WO2019065317A1 - Corps mobile - Google Patents

Corps mobile Download PDF

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Publication number
WO2019065317A1
WO2019065317A1 PCT/JP2018/034253 JP2018034253W WO2019065317A1 WO 2019065317 A1 WO2019065317 A1 WO 2019065317A1 JP 2018034253 W JP2018034253 W JP 2018034253W WO 2019065317 A1 WO2019065317 A1 WO 2019065317A1
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WO
WIPO (PCT)
Prior art keywords
unit
power
detection
mobile
failure
Prior art date
Application number
PCT/JP2018/034253
Other languages
English (en)
Japanese (ja)
Inventor
克巳 渡邊
Original Assignee
日本電産株式会社
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.)
Filing date
Publication date
Application filed by 日本電産株式会社 filed Critical 日本電産株式会社
Priority to JP2019544595A priority Critical patent/JPWO2019065317A1/ja
Priority to CN201880052184.2A priority patent/CN111033421A/zh
Publication of WO2019065317A1 publication Critical patent/WO2019065317A1/fr

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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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the present invention relates to a mobile.
  • Patent Document 1 discloses an example of a mobile body which detects an obstacle by an infrared sensor and an elastic bumper and moves autonomously while avoiding contact with the obstacle.
  • the movable body may be used to transport a work object of a work robot that assembles a product.
  • the mobile unit in addition to the autonomous operation of the mobile unit (for example, the operation for avoiding an obstacle etc.), the mobile unit carries out an operation (for example, an operation for stopping at a certain position) according to the situation.
  • an operation for example, an operation for stopping at a certain position
  • you want to instruct the mobile unit from the outside of the if a configuration (for example, a sensor, a receiver, etc.) for the mobile unit to receive an operation instruction from the outside of such a mobile unit is further mounted on the mobile unit, the number of parts increases or the design is changed. There was a problem that it took time and effort.
  • the present invention does not further mount a configuration for the mobile unit to receive an operation instruction from the outside, and the mobile unit operates based on the operation instruction from the outside. Intended to be provided.
  • One aspect of the mobile object of the present invention is a self-propelled mobile object that transports a work robot or a work object of a worker to the work robot or worker, and a detection unit that detects an obstacle during traveling;
  • An operation control unit that controls the operation of the mobile unit based on the detection result of the detection unit, and the operation control unit is configured to control the mobile unit when the detection unit detects the failure while traveling.
  • a movable body which is made to stop, and when the detection unit detects the failure while stopping, when the predetermined condition is satisfied, the transport operation of the work object is performed.
  • One aspect of the mobile unit of the present invention is a mobile unit driven by power wirelessly transmitted from a non-contact power feeding apparatus including a power transmission resonator that transmits power by non-contact power feeding, the power transmission resonator A power receiving resonator for receiving power to be transmitted, a power storage unit for storing power received by the power receiving resonator, and a motor operated by power stored in the power storage unit, and the predetermined condition is A condition based on the storage state of the storage unit, wherein the operation control unit is a mobile unit based on the storage state of the storage unit during the power receiving operation in which power reception is performed by the power reception resonator. Control the operation of
  • the predetermined condition is that the storage unit stores predetermined electric power, and the detection unit detects the failure while the mobile unit is stopped.
  • the operation control unit continues the power receiving operation when the predetermined power is not stored in the storage unit, and when the predetermined power is stored in the storage unit, the operation control unit Perform transport operation.
  • the detection unit includes a proximity sensor that detects a degree of proximity to a detection target, and the proximity sensor detects a distance to the detection target that is closer than a predetermined threshold. The detection target is detected as the failure.
  • the detection unit includes an impact sensor that detects a degree of an impact caused by contact with a detection target, and the impact sensor detects an impact due to contact with the detection target by a predetermined threshold. Also detect the target as the failure.
  • the detection unit detects an operation result of the work robot as the failure.
  • the operation control unit stops the operation of the mobile object when the degree of detection by the detection unit is equal to or higher than a predetermined upper limit threshold.
  • the operation control unit continues the operation of the mobile unit when the degree of detection by the detection unit is less than a predetermined lower limit threshold.
  • FIG. 1 is a view showing an example of a mobile unit 10 according to the first embodiment.
  • the mobile unit 10 is, for example, an AGV (Automatic Guided Vehicle) that moves within a predetermined range.
  • the predetermined range is, for example, in a factory where a working robot (hereinafter, working robot RB) works.
  • the mobile unit 10 for example, loads an object (hereinafter referred to as work object WK) on which the work robot RB or a worker of the factory (hereinafter referred to as worker WKR) performs work, and moves the inside of the factory.
  • the mobile unit 10 transports the loaded work object WK to the work robot RB and the worker WKR.
  • the moving body 10 transports the work object WK to the work robot RB or the worker WKR and moves the moving body 10 to the position where the work object WK is loaded. Described as “transport operation”.
  • the moving body 10 includes a control device 11, a detection unit 12, a power reception resonator 13, a storage battery 14, and a motor 15.
  • the control device 11 is a device that controls the operation of the mobile unit 10.
  • the detection unit 12 is a sensor that detects a detection target present around the mobile object 10.
  • the detection unit 12 is, for example, an infrared sensor (hereinafter, an infrared sensor 12a).
  • the infrared sensor 12a is a sensor that detects the degree of proximity to the detection target.
  • the detection target is, for example, a person who obstructs the movement of the mobile object 10, an obstacle, a wall or a pillar in a factory, or the like.
  • the infrared sensor 12a detects the detection target as a failure when the distance (hereinafter, distance d) to the detection target (for example, the wall WL illustrated) is shorter than a predetermined threshold.
  • the infrared sensor 12 a When the infrared sensor 12 a detects a fault, the infrared sensor 12 a supplies the control device 11 with a detection result (hereinafter, a distance detection result) indicating that the fault is detected.
  • the control device 11 "stops" the moving body 10 as the infrared sensor 12a detects a failure "during transport operation".
  • FIG. 2 is a view showing another example of the mobile unit 10 according to the first embodiment.
  • the detection unit 12 is, for example, an impact sensor (hereinafter, an impact sensor 12b).
  • the impact sensor 12 b is a sensor that detects the degree of impact due to contact with the detection target.
  • the impact sensor 12b detects the detection target as a failure when the impact due to the contact with the detection target (for example, the wall WL illustrated) is larger than a predetermined threshold.
  • the impact sensor 12 b supplies the control device 11 with a detection result (hereinafter, impact detection result) indicating that the fault is detected.
  • the control device 11 "stops" the moving body 10 as the impact sensor 12b detects a failure "during transport operation".
  • the movable body 10 may be configured to include both the infrared sensor 12a and the impact sensor 12b, or may be configured to include one of the infrared sensor 12a and the impact sensor 12b.
  • the mobile unit 10 of the present embodiment includes both an infrared sensor 12a and an impact sensor 12b.
  • the infrared sensor 12 a and the impact sensor 12 b will be collectively referred to as the detection unit 12.
  • the distance detection result and the impact detection result are generically referred to as a detection result.
  • the infrared sensor 12a is an example of a proximity sensor.
  • the detection unit 12 acquires detection results at all times or at predetermined time intervals.
  • the power reception resonator 13 receives power from the power transmission resonator 21 (not shown) included in the non-contact power feeding device 20 (not shown) according to the non-contact power feeding system.
  • the non-contact power feeding device 20 is a device that includes a power transmission resonator 21 and transmits power to the power receiving resonator 13 by a non-contact power feeding method.
  • the power reception resonator 13 receives power in a range where the power transmission resonator 21 can transmit power.
  • the storage battery 14 stores the power received by the power receiving resonator 13 from the non-contact power feeding device 20.
  • the motor 15 is driven by the power stored in the storage battery 14. Further, the motor 15 operates based on the control of the control device 11.
  • Storage battery 14 is an example of a power storage unit.
  • the movable body 10 start transporting the work object WK to the work robot RB or the worker WKR in response to the work object WK being loaded “during stoppage”. Further, in response to the work robot RB or the worker WKR acquiring the work object WK from the move body 10 “during stop”, the movement body 10 starts moving to a position where the work object WK is loaded.
  • the mobile unit 10 of this embodiment executes a predetermined operation as the detection unit 12 detects a failure “during stop”.
  • the predetermined operation is, for example, a “transport operation”.
  • the infrared sensor 12a detects, for example, a distance detection result when a worker at the factory, who is a worker in the factory, detects an operation of waving his hand on the infrared sensor 12a as a failure.
  • the distance detection result at the time of detecting the waving motion is, for example, the appearance of the detection target at a position where the distance d from the moving object 10 to the detection target (a hand in this example) is closer than a predetermined threshold, It is a detection result which repeats disappearance of detection object within predetermined time.
  • the worker WKR shakes the hand with respect to the infrared sensor 12a, for example, in response to the work object WK being loaded on the moving object 10 "during stoppage".
  • the control device 11 causes the mobile unit 10 to start the “transport operation” in response to the detection of the failure “during stop”.
  • the impact sensor 12 b detects, for example, an impact detection result at the time of detection of an operation due to a worker WKR of a factory hitting the mobile object 10 a plurality of times (hereinafter, knocking) as a failure.
  • the detection result when the knocking operation is detected is, for example, a detection result in which an impact due to contact with a detection target larger than a predetermined threshold value is repeated within a predetermined time.
  • the worker WKR performs an operation of knocking the moving object 10 in response to, for example, the work object WK being loaded on the moving object 10 “during stop”.
  • the control device 11 causes the mobile unit 10 to start the “transport operation” in response to the detection of the failure “during stop”.
  • FIG. 3 is a diagram showing the correspondence between the state of the mobile unit 10 according to the first embodiment and the detection result of the detection unit 12.
  • operation information D1 information indicating the correspondence between the state of the mobile unit 10 and the detection result of the detection unit 12 is referred to as operation information D1.
  • the control device 11 in the operation information D 1, when the state of the moving body 10 is “running” and the detection unit 12 detects a failure, the control device 11 “stops” the moving body 10.
  • the control device 11 causes the mobile unit 10 to start the “transport operation”.
  • FIG. 4 is a diagram showing an example of the configuration of the mobile unit 10 according to the first embodiment.
  • the moving body 10 includes the control device 11, the detection unit 12, the power reception resonator 13, the storage battery 14, and the motor 15.
  • a detection unit 12 (in this example, an infrared sensor 12 a and an impact sensor 12 b) is connected to the control device 11.
  • the detection unit 12 supplies information indicating the detection result to the control device 11.
  • the control device 11 includes a control unit 110 and a storage unit 120.
  • the storage unit 120 is realized by, for example, a read only memory (ROM), a random access memory (RAM), a hard disk drive (HDD), a flash memory, or a hybrid storage device in which a plurality of these are combined. Note that part or all of the storage unit 120 may be an external device accessible by the control device 11, such as a NAS (Network Attached Storage) or an external storage server. Moreover, the control apparatus 11 may have a communication part which communicates with the exterior.
  • the storage unit 120 stores operation information D1.
  • the operation information D1 is information (for example, FIG. 3) indicating the correspondence between the operation state of the mobile unit 10 and the detection result.
  • the control unit 110 is realized by execution of a program (software) by a hardware processor such as a central processing unit (CPU).
  • the control unit 110 implements, for example, the operation control unit 111 as its functional unit. Further, among these components, some or all (except for the storage unit included) may be LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing) It may be realized by hardware (a circuit unit; including circuitry) such as a unit), or may be realized by cooperation of software and hardware.
  • LSI Large Scale Integration
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • GPU Graphics Processing
  • the operation control unit 111 acquires information indicating the detection result from the detection unit 12.
  • the operation control unit 111 controls the operation of the mobile object 10 based on the operation information D1 and the detection result.
  • the operation control unit 111 controls the motor 15 to start the “transport operation”, for example, in response to the detection of the failure in “during stop”.
  • the operation control unit 111 controls the motor 15 to “stop”, for example, in response to the detection of a failure in “during traveling”.
  • the mobile unit 10 of the present embodiment is the mobile unit 10 for transporting the work object WK of the work robot RB or the worker WKR to the work robot RB or the worker WKR, and the obstacle at the time of traveling
  • the operation control unit 111 includes a detection unit (in this example, the detection unit 12) to be detected, and an operation control unit 111 that controls the operation of the mobile object 10 based on the detection result of the detection unit 12.
  • the mobile unit 10 If the detection unit 12 detects a failure in the case, the mobile unit 10 is stopped, and if the detection unit 12 detects a failure during the stop, the predetermined condition is satisfied (in this example, the distance d to the detection target is In the case of being closer than a predetermined threshold or in the case where the impact due to the contact with the detection target is larger than the predetermined threshold), the “transport operation” of the work object WK is performed.
  • the mobile unit 10 of the present embodiment can operate based on the operation instruction from the outside without further mounting the configuration for the mobile unit 10 to receive the operation instruction from the outside.
  • the detection unit 12 includes a proximity sensor (in this example, the infrared sensor 12a in this example) for detecting the degree of proximity to the detection target, and the infrared sensor 12a measures the distance to the detection target If d is closer than a predetermined threshold, the detection target is detected as a failure.
  • the detection unit 12 includes an impact sensor 12b that detects the degree of impact due to contact with the detection target, and the impact sensor 12b has a predetermined threshold value for the impact due to contact with the detection target. If it is larger than that, the detection target is detected as a failure.
  • an infrared sensor 12 a or an impact sensor 12 b may be mounted on the moving body 10 for the purpose of detecting a fault.
  • the infrared sensor 12a and the impact sensor 12b already mounted on the movable body 10 can operate based on an instruction of operation from the outside.
  • FIG. 5 is a diagram showing an outline of causing the detection unit 12 to detect a fault by the working robot RB. In the example shown in FIG.
  • the working robot RB shakes the tip of the working robot RB with respect to the infrared sensor 12 a in response to, for example, the work object WK being loaded on the “stopped” moving body 10.
  • the control device 11 causes the mobile unit 10 to start the “transport operation” in response to the detection of the failure “during stop”.
  • the working robot RB performs an operation of knocking the moving body 10 by the tip of the working robot RB.
  • the control device 11 causes the mobile unit 10 to start the “transport operation” in response to the detection of the failure “during stop”.
  • the mobile unit 10 of the present embodiment can carry out the work of carrying the work object WK without the need for the instruction of the worker WKR.
  • FIG. 6 is a view showing an example of the mobile unit 10 according to the second embodiment.
  • the power reception resonator 13 receives power in a range (power reception range FAR shown) in which the power transmission resonator 21 can transmit power.
  • the storage battery 14 stores the power received by the power receiving resonator 13 from the non-contact power feeding device 20.
  • the operation in which the mobile body 10 stops in the power reception range FAR and receives power from the non-contact power feeding device 20 is also referred to as “power receiving operation”.
  • the “power receiving operation” of the mobile object 10 is performed “during stop”.
  • the detection unit 12 may detect a failure when the mobile object 10 is “in a power receiving operation” and the storage battery 14 does not have sufficient power storage.
  • the mobile object 10 may stop in the middle of the operation. Therefore, even when the mobile object 10 detects a failure “during stop”, “power transfer operation” is not started when “power is not sufficiently stored in the storage battery 14, and“ power reception operation ” It is preferable to continue the The mobile unit 10 of the present embodiment operates based on the state of charge of the storage battery 14 during “power receiving operation”.
  • the control device 11 hereinafter, control device 11a
  • the operation information D1 hereinafter, operation information D1a
  • FIG. 7 is a diagram showing an example of operation information D1a according to the second embodiment.
  • the control device 11a “stops” the moving body 10 when the state of the moving body 10 is “running” and the detection unit 12 detects a failure.
  • the operation information D1a is controlled when the state of the moving body 10 is "stopped” and the moving body 10 is not "power receiving operation” and the storage battery 14 stores predetermined power.
  • the device 11 a indicates that the mobile unit 10 starts the “transport operation” in response to the detection unit 12 detecting a failure.
  • the operation information D1a is controlled when the state of the moving body 10 is "stopped” and the moving body 10 is not “power receiving operation” and the storage battery 14 does not store predetermined power.
  • the device 11a indicates that the mobile unit 10 prepares for the "power reception operation” even if the detection unit 12 detects a failure.
  • the state of the mobile object 10 is “stopped” and the mobile object 10 is not “power receiving operation”, for example, when the predetermined power is not stored in the storage battery 14, This means that the detection unit 12 has detected a failure immediately after the moving object 10 has stopped in order to start the power receiving operation of the body 10.
  • the mobile unit 10 is required to perform a power receiving operation.
  • the timing at which the mobile object 10 switches from the “not in power receiving operation” state to the “power receiving operation” state is the timing several seconds after the mobile object 10 is switched from “running” to “stopping”. It is.
  • the control device 11a detects that the detection unit 12 fails. Indicates that the mobile object 10 is to start the “transport operation”. Further, in the operation information D1a, when the state of the mobile object 10 is "stopped” due to the "power receiving operation” and the storage battery 14 does not store predetermined power, the control device 11a detects that the detection unit 12 fails. Even if it detects “power reception operation”.
  • FIG. 8 is a diagram showing an example of the configuration of the mobile unit 10 according to the second embodiment.
  • the mobile unit 10 according to the present embodiment includes a control device 11 a, a detection unit 12, a power reception resonator 13, a storage battery 14, and a motor 15.
  • the control device 11a includes a control unit 110a and a storage unit 120a. Operation information D1a is stored in the storage unit 120a.
  • Control unit 110 a implements operation control unit 111 and power storage state determination unit 112 as its functional units.
  • Power storage state determination unit 112 detects the power stored in storage battery 14.
  • the storage state determination unit 112 determines whether predetermined power is stored in the detected storage battery 14.
  • the storage state determination unit 112 supplies the operation control unit 111 with information indicating the storage state determination result of which the storage state has been determined.
  • the operation control unit 111 of the present embodiment acquires information indicating the detection result from the detection unit 12, and acquires information indicating the storage state determination result from the storage state determination unit 112.
  • the operation control unit 111 controls the operation of the mobile object 10 based on the information indicating the detection result, the information indicating the power storage state determination result, and the operation information D1. For example, when the state of the mobile object 10 is “running” and the detection unit 12 detects a failure, the operation control unit 111 controls the motor 15 so that the mobile object 10 “stops”. In addition, when the state of the mobile unit 10 is “stopped” and the mobile unit 10 is not “in power reception operation”, the operation control unit 111 detects that a failure is detected. The motor 15 is controlled to cause the motor 10 to start the "transport operation".
  • the operation control unit 111 detects that the detection unit 12 detects a fault. In accordance with the above, it indicates that the mobile object 10 is to start the “transport operation”. In addition, when the state of the mobile object 10 is “stopped” accompanying the “power receiving operation” and the storage battery 14 does not store predetermined power, the operation control unit 111 determines that the detection unit 12 detects a fault. Also, the mobile unit 10 continues the “power receiving operation”. That is, the operation control unit 111 does not cause the motor 15 (the moving body 10) to start the "transporting operation”.
  • the mobile unit 10 of the present embodiment includes the power transmission resonator 21 for transmitting power by the non-contact power feeding method, and is a mobile unit 10 driven by the power wirelessly transmitted from the non-contact power feeding apparatus 20.
  • a power reception resonator 13 receiving power transmitted by the power transmission resonator 21, a storage battery 14 storing the power received by the power reception resonator 13, and a motor 15 operated by the power stored in the storage battery 14;
  • the predetermined condition is a condition based on the storage state of the storage battery 14, and the operation control unit 111 sets the storage state of the storage battery 14 in "power receiving operation" in which power reception by the power receiving resonator 13 is being performed.
  • the mobile unit 10 of the present embodiment based on the operation of the mobile unit 10 is controlled. According to the mobile unit 10 of the present embodiment, it is possible to suppress the mobile unit 10 from starting the “transporting operation” in a state where the storage battery 14 does not have sufficient power storage. As a result, the mobile unit 10 of the present embodiment can appropriately carry the work target object WK to the work robot RB and the worker WKR.
  • the predetermined condition is that predetermined power is stored in the storage battery 14, and the detection unit 12 detects a failure “during stop” of the mobile unit 10.
  • operation control unit 111 continues the “power receiving operation” when predetermined power is not stored in storage battery 14, and “transfer operation when predetermined power is stored in storage battery 14. Let me Thereby, the mobile unit 10 according to the present embodiment can cause the mobile unit 10 to perform the “power receiving operation” until the storage battery 14 has sufficiently stored power.
  • FIG. 9 is a view showing an example of detection of the infrared sensor 12a according to the third embodiment.
  • the mobile unit 10 starts the “transporting operation” as the detection unit 12 detects a failure “during stop”.
  • the mobile object 10 start the “transport operation” even when the detection unit 12 detects a failure “during stop”.
  • the worker WKR shakes the hand with respect to the infrared sensor 12a, for example, in response to the work object WK being loaded on the moving object 10 “during stop”.
  • the worker WKR may perform an operation of waving at a position where the distance d from the mobile object 10 to the worker WKR is extremely close. In this case, when the mobile unit 10 starts the “transporting operation” with the detection unit 12 detecting a failure “during stop”, the worker WKR and the mobile unit 10 may collide.
  • the distance detection result indicating that the fault is detected and information indicating that the distance detection result indicates a fault equal to or more than the upper limit threshold It supplies to control device 11b (control device 11 in this embodiment).
  • the case where the distance d is equal to or more than the upper limit threshold is a case where the distance d is closer than the limit distance at which the worker WKR can approach the infrared sensor 12a.
  • FIG. 10 is a view showing an example of detection of the impact sensor 12b according to the third embodiment.
  • the worker WKR performs an operation of knocking the moving object 10 in response to, for example, the work object WK being loaded on the moving object 10 “during stop”.
  • the worker WKR may knock the mobile object 10 with extremely strong force. In this case, it is possible that the mobile body 10 is broken due to the knock.
  • the shock sensor 12b detects a failure by a shock above the upper limit threshold
  • the shock sensor 12b controls a shock detection result indicating that the failure is detected and information indicating that the shock detection result is a failure above the upper threshold It supplies to the apparatus 11b.
  • FIG. 11 is a view showing another example of detection of the infrared sensor 12a according to the third embodiment.
  • the mobile object 10 “stops” as the infrared sensor 12 a detects a failure “during transport operation”. Further, as the infrared sensor 12a detects a failure in "stopping", the moving object 10 starts the "transporting operation".
  • the moving body 10 performs an operation that the worker WKR does not intend as a failure (for example, another person at a position away from the moving body 10).
  • Motion may be detected as a failure, or an obstacle (in the example shown in the drawing, a wall WL) may be detected as a failure.
  • an obstacle in the example shown in the drawing, a wall WL
  • the infrared sensor 12a detects a fault by a distance d less than the lower limit threshold
  • a distance detection result indicating that the fault is detected
  • information indicating that the distance detection result is a fault less than the lower limit threshold And to the control device 11b.
  • the distance d is less than the lower limit threshold
  • the distance from the detection object to the mobile object 10 is more than the distance at which the detection object (for example, the worker WKR or the wall WL) can be detected as a failure. It is a case where d is far.
  • FIG. 12 is a view showing another example of detection of the impact sensor 12 b according to the third embodiment.
  • the mobile object 10 “stops” as the impact sensor 12 b detects a failure “during transport operation”. Further, as the impact sensor 12b detects a failure in "stopping", the moving body 10 starts the "transporting operation”.
  • the mobile unit 10 detects an operation that the worker WKR does not intend as a failure (for example, an operation of removing dirt attached to the mobile unit 10) as a failure, or even if the mobile unit 10 collides, the mobile unit 10
  • An impact due to contact with an obstacle (e.g., the illustrated cardboard box OB) which does not damage 10 may be detected as a failure.
  • the impact sensor 12b may detect a fault by an impact given by a force that is weaker than the strength at which the moving body 10 is not damaged and can be recognized as a fault.
  • FIG. 13 is a diagram showing an example of operation information D1b according to the third embodiment.
  • the operation information D1 b indicates that the detection result is a failure less than the lower threshold.
  • the control device 11 b indicates that, even if the detection unit 12 detects a failure, the control unit 11 b causes the moving body 10 to continue the operation (that is, “travel is continued”).
  • the control device 11b determines that the fault is less than the lower threshold. Even when the detection unit 12 detects a failure, it indicates that the mobile unit 10 is made to continue the operation (that is, “stop is continued”).
  • the operation control unit 111 controls the motor 15 to perform an operation according to the current state of the mobile object 10 when detecting a failure that is equal to or more than the lower limit threshold and less than the upper limit threshold. Specifically, the operation control unit 111 controls the motor 15 so as to “stop” the moving object 10 when a failure that is equal to or higher than the lower limit threshold and less than the upper limit threshold is detected as “during traveling”. In addition, the operation control unit 111 controls the motor 15 such that the moving object 10 starts the “transporting operation” when a failure that is equal to or more than the lower limit threshold and less than the upper limit threshold is detected as “stopping”.
  • FIG. 14 is a diagram showing an example of the configuration of the mobile unit 10 according to the third embodiment.
  • the mobile unit 10 according to the present embodiment includes a control device 11 b, a detection unit 12, a power reception resonator 13, a storage battery 14, and a motor 15.
  • the control device 11 b includes a control unit 110 b and a storage unit 120 b.
  • the storage unit 120b stores operation information D1b.
  • Control unit 110 b implements operation control unit 111 and power storage state determination unit 112 as its functional units.
  • the operation control unit 111 of the present embodiment acquires information indicating a detection result from the detection unit 12.
  • the operation control unit 111 acquires information (hereinafter, upper limit failure information) indicating that the detection result is a failure equal to or higher than the upper limit threshold.
  • the operation control unit 111 acquires information (hereinafter, lower limit failure information) indicating that the detection result is a failure less than the lower limit threshold.
  • the operation control unit 111 controls the motor 15 so as to “stop” the mobile object 10.
  • the operation control unit 111 controls the motor 15 so as to continue the operation of the moving body 10 when acquiring the lower limit failure information.
  • the electrical storage state determination part 112 since it is the same as that of the structure mentioned above, description is abbreviate
  • FIG. 15 is a diagram showing an example of the operation of the control device 11b.
  • the control device 11b acquires information indicating the detection result (step S110).
  • the operation control unit 111 determines whether the detection result indicates that a failure has occurred (step S120). When the detection result does not indicate that a fault is detected (step S120; NO), the control device 11b controls the motor 15 to continue the current operation (step S140). If the detection result indicates that a failure is detected (step S120; YES), the operation control unit 111 operates depending on whether or not lower limit failure information is obtained (step S130).
  • step S130; YES When the lower limit fault information is acquired (step S130; YES), the operation control unit 111 controls the motor 15 to continue the current operation (step S140). If the lower limit failure information is not acquired (step S130; NO), the operation control unit 111 operates depending on whether or not the upper limit failure information is acquired (step S150). If the operation control unit 111 acquires upper limit failure information (step S150; YES), the operation control unit 111 controls the motor 15 so as to "stop" the mobile object 10 (step S160). If the upper limit failure information is not acquired (step S150; NO), the operation control unit 111 causes the moving object 10 to perform an operation according to the state of the moving object 10 (step S170).
  • FIG. 16 is a diagram illustrating an example of the operation of the control device 11b in the case of performing control according to the state of the mobile object 10. Specifically, it is a diagram showing details of the process of step S170 shown in FIG.
  • the control device 11 b determines whether the moving object 10 is “traveling” (step S ⁇ b> 210). If the moving body 10 is “traveling” (step S210; YES), the operation control unit 111 controls the motor 15 so that the moving body 10 “stops” (step S220). If mobile unit 10 is “stopped” (step S210; NO), power storage state determination unit 112 determines whether mobile unit 10 is “in power reception operation” (step S230).
  • step S230 When determining that mobile unit 10 is “in power receiving operation” (step S230; YES), storage state determination unit 112 determines whether or not predetermined power is stored in storage battery 14 (step S240). When storage state determination unit 112 determines that predetermined power is not stored in storage battery 14 (step S240; NO), operation control unit 111 causes mobile unit 10 to continue the “power reception operation” (step S250). . That is, the operation control unit 111 does not cause the mobile object 10 to start the “transport operation”. When storage state determination unit 112 determines that predetermined power is stored in storage battery 14 (step S240; YES), operation control unit 111 causes motor 15 to cause mobile object 10 to start the “transport operation”. Are controlled (step S260).
  • the storage state determination unit 112 determines that the storage battery 14 has predetermined power. Is determined (step S270). If the storage state determination unit 112 determines that the predetermined power is not stored in the storage battery 14 (step S270; NO), the control device 11b causes the mobile object 10 to start the “power receiving operation” (step S280). In addition, when the storage state determination unit 112 determines that the storage battery 14 stores the predetermined power (step S 270; YES), the motor 15 is controlled to cause the moving object 10 to start the “transport operation” ( Step S290). Note that the order of processing of the steps can be switched as appropriate according to the specifications as long as no contradiction occurs.
  • the detection unit 12 detects the shock when the impact caused by the contact with the detection target is larger than the predetermined threshold (in this example, the impact is equal to or higher than the lower threshold). As a failure.
  • the operation control unit 111 performs the operation of the mobile unit 10 when the degree of detection by the detection unit 12 is equal to or higher than a predetermined upper threshold (in this example, higher than the upper threshold). Stop.
  • the operation control unit 111 continues the operation of the mobile unit 10 when the degree of detection by the detection unit 12 is less than a predetermined lower limit threshold (in this example, less than the lower limit threshold).
  • a predetermined lower limit threshold in this example, less than the lower limit threshold.

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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)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

Cette invention concerne un corps mobile d'automobile qui transporte, vers un robot de travail ou un travailleur, un objet de travail devant être manipulé par le robot de travail ou le travailleur, le corps mobile comprenant une unité de détection pour détecter un obstacle pendant le déplacement, et une unité de commande d'opération pour commander le fonctionnement du corps mobile sur la base du résultat de détection provenant de l'unité de détection. Lorsque l'unité de détection détecte l'obstacle pendant le déplacement, l'unité de commande d'opération arrête le corps mobile, et lorsque l'unité de détection détecte l'obstacle à l'arrêt et qu'une condition prescrite est satisfaite, l'unité de commande d'opération permet de réaliser l'opération de transport de l'objet de travail.
PCT/JP2018/034253 2017-09-29 2018-09-14 Corps mobile WO2019065317A1 (fr)

Priority Applications (2)

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JP2019544595A JPWO2019065317A1 (ja) 2017-09-29 2018-09-14 移動体
CN201880052184.2A CN111033421A (zh) 2017-09-29 2018-09-14 移动体

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CN112083728B (zh) * 2020-09-09 2024-04-30 上海擎朗智能科技有限公司 一种行驶设备的停靠方法、装置、设备及存储介质

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JP2004050383A (ja) * 2002-07-24 2004-02-19 Fujitsu Ltd 移動型ロボットのための電源制御装置および方法
JP2014106638A (ja) * 2012-11-26 2014-06-09 Sharp Corp 移動装置および制御方法
JP2014236539A (ja) * 2013-05-31 2014-12-15 小島プレス工業株式会社 非接触充電用送電装置及び電動車両の走行制御システム
JP2015185130A (ja) * 2014-03-26 2015-10-22 シャープ株式会社 移動体の障害物検知方法、そのシステムおよび無人搬送車
WO2017030188A1 (fr) * 2015-08-19 2017-02-23 Cyberdyne株式会社 Corps à déplacement autonome et système d'opération pour gérer l'intérieur d'une installation
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