S230). Then, the control unit 32 determines whether or not a specific section is specified in the read movement data T (x, y, q) (S240), and there is no specific section specified, that is, the movement data T to be processed. If it is determined that (x, y, q) is data in a non-specific section, a point data setting process for the non-specific section is executed (S250).
  • FIG. 5 is a flowchart showing an example of the point data setting process in the non-specific section.
  • FIG. 6 is an explanatory diagram showing how the point data P is set.
  • FIG. 6 shows how the point data P of the movement route R1 is set.
  • a section surrounded by a dotted line is a specific section.
  • the control unit 32 first determines whether or not the current movement data T (x, y, q) to be processed is the start point of the non-specific section (S300). Whether or not the end point of the non-specific section is determined (S310).
  • the control unit 32 specifies that the movement data T to be processed is the head data of the movement data T acquired in S210, or that a specific section is designated in the movement data T immediately before the movement data T to be processed. If there is, it is determined that it is the start point of the non-specific section. In addition, the control unit 32 determines that the movement data T to be processed is the last data in the movement data T acquired in S210, or the movement data T immediately after the movement data T to be processed includes a specific section. If specified, it is determined that the end point of the non-specific section.
  • control unit 32 determines a point from the movement data T (x, y, q) to be processed this time.
  • Data P (X, Y) is set (S320), and the point data registration process is terminated.
  • the control unit 32 performs a process of converting the position (x, y) in the xy coordinate system of the mobile terminal 20 into the position (X, Y) in the XY coordinate system of the traveling area of the automatic guided vehicle 40.
  • the control unit 22 of the mobile terminal 20 can detect the position (x, y) using the XY coordinate system of the automatic guided vehicle 40, the control unit 32 determines the position (x, y) of the mobile terminal 20. ) Can be used as they are without conversion to set the point data P (X, Y).
  • the point data P1 (X1, Y1) is set from the position (x, y) included in the head movement data T1 (x, y, q).
  • the point data P3 (X3, Y3) is set from the position (x, y) included in the movement data T immediately before the specific section (movement data T at the end of the straight section), and the movement data T immediately after the specific section is set.
  • the point data P4 (X4, Y4) is set from the position (x, y) included in the (movement data T at the start point of the straight section), and the point data P6 from the position (x, y) included in the end movement data T. (X6, Y6) is set.
  • the control unit 32 may set the starting point data P1 (X1, Y1) including the vehicle direction (Q) based on the direction (q) of the movement data T1.
  • the control unit 32 determines in S300 and S310 that the current movement data T to be processed is not the start point or the end point of the non-specific section, the control unit 32 reads the previous movement data T to be processed again (S330). The difference between the direction (q) of the movement data T to be processed and the direction (q) of the previous movement data T is calculated as the direction change amount ⁇ q of the mobile terminal 20 (S340). The direction change amount ⁇ q is calculated from angle data. Then, the control unit 32 determines whether or not there is a change in the moving direction of the mobile terminal 20 based on the calculated direction change amount ⁇ q (S350).
  • the control unit 32 determines that there is a change in the moving direction of the mobile terminal 20 when the absolute value of the direction change amount ⁇ q is greater than or equal to a predetermined value.
  • a predetermined value a value close to 0 degree
  • the direction change amount ⁇ q with respect to the immediately preceding movement data Ti is a large value (a value close to 90 degrees) that is equal to or greater than a predetermined value. Determines that there is a change in the direction of movement.
  • the predetermined value used in S350 can be set to such a value that the direction change amount ⁇ q at the corner can be discriminated. Since the non-specific section of the present embodiment is a right-angled corner, it may be set to a value (for example, about 75 degrees or 80 degrees) that can determine that the direction change amount ⁇ q is about 90 degrees as a predetermined value. .
  • the control unit 32 determines in S340 that there is a change in the movement direction of the mobile terminal 20, the point data P (X, Y) of the turning point (turning corner) from the position (x, y) of the movement data T to be processed last time. ) Is set (S360), the direction change amount ⁇ q is set to the turning amount ⁇ Q of the turning point (S370), and the point data setting process is terminated.
  • the control unit 32 determines that there is a change in the movement direction in S350 when the movement data T to be processed is movement data T (i + 1), the position of the movement data Ti to be processed last time (x , Y), the point data P2 (X2, Y2) of the turning point is set.
  • the direction change amount ⁇ q of the difference between the direction (q (i + 1)) in the movement data T (i + 1) and the direction (q (i)) in the movement data T (i) becomes the turning amount ⁇ Q at the turning point.
  • the control unit 32 calculates the direction change amount ⁇ q of the mobile terminal 20 based on the movement data T, and sets the calculated direction change amount ⁇ q to the turning amount ⁇ Q of the automatic guided vehicle 40, thereby turning the turning point.
  • the point data P2 (X2, Y2, ⁇ Q2) is registered.
  • the control unit 32 also registers the point data P5 (X5, Y5, ⁇ Q5) in the same manner.
  • control unit 32 determines in S350 that there is no change in the moving direction of the mobile terminal 20, the control unit 32 skips the processing of S360 and S370 and ends the point data setting processing. For this reason, the control part 32 will not set point data other than the start point and end point (turning point) of a linear movement area, and the point switched to a specific area in a non-specific area. That is, the control unit 32 uses the movement data T1 at the start point and the movement data Ti at the end point out of the movement data T (for example, movement data T between T1 and Ti in FIG. 6) included in the linear movement section. The start point and end point data P of the section are set, and all movement data T (for example, T (i-1) in FIG. 6) between them is omitted. Thus, since the control unit 32 registers the point data P by thinning out the movement data T in the non-specific section, the number of registrations of the point data P can be reduced and the amount of route data can be suppressed.
  • the control unit 32 sets the point data P (X, Y, Q) from the movement data T (x, y, q) to be processed this time (S260).
  • the control unit 32 performs a conversion process on the position (x, y) and the direction (q) of the portable terminal 20 in the xy coordinate system, and the position (X, Y) of the traveling area of the automatic guided vehicle 40 in the XY coordinate system. Y) and orientation (Q) are set.
  • the control unit 32 sets the point data P without omitting the movement data T in the specific section. For this reason, as shown in FIG.
  • a lot of position data P is set in the specific section. That is, the position data P is set in the specific section at a higher density than in the non-specific section, so that highly accurate route data can be created.
  • the display is not limited to such a display, and serial numbers may be assigned without distinction between non-specific sections and specific sections.
  • the control unit 32 determines whether or not there is unprocessed movement data T (S270), and if it is determined that there is unprocessed movement data T, the process proceeds to S230. Repeat the return process. On the other hand, when determining that there is no unprocessed movement data T in S270, the control unit 32 creates route data programmed based on each point data P, registers it in the storage unit 33 (S280), and registers route data. The process ends.
  • control unit 32 is programmed to move linearly between the two point data P in the non-specific section, or is programmed to turn at the turning point where the turning amount ⁇ Q is set.
  • control unit 32 reads out the point data P by two points in the specific section, and sequentially programs them so as to move between the point data P in the set vehicle body direction. Further, the control unit 32 programs the movement from the end point of the non-specific section to the start point of the specific section and the movement from the end point of the specific section to the start point of the non-specific section.
  • FIG. 7 is an explanatory diagram showing an example of programmed route data.
  • each operation of the automatic guided vehicle 40 is instructed by the position (X, Y), the turning amount ⁇ Q, and the vehicle body direction Q.
  • a linear movement from the start point (X1, Y1) to the end point (X2, Y2) is instructed, and in (2), the turning motion of ⁇ Q2 at the turning point (X2, Y2) (in FIG. 6). , 90 degrees counterclockwise), and in (3), a linear movement from the start point (X2, Y2) to the end point (X3, Y3) is instructed.
  • the position and the vehicle body direction at each point in the specific section are indicated in detail.
  • the first of (4) moves from the end point (X3, Y3) of the non-specific section to the start point (X3-1, Y3-1) of the specific section, and the moved position (X3-1, Y3- In 1), the vehicle body 20 is instructed to face the same body (Q3-1) as the portable terminal 20.
  • the second of (4) moves from the position (X3-1, Y3-1) to the position (X3-2, Y3-2), and at the moved position (X3-2, Y3-2). It is instructed to be in the same vehicle body direction (Q3-2) as the portable terminal 20.
  • the created route data is stored in the storage unit 33 of the management device 30.
  • the management device 30 transmits the travel route data read from the storage unit 33 together with the travel route instruction to each automatic guided vehicle 40.
  • Each automatic guided vehicle 40 automatically travels based on the received route data. If it does in this way, each automatic guided vehicle 40 should just acquire route data, when traveling, and does not need to memorize route data beforehand. For this reason, when editing such as correction of route data becomes necessary, the worker M may correct the route data stored in the storage unit 33 of the management device 30. In addition, since the route data is created using the point data P, the worker M may be able to edit it only by correcting some coordinates in the route data.
  • the worker M corrects the coordinates Y5 and Y6 in (5), (6), and (7) in the route data (program) in FIG. Well, there is no need to modify other coordinates. For this reason, the worker M can easily edit the route data.
  • characteristics such as straight advance accuracy and stop accuracy of each automatic guided vehicle 40, turning accuracy, rotation amount of the driving motor, and actual turning amount with respect to the turning amount ⁇ Q. May be different.
  • the management device 30 stores the route data corrected in accordance with the characteristics of each automatic guided vehicle 40 in the storage unit 33, and corresponds to the automatic guided vehicle 40 when the automatic guided vehicle 40 travels.
  • the route data may be transmitted.
  • the control unit 32 and the communication unit 34 of the management apparatus 30 that executes the processes of S200 and S210 of the route data registration process of FIG. 4 of the present embodiment correspond to the movement data acquisition unit, and the processes of S230 to S280 of the route data registration process
  • the control unit 32 and the storage unit 33 of the management device 30 that executes processing correspond to a route data creation unit
  • the mobile terminal 20 corresponds to a predetermined mobile body
  • the management device 30 corresponds to a route data creation device.
  • an example of the route data creation method of the present invention is also clarified by describing the operation of the management device 30 of the route data creation system 10.
  • the management device 30 of the route data creation system 10 described above acquires the movement data T when the worker M moves the portable terminal 20 along the scheduled movement route of the automatic guided vehicle 40, and the movement data T is obtained.
  • the route data of the movement route of the automatic guided vehicle 40 is created by using it. For this reason, it is only necessary to move the mobile terminal 20 when creating route data of the moving route, and it is not always necessary to use the automatic guided vehicle 40, so that route data can be easily created.
  • the management device 30 creates route data by setting the point data P on the movement route using the movement data T, the route data can be easily edited.
  • the management device 30 creates route data for the linear movement section with a small number of data, the amount of route data can be reduced.
  • the management device 30 sets the direction change amount ⁇ q when the mobile terminal 20 changes the moving direction to the turning amount ⁇ Q of the automatic guided vehicle 40, the turning instruction to the automatic guided vehicle 40 can be easily set. Can do.
  • the management apparatus 30 sets the point data P at a higher density in the specific section of the movement route than in the sections other than the specific section, it is appropriate when the position where the automatic guided vehicle 40 moves requires high accuracy. Can respond.
  • the control unit 32 of the management device 30 determines the change in the moving direction of the mobile terminal 20 using the direction change amount ⁇ q without using the position change amounts ⁇ X and ⁇ Y, but is not limited thereto.
  • the determination may be made using the position change amounts ⁇ x and ⁇ y without using the direction change amount ⁇ q.
  • the change amount ⁇ y is changed from a state where the change amount ⁇ x is larger than the change amount ⁇ y. It will change to a state larger than ⁇ x.
  • the control part 32 can determine the change of the moving direction of the portable terminal 20 based on the change of the magnitude relationship of position change amount (DELTA) x and (DELTA) y. Further, the control unit 32 may determine the change in the moving direction using the position change amounts ⁇ x and ⁇ y calculated over a plurality of points. Alternatively, the control unit 32 may determine the change in the movement direction by using both the direction change amount ⁇ q and the position change amounts ⁇ x and ⁇ y. The control unit 32 uses the position change amounts ⁇ x and ⁇ y in addition to the direction change amount ⁇ q to exclude the case where the operator M unintentionally changes the orientation of the mobile terminal 20 and the like. It is possible to accurately determine a change in the movement direction of the.
  • a swivel button that can be touched is displayed on the operation screen of the display operation unit 25 of the mobile terminal 20, and when the worker M holding the mobile terminal 20 changes the moving direction, the turn It is assumed that the button is operated.
  • the control part 32 of the management apparatus 30 is good also as what sets the position by which button operation was carried out to a turning point. That is, the turning point may be set based on the operator M performing a predetermined operation.
  • the specific section is set by the operator M specifying the specific section on the operation screen of the display operation unit 25 of the mobile terminal 20, but the present invention is not limited to this.
  • a specific area may be defined, and a specific section may be specified (handled as a specific section) while the mobile terminal 20 is moved within the specific area.
  • the specific area may be determined as an area specified by the XY coordinates, such as an area near the storage location A, an area near the usage locations B1 to B3, or the operator M.
  • the control unit 32 of the management device 30 may set an area within a predetermined distance after starting the movement of the mobile terminal 20 as a specific area, or an area within a predetermined distance before the movement of the mobile terminal 20 is finished. May be defined as a specific area.
  • the management device 30 determines the position (X, Y) and direction (Q) of the automatic guided vehicle 40 based on the position (x, y) and the direction (q) of the mobile terminal 20 in the specific section.
  • route data set for each data P is created, the present invention is not limited to this.
  • the management device 30 only needs to create route data so that the point data P has a higher density in the specific section than in the non-specific section, and the automatic guided vehicle 40 can be set without setting the direction (Q) of the automatic guided vehicle 40.
  • the position (X, Y) may be set.
  • the management device 30 uses the position (X, Y) of the point data P set from the plurality of movement data T as it is for the route data, it is not limited to this.
  • the management device 30 may set an approximate curve that approximates a plurality of point data P in a specific section, and correct each point data P so as to be positioned on the set approximate curve to create route data.
  • the management device 30 may create route data obtained by programming the set approximate curve. In this way, the automatic guided vehicle 40 can be smoothly moved along the approximate curve while finely setting the position of the automatic guided vehicle 40.
  • the radius of curvature of the approximate curve may be set within a range where the automatic guided vehicle 40 can smoothly travel.
  • a specific section can be specified, but the present invention is not limited to this.
  • the specific section may not be designated.
  • the worker M carries the portable terminal 20 and acquires the movement data T of the portable terminal 20.
  • the present invention is not limited to this, and the worker M acquires the movement data T of the carriage by pushing a cart or the like. May be. If a cart that is smaller and lighter than the automatic guided vehicle 40 is used as the cart, the route data can be easily created as in the case of using the mobile terminal 20.
  • the predetermined moving body may be a moving body other than the automatic guided vehicle to be moved using the route data.
  • route data may be created using the automated guided vehicle 40.
  • the mobile terminal 20 detects the movement data T and transmits it to the management apparatus 30.
  • the management apparatus 30 detects the movement data T such as the position and orientation of the mobile terminal 20.
  • the route data creation system 10 includes one or more transmission devices that transmit a predetermined signal such as a beacon signal, and the mobile terminal 20 receives a signal from the transmission device, the data regarding the signal reception state (for example, reception intensity). Is transmitted to the management apparatus 30.
  • the management apparatus 30 is good also as what detects and acquires movement data T, such as a position of the portable terminal 20, based on the data from the portable terminal 20.
  • the route data of FIG. 7 programmed from the point data P is illustrated, but the present invention is not limited to this, and route data including the point data P as it is may be used.
  • the point data P (see FIG. 6) set in S260 of FIG. 4 or S320, S330, and S340 of FIG.
  • the automatic guided vehicle 40 may travel by converting the point data P into route data as shown in FIG. 7, or may travel using each point data P of the route data as it is.
  • the management device 30 acquires the movement data T of the mobile terminal 20 and creates the route data.
  • the mobile terminal 20 may acquire its own movement data T and create route data.
  • the movement data transmission process of FIG. 3 is taken as a movement data storage process, and the movement data T is stored (acquired) in the storage unit 23 without the control unit 23 of the portable terminal 20 transmitting the movement data command T in S150 and S160. It is assumed that the transmission of the commands in S120 and S190 is omitted.
  • the control unit 23 of the portable terminal 20 executes the route data registration process of FIG. 4 (creates route data), omits the processes of S200 and S210, and whether or not the worker M has performed an end operation in S220. Or the like.
  • the direction change amount ⁇ q of the mobile terminal 20 is set to the turning amount ⁇ Q of the automatic guided vehicle 40, but is not limited thereto.
  • the worker M may input the turning angle at the turning point, and the management device 30 may set the inputted turning angle as the turning amount ⁇ Q.
  • the two point data P of the start point and the end point of the linear movement section are set.
  • the present invention is not limited to this, and three or more point data P including the start point and the end point may be set. .
  • the point data P may be set without thinning out the movement data T even in the linear movement section.
  • the present invention can be used in manufacturing industries using automatic guided vehicles.
  • 10 route data creation system 20 mobile terminal, 20a upper part, 22, 32 control part, 23, 33 storage part, 24, 34 communication part, 25 display operation part, 26 sensor part, 30 management device, 35 display part, 36 operation Part, 40 automatic guided vehicle, 41 loading part, 42 wheels, A storage place, B1-B3 use place, L member, M worker, R1-R3 travel route.

Landscapes

  • 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

Un dispositif de gestion (30) du présent système de création de trajet (10) de données acquiert des données de déplacement consécutivement au déplacement, par un opérateur (M), d'un terminal mobile (20) le long d'un trajet de déplacement planifié d'un véhicule à guidage automatique (40), et utilise les données de déplacement acquises pour créer des données de trajet qui indiquent un trajet de déplacement du véhicule à guidage automatique (40). Pour cette raison, lors de la création des données de trajet d'un trajet de déplacement, il est possible d'utiliser le terminal mobile (20) et de ne pas nécessairement utiliser le véhicule à guidage automatique (40), ce qui permet de faciliter la création de données de déplacement.
PCT/JP2015/067338 2015-06-16 2015-06-16 Dispositif et procédé de création de données de trajet WO2016203550A1 (fr)

Priority Applications (3)

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PCT/JP2015/067338 WO2016203550A1 (fr) 2015-06-16 2015-06-16 Dispositif et procédé de création de données de trajet
JP2017524183A JPWO2016203550A1 (ja) 2015-06-16 2015-06-16 経路データ作成装置及び経路データ作成方法
JP2021088325A JP2021121974A (ja) 2015-06-16 2021-05-26 経路データ作成装置、経路データ作成システム及び経路データ作成方法

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JP2017130083A (ja) * 2016-01-21 2017-07-27 株式会社ダイヘン 経路教示装置、及び移動体
JP2020042516A (ja) * 2018-09-10 2020-03-19 日本電気株式会社 移動経路生成装置、移動装置、移動経路生成方法、及びプログラム
EP3839685A1 (fr) * 2019-12-18 2021-06-23 STILL GmbH Méthode d'exploitation d'un chariot élévateur automatisé et d'un système intralogistique pour l'exécution de la méthode
JP2021184210A (ja) * 2020-05-22 2021-12-02 株式会社東芝 情報処理装置、情報処理方法、情報処理システム及びコンピュータプログラム
WO2024014194A1 (fr) * 2022-07-12 2024-01-18 三菱重工業株式会社 Procédé de détermination d'itinéraire, programme et système de détermination d'itinéraire

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JP2001166826A (ja) * 1999-11-26 2001-06-22 J Kanayama Yutaka 移動車の軌道データとセンサデータを記録する方法
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Publication number Priority date Publication date Assignee Title
JP2017130083A (ja) * 2016-01-21 2017-07-27 株式会社ダイヘン 経路教示装置、及び移動体
JP2020042516A (ja) * 2018-09-10 2020-03-19 日本電気株式会社 移動経路生成装置、移動装置、移動経路生成方法、及びプログラム
JP7480975B2 (ja) 2018-09-10 2024-05-10 日本電気株式会社 移動経路生成装置、移動装置、移動経路生成方法、及びプログラム
EP3839685A1 (fr) * 2019-12-18 2021-06-23 STILL GmbH Méthode d'exploitation d'un chariot élévateur automatisé et d'un système intralogistique pour l'exécution de la méthode
JP2021184210A (ja) * 2020-05-22 2021-12-02 株式会社東芝 情報処理装置、情報処理方法、情報処理システム及びコンピュータプログラム
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WO2024014194A1 (fr) * 2022-07-12 2024-01-18 三菱重工業株式会社 Procédé de détermination d'itinéraire, programme et système de détermination d'itinéraire

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