WO2023084637A1 - 搬送システム、及び搬送制御方法 - Google Patents
搬送システム、及び搬送制御方法 Download PDFInfo
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- WO2023084637A1 WO2023084637A1 PCT/JP2021/041340 JP2021041340W WO2023084637A1 WO 2023084637 A1 WO2023084637 A1 WO 2023084637A1 JP 2021041340 W JP2021041340 W JP 2021041340W WO 2023084637 A1 WO2023084637 A1 WO 2023084637A1
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Definitions
- the present disclosure relates to a transport system and a transport control method.
- Patent Document 1 discloses that when traveling in an autonomous travel section, the vehicle autonomously travels along a preset straight route and travels to the next guideline.
- the guide line cannot be detected, there is a problem that the direction in which the robot should proceed cannot be specified, and the transport work cannot be continued.
- an abnormality in which the guide line could not be detected could not be detected.
- An object of the present invention is to provide a transport system and a transport control method capable of realizing at least one of: detecting an abnormality in which a guide line cannot be detected.
- a transport system includes a transport vehicle that transports an object and a control device that controls the operation of the transport vehicle, wherein the transport vehicle detects a guide line laid on a travel path. a guide line detection unit that allows the guided vehicle to travel along the guide line; and a vehicle position estimator that estimates the vehicle position of the guided vehicle.
- the vehicle position estimated by the vehicle position estimating unit is a position separated by a predetermined distance or more from the position of the guide line included in the map information
- a transport system is provided, characterized in that the transport vehicle is caused to travel to the position of the guide line included in the map information.
- a transport system including a transport vehicle that transports an object, and a control device that controls the operation of the transport vehicle, wherein the transport vehicle includes a guide line laid on a travel path.
- a guide line detection unit that detects the guide line, a travel control unit that causes the guided vehicle to travel along the guide line, and a vehicle position estimation unit that estimates the vehicle position of the guided vehicle.
- a recording unit for recording map information including position information of a guide line; and a vehicle position estimated by the vehicle position estimator when the guide line detection unit does not detect the guide line and the vehicle position is included in the map information.
- a conveying system characterized by detecting an abnormality in the guide line when the above-mentioned guide line is detected is provided.
- a transport system including a transport vehicle that transports an object, and a control device that controls the operation of the transport vehicle, wherein the transport vehicle includes a guide line laid on a travel path.
- a guide line detection unit that detects the guide line, a travel control unit that causes the guided vehicle to travel along the guide line, and a vehicle position estimation unit that estimates the vehicle position of the guided vehicle.
- a recording unit for recording map information including position information of a guide line; and a vehicle position estimated by the vehicle position estimator when the guide line detection unit does not detect the guide line and the vehicle position is included in the map information.
- a transport system that detects an abnormality in a transport vehicle.
- a transport system including a transport vehicle that transports an object, and a control device that controls the operation of the transport vehicle, wherein the transport vehicle includes a guide line laid on a travel path.
- a guide line detection unit for detecting a guide line
- a travel control unit for causing the transport vehicle to travel along the guide line
- a vehicle position estimation unit for estimating the vehicle position of the transport vehicle
- an obstacle detector for detecting an obstacle.
- a recording unit for recording map information including position information of the guide line; and updating the position information of the guide line included in the map information based on the obtained position information.
- a transportation control method for a carrier that carries an object comprising a guide line detection step of detecting a guide line laid on a travel path; a vehicle position estimation step of estimating the vehicle position of the guided vehicle; and a recording step of recording map information including position information of the guide line, wherein the vehicle position estimation step When the estimated own vehicle position is at a position separated by a predetermined distance or more from the position of the guide line included in the map information, the guided vehicle is caused to travel to the position of the guide line included in the map information.
- a transport control method is provided.
- a transportation control method for a carrier that carries an object comprising a guide line detection step of detecting a guide line laid on a travel path; a vehicle position estimation step of estimating the vehicle position of the guided vehicle; a recording step of recording map information including position information of the guide line; an abnormality determination step of detecting an abnormal state when the vehicle position is not detected and the vehicle position estimated in the vehicle position estimation step is within a predetermined distance from the position of the guide line included in the map information;
- the abnormality determination step detects the abnormality of the guide line when the abnormal state is detected a plurality of times at positions within a predetermined distance by different transport vehicles.
- a transportation control method for a carrier that carries an object comprising a guide line detection step of detecting a guide line laid on a travel path; a vehicle position estimation step of estimating the vehicle position of the guided vehicle; a recording step of recording map information including position information of the guide line; an abnormality determination step of detecting an abnormal state when the vehicle position is not detected and the vehicle position estimated in the vehicle position estimation step is within a predetermined distance from the position of the guide line included in the map information; and, in the abnormality determination step, when the abnormal state is detected a plurality of times in a specific transportation vehicle, the transportation control method is characterized in that the abnormality of the transportation vehicle is detected.
- a transportation control method for a carrier that carries an object comprising a guide line detection step of detecting a guide line laid on a travel path; a vehicle position estimation step of estimating the vehicle position of the transport vehicle; an obstacle detection step of detecting an obstacle; and a recording step of recording map information including position information of the guide line. and updating the position information of the guide line included in the map information based on the accumulated position information when the position information of the guide line detected by the transport vehicle is accumulated.
- a transport system characterized by:
- FIG. 10 is a diagram showing another example of the hardware configuration when the transport vehicle and the tow truck according to the embodiment are coupled; It is a figure which shows the structural example of the operation area which concerns on this embodiment.
- FIG. 10 is a diagram showing the positional relationship between the guide line and the transport vehicle when the two-dimensional code forming the guide line is detected by the guide line detection unit; FIG.
- FIG. 10 is a bottom view showing the positional relationship between the guide line and the transport vehicle when the magnetic tape forming the guide line is detected by the guide line detection unit; It is a figure which shows an example of the whole block diagram of the conveyance system which concerns on this embodiment.
- 1 is a configuration diagram of an integrated control device in this embodiment;
- FIG. It is a figure which shows the functional block diagram of the conveyance vehicle which concerns on this embodiment.
- FIG. 4 is a flow diagram showing a control flow of map creation in this embodiment.
- FIG. 4 is a flowchart showing a map information update processing flow according to the present embodiment; It is a flow chart showing abnormality determination processing in the present embodiment.
- FIG. 11 is a flowchart showing another example of abnormality detection processing;
- Example 1 In distribution warehouses, manufacturing factories, and the like, it is necessary to stop conveyed items such as carts and pallets in a predetermined position and orientation in a predetermined manner in order to coordinate with on-site operations. For example, by stopping the trolley at a position linked with the belt conveyor or by placing it next to the worker's work position, the worker can pick up the load without moving. are required to carry In order to cooperate with the belt conveyor as described above or to place the robot sideways at the working position of the worker, highly accurate transportation work is required.
- the conventional autonomous driving method a method that detects obstacles using obstacle detection sensors that use laser beams, etc., and moves autonomously while avoiding obstacles
- the guidance method a method of driving along the guidance line laid on the road surface
- guided travel areas areas that require high-precision transportation work such as stopping by a predetermined method or linking with other equipment such as belt conveyors are defined as guided travel areas, and guided vehicles can travel.
- a guide line is laid like this, and other areas are defined as autonomous driving areas. It is desirable to run the carrier.
- FIG. 1 is a perspective view showing a hardware configuration example of a transport vehicle according to this embodiment.
- An arrow 15 in FIG. 1 indicates the traveling direction of the carrier.
- the transport vehicle includes a connecting portion 11 for switching between a connected state and a non-connected state with the carriage, an object position detection portion 12 for detecting objects around the transport vehicle, driving wheels 13, and non-driving wheels 14. ing.
- a connecting section 11 and an object position detecting section 12 are mounted on the upper surface side of the carrier.
- the connecting part 11 is composed of, for example, an actuator. When connecting with the truck, the actuator is extended upward and connected with a connection receiving part (not shown) on the side of the truck. It is configured so that the connection between the part and the connection receiving part on the side of the truck can be released.
- the connecting portions 11 are arranged at four positions surrounding the driving wheels 13 of the carrier on a plane, and can be connected to the carriage at four positions. In this embodiment, an example having four connecting portions will be described, but the number of connecting portions does not necessarily have to be four, and a similar number of one or more can be selected.
- the object position detection unit 12 is a device that detects the distance from the transport vehicle to the object.
- An example of the object position detection unit 12 is a laser distance sensor (LiDAR (Light detection and ranging), etc.) that measures the distance and direction to an object by measuring the time it takes for a laser beam to hit the object and bounce back. ), millimeter-wave radar that detects the distance to an object based on the millimeter-wave transmission signal and the received signal that is reflected back from the object, or a camera that captures the object and analyzes the captured image to detect the distance to the object.
- a camera-type distance sensor that measures the distance between the two can be applied.
- the object position detection unit 12 is arranged on the front side of the upper surface of the transport vehicle in the traveling direction, but instead of this, it may be arranged on the front side surface in the traveling direction. In addition, they may be arranged not only on the front but also on the rear side in the traveling direction or on both the left and right sides.
- the object position detection unit 12 may detect objects in 360 degrees around the transport vehicle, but is configured to be able to detect objects in at least the forward direction 15 of the transport vehicle.
- FIG. 2 is a bottom view showing a hardware configuration example of the transport vehicle according to this embodiment.
- Drive wheels 13 are provided on the bottom surface of the transport vehicle on the left and right sides with respect to the traveling direction 15 of the transport vehicle.
- the drive wheels 13 are wheels connected to the rotating shaft of the motor and driven.
- the right drive wheel and the left drive wheel are individually controlled, and the rotation speed and rotation direction of each drive wheel are individually controlled. As a result, it is possible to make the transport vehicle curve and travel, or to rotate the transport vehicle on the spot to change its direction.
- the non-driving wheels 14 are wheels that are not driven and are passively rotated when the transport vehicle is moved by the driving wheels 13 .
- the non-drive wheels 14 for example, have forks that secure the wheels and axles, and the forks consist of swivel casters that are pivotally connected to the bottom member of the vehicle. Therefore, the wheel rotation direction of the non-driven wheels 14 passively changes according to the traveling direction and rotation of the transport vehicle.
- FIG. 2 illustrates the hardware configuration of a carrier having two driving wheels and four non-driving wheels at the four corners, the present invention is not limited to this hardware configuration. It is also possible to employ a four-wheel configuration with two drive wheels, and it is also possible to employ a configuration in which the front wheels can be steered in the four-wheel configuration.
- a guide line detection unit 16 that detects the guide line is provided on the bottom of the carrier.
- the guide line detection unit 16 is desirably provided in front of the drive wheel 13 in the traveling direction of the transport vehicle. As a result, it becomes easier to follow the guide line when traveling in a position where the guide line is curved, and when the transport vehicle and the trolley to be towed advance, information is received from the guide line as soon as possible. Processing such as stopping can be executed.
- a sensor corresponding to the type of guidance system as described above is used for the guidance line detection unit.
- a pickup coil is used as a sensor of the guidance line detection unit when the electromagnetic induction method is used
- a magnetic sensor is used when the magnetic induction method is used
- a camera is used when the image recognition method is used.
- FIG. 3 shows an example of the hardware configuration when the transport vehicle and the tow truck according to the present embodiment are combined. It shows an example of connecting with a truck in a state. At this time, a mortar-shaped connection receiving portion is arranged on the bottom surface of the truck at a position corresponding to the conical connection portion 11, and the connection portion 11 can be connected to the truck by extending the connection portion 11 upward, and the connection portion 11 is contracted. By doing so, the connection with the truck can be released.
- FIG. 4 shows another example of the hardware configuration when the transport vehicle and the towing vehicle according to this embodiment are coupled.
- the example shown in FIG. 4 shows an example in which the transport vehicle is positioned beside the carriage 2000 and is connected to the carriage.
- the carriage has a connection receiving portion 2010 that connects with at least a part of the connection portion 11 of the transport vehicle. can be released.
- FIGS. 3 and 4 show an example of connecting and disconnecting the carriage with the carriage by vertically expanding and contracting the connecting part 11 composed of an actuator or the like on the upper surface of the carriage.
- the connection method is not limited to this, and other connection methods may be used.
- the object to be transferred that is connected to the transport vehicle is not limited to a trolley, and may be, for example, a pallet or cabinet that does not have wheels. When transporting a pallet or a cabinet, the transport vehicle gets under the pallet or the cabinet and is connected with the pallet or the cabinet in a lifted state.
- FIG. 5 is a diagram showing a configuration example of the operation area 130 according to this embodiment.
- a guide line 131 is laid in the operation area 130, and when the guide line 131 is detected at a travel mode switching position 132 set in advance by the guided vehicle traveling in the autonomous travel mode, , the travel control mode is switched from the autonomous travel mode to the guidance travel mode. Conversely, when the guided vehicle traveling on the guidance line in the guidance travel mode enters the preset travel mode switching position 132, the travel control mode is switched from the guidance travel mode to the autonomous travel mode.
- the track composed of the guide line 131 is connected to the shelf and the work position through a plurality of branch points. are installed in close proximity to each other.
- various guide lines conventionally used as described later can be applied.
- an electromagnetic induction method in which a pickup coil on the transport vehicle detects the magnetic field generated by passing a weak alternating current through a metal wire installed as an induction line, and a magnetic tape laid on the floor as an induction line.
- a magnetic induction method that is read by a magnetic sensor on the transport vehicle side, or an image recognition method in which images of codes (barcodes, two-dimensional codes, etc.) laid on the floor as guidance lines are captured by a camera on the transport vehicle side and processed. etc. can be applied.
- FIG. 6 shows the positional relationship between the guide line and the transport vehicle when the two-dimensional code forming the guide line is detected by the guide line detection unit 16 .
- the guide line is printed with a plurality of two-dimensional codes printed with code information on a two-dimensional plane, such as the two-dimensional code 1000, arranged side by side in the laying direction of the guide line.
- the guidance line detection unit 16 Upon detecting the two-dimensional code, acquires the position information of the two-dimensional code based on the code information acquired from the two-dimensional code.
- FIG. 7 shows the positional relationship between the guide line and the carriage when the guide line detector 16 detects the magnetic tape forming the guide line.
- the guide line detection unit 16 shown in FIG. 13 has a configuration in which a plurality of magnetic sensors 17 for detecting a magnetic tape are provided laterally in the traveling direction of the carrier.
- a plurality of magnetic sensors 17 provided in the guide line detection unit 16 output detection signals indicating whether or not the magnetic tape is detected.
- three magnetic sensors 17A located in the center of the guide line detection section 16 detect the magnetic tape, and two magnetic sensors 17B on both sides of the guide line detection section 16 detect the magnetic tape. Not detected.
- FIG. 8 is a diagram showing an example of an overall configuration diagram of the transport system according to this embodiment.
- the transport system 1000 includes a plurality of transport vehicles (10a, 10b), a cart 2000 as an object to be transported, a controller 3000 capable of displaying the status of the transport vehicles or inputting commands to the transport vehicles, and information necessary for operating the transport vehicles.
- Integrated control device 4000 to manage, input/output device 5000 for displaying information of the integrated control device and inputting information to the integrated control device, multiple transport vehicles (10a, 10b), manipulator 3000, and integrated control device 4000 can be communicated. It has a communication network 6000 to which it connects.
- the transport system 1000 can be connected to an external system 7000 via a communication network 6000.
- FIG. When the transport system 1000 is introduced into a manufacturing factory to transport parts required for manufacturing from a storage to a manufacturing line, the transport system 1000 functions as an external system 7000 and performs system-to-system cooperation with a manufacturing management system. In this case, if information about the progress of the manufacturing work is obtained from the manufacturing management system, it is possible to dynamically adjust the transportation amount and the transportation route of the carrier according to the progress of the manufacturing work.
- the transport system 1000 is introduced into a distribution warehouse, and when a load is brought into the warehouse by a truck or the like, the load is transported from the loading port to the storage, and when the load is shipped from the warehouse, it is stored.
- the transport system 1000 performs inter-system cooperation with a physical distribution management system as an external system 7000 . In this case, by obtaining information on carrying-in and information on shipping from the physical distribution management system, it is possible to change the transportation amount and the transportation route by the transport vehicle.
- each transport vehicle is connected to other transport vehicles and other components via the communication network 6000 so that they can communicate.
- the transport vehicle transmits various detection information detected by its own detection unit and other control information to the controller 3000, the integrated control device 4000, and other transport vehicles 10.
- the carrier 10 is electrically connected to the carrier 2000 or communicably connected by short-range communication means, and is configured to be able to receive information about the connection state, carrier identification information, and the like from the carrier.
- the controller 3000 has a function of displaying the status information of the specified transport vehicle and a function of inputting commands to the specified transport vehicle.
- the state information of the transport vehicle displayed on the controller includes information on the amount of charge of the battery mounted on the transport vehicle and serving as the power supply for the transport vehicle, and identification information of the transport vehicle and the trolley accompanying the transport vehicle.
- Commands to be input to the transport vehicle include, for example, command information regarding the destination of the transport vehicle, operation commands to connect and disconnect the transport vehicle, commands to start running the transport vehicle, commands to stop the transport vehicle, and commands to return to the charging station. and so on.
- FIG. 9 shows a block diagram of the integrated control device 4000 in this embodiment.
- the integrated control device 4000 includes a state information recording unit 4010 that records state information of a plurality of guided vehicles operating in the facility area, an operation scenario management unit 4020 that manages operation scenarios of the plurality of guided vehicles, and guides the guided vehicles.
- a map management unit 4030 that generates and updates a work area map based on the detection information of the guided vehicle including the detection information of the guide line acquired by the line detection unit, and a guide line and the guided vehicle based on the detection information of the guided vehicle and a communication unit 4050 for communicating with an external input/output device 5000 and communication network 6000.
- the state information of the guided vehicle recorded by the state information recording unit 4010 includes, for example, the obstacle detection positions detected by the plurality of guided vehicles in operation, the guidance line detected position, the history information of the traveling position of the guided vehicle, and further , battery charge amount information, identification information of carriages connected to a plurality of carriers, operation modes of a plurality of carriers (guided travel mode or autonomous travel mode), and other various detections detected by the carrier detection unit 230 information, work area map information, and the like.
- the action scenario managed by the action scenario management unit 4020 includes, for example, information on the destination of each of the plurality of guided vehicles, the content of the plurality of actions to be executed until reaching the destination, the order of actions of the plurality of actions, and the switching conditions of the plurality of actions. contains.
- the map management unit 4030 creates a map including position information of obstacles and guidance lines in the work area based on history information of obstacle detection positions detected by the transport vehicle, guidance line detection positions, and transport vehicle traveling positions. Generate. Further, the map management unit 4030 updates the guide line position information registered in the map, based on the guide line detection position information accumulated by one or more guided vehicles. Details of the control flow for map generation and map update by the map management unit will be described later with reference to FIGS. 10 and 11 .
- the abnormality determination unit 4040 detects an abnormality of the guide line and the transport vehicle based on the guide line position information registered in the map information and the detection information of the transport vehicle including the detection position information of the guide line detected by the transport vehicle. judge. The details of the control flow for determining the guide line and the vehicle abnormality by the abnormality determination unit 4040 will be described later.
- the input/output device 5000 displays information recorded in the state information recording unit 4010 of the general control device 4000, map information (including map update information), determination results by the abnormality determination unit, and the like. By inputting an operation scenario managed by , a new operation scenario can be added or updated.
- the information input to the input/output device 5000 is, for example, that the destination of an arbitrary guided vehicle is the work area A of the guided travel area 110, or the operation to enter the guided travel area 110 and reach the work area A. It includes contents, operation switching conditions, and the like.
- FIG. 10 is a diagram showing a functional configuration diagram of the transport vehicle according to this embodiment.
- the transport vehicle 10 includes a communication unit 210 that communicates with the carriage 2000 and the communication network 6000 outside the transport vehicle, a recording unit 220, a detection unit 230 equipped with various sensors described later, a connection unit 11 for connecting with the carriage, wheels , an input unit 240, a display unit 250, a control unit 260 for controlling the operation of the wheel driving unit 280, and the like.
- the recording unit 220 has a function of recording information externally received by the communication unit 210, detection information detected by the detection unit 230, and control information output by the control unit.
- the detection unit 230 includes an object position detection unit 12, a guidance line detection unit 16, a travel distance detection unit 233, a collision detection unit 234, an attitude detection unit 235, and a charge amount detection unit 236.
- the object position detection unit 12 uses a laser distance sensor (LiDAR (Light detection and ranging)) that measures the distance and direction to an object by measuring the time it takes for the laser beam to hit the object and bounce back. ), millimeter-wave radar that detects the distance to an object based on the millimeter-wave transmission signal and the received signal that is reflected back from the object, or an object that captures an object with a camera and analyzes the captured image. It consists of a camera-type distance sensor that measures the distance to
- a sensor corresponding to the type of guidance system is used as described above.
- a pickup coil is used as a sensor of the guidance line detection unit when the electromagnetic induction method is used
- a magnetic sensor is used when the magnetic induction method is used
- a camera is used when the image recognition method is used.
- the guide line detection unit detects the guide line and outputs a detection signal when positioned directly above the guide line.
- position information is generated based on the information of the detected code.
- the traveling distance detection unit 233 detects the number of revolutions of the non-driven wheels 14 or the driven wheels 13, and based on the detection information of the number of revolutions and the information of the diameter (or circumference length) of the non-driven wheels or the driven wheels. to measure the mileage of
- a millimeter-wave sensor that irradiates the floor with millimeter waves and detects the reflected waves is used to detect the running speed of the transport vehicle, and a means of estimating the running distance is applied by integrating the running speed. It is also possible to Also, any method of measuring the traveled distance other than the method described above can be applied.
- the collision detection unit 234 has a function of detecting that the carrier has collided with an object or person. Specifically, acceleration can be detected by a gyro sensor or the like, and it can be determined that a collision has occurred when a sudden change in acceleration is detected. As an alternative means, it is also possible to provide a physical switch together with a bumper in front of the transport vehicle in the direction of travel, and apply means for determining that a collision has occurred when the physical switch is pressed. Also, a collision detection method other than the above can be applied.
- the transport vehicle When the collision detection unit 234 detects a collision, the transport vehicle is stopped, and at least one of the collision occurrence information and the collision occurrence position is recorded in the recording unit, and the information is sent to the overall control device 4000 and the pilot machine. Notify 3000 of the information.
- the posture detection unit 235 detects the direction (posture) of the own vehicle based on the magnetic compass, information on the number of revolutions of the left and right driving wheels, or steering information on the wheels.
- the charge amount detection unit 236 detects the charge amount of the battery, which is the power source of the transport vehicle. When the charge amount detected by the charge amount detection unit 236 becomes equal to or less than a predetermined value, it is determined that charging is necessary, and the charge amount decrease detection information is recorded in the recording unit, and the information is sent to the overall control device 4000. and notifies the pilot 3000 of the information. Furthermore, when it is detected that the charging amount is equal to or less than a predetermined value, in addition to the above processing, the charging may be performed by automatically moving to the charging spot.
- the predetermined value for the charging amount detection unit 236 to determine that charging is required is based on at least one of the distance to the destination set for the transport vehicle and the weight of the transported object connected to the transport vehicle. It may be a preset value.
- the input unit 240 is composed of a physical switch or a touch panel mounted on the transport vehicle, and the user can directly input an operation command or the like to the transport vehicle.
- the display unit 250 is composed of, for example, a liquid crystal panel or the like mounted on the transport vehicle, and displays status information of the transport vehicle (various detection information by the detection unit 230, type of running mode, operation scenario currently being executed, etc.). can do.
- the control unit 260 includes an operation determination unit 261, a mode switching unit 262, a connection control unit 263, a display control unit 264, a position estimation unit 265, and a travel control unit 266.
- the motion determination unit 261 determines the motion of the transport vehicle based on the motion scenario of the own transport vehicle acquired from the motion scenario management unit 4020 .
- the mode switching unit 262 switches the traveling mode of the guided vehicle between the guided traveling mode and the autonomous traveling mode based on a condition predetermined by an operation scenario or the like or a command input by the input unit 240. .
- the connection control unit 263 controls the operation of the connection unit 11 based on predetermined conditions such as an operation scenario or a command input by the input unit 240 to connect/disconnect the conveyed object such as a trolley. to control.
- the display control unit 264 controls the input IF of the input unit 240 and the display unit 250 described above.
- the position estimation unit 265 based on the travel distance detected by the travel distance detection unit 233, information on the orientation of the own vehicle detected by the posture detection unit 235, and the map information of the entire area recorded in the recording unit 220, Estimate the position of the vehicle in the entire driving area.
- the position of the vehicle in the entire driving area is estimated based on the information on the distance and direction from the vehicle to the object measured by the object position detection unit 12 and the map information of the entire area recorded in the recording unit 220. is also possible.
- the position estimation unit 265 estimates the position of the object based on the estimated vehicle position information and the distance information from the vehicle to the object detected by the object position detection unit 12. Also, based on the vehicle position information when the guide line detection unit 16 detects the guide line, the installation position of the guide line is estimated.
- the travel control unit 266 controls travel of the transport vehicle based on at least one of determination information from the operation determination unit 261 and the mode switching unit 262. Specifically, the right wheel drive section 281 and the left wheel drive section 282 of the wheel drive section 280 are individually controlled.
- the right wheel drive unit 281 and the left wheel drive unit 282 are composed of, for example, motors, and by individually controlling the rotation speed and rotation direction of each drive wheel, the transport vehicle can be made to curve with an arbitrary trajectory radius and travel. It is possible to rotate the car and change its direction.
- FIG. 11 is a flowchart showing the control flow of map creation in this embodiment.
- the map management unit 4030 generates a work area map based on the object position information generated by the position estimation unit mounted on the carrier (S901).
- the detected object is, for example, a wall forming the outer edge of the work area or an obstacle inside the work area.
- the map management unit 4030 acquires the position information of the guide line estimated by the position estimating unit by running the guided vehicle along the guide line (S902).
- the guided vehicle may be traveled manually, or may be controlled to travel automatically along the guide line.
- the map management unit 4030 integrates the guide line position information acquired in S902 with the map information including the obstacle information generated in S901 to generate an integrated map including the obstacle positions and the guide line positions. (S903).
- map integration instead of map integration as in S903, the object position map information generated in S901 and the guidance line map information generated in S902 are not integrated into a single map, and are recorded as separate data. Recording processing can also be performed.
- the map management unit 4030 displays the integrated map on the input/output device 5000, and adds information on the travel mode switching position input by the user via the input/output device 5000 to the integrated map (S904).
- S904 In the control flow shown in FIG. 11, an example of performing processing in the order of S902, S903, and S904 has been described, but the processing of S904 can be performed in parallel with the processing of S902 and S903, or It is also possible to perform the processing of S902 and S903 after performing the processing of S904.
- the map generated in S901 is displayed on the input/output device 5000, and the user inputs information on the driving mode switching position on the map via the input/output device 5000.
- the map management unit 4030 can generate an integrated map including the position information of the obstacle and the position information of the guide line by executing each of the processes described above, and furthermore, the driving mode switching position is added to the integrated map. can be registered.
- FIG. 12 is a flowchart showing a map information update processing flow in this embodiment. First, based on the integrated map information generated by the map management unit 4030, the operation of the transport vehicle is started (S1001).
- the position information of the guide line detected by the transport vehicle is accumulated by the operation of the transport vehicle (S1002).
- the position information of the guide line may be accumulated in the state information recording section 4010 in the general control device 4000, or may be recorded in the recording section 220 in each transport vehicle.
- the predetermined condition may be a condition that the amount of accumulated data exceeds a predetermined threshold value, a case in which detection information of, for example, 10 or more guide lines is accumulated within a predetermined distance, or the same condition.
- the predetermined condition may be that the position information is acquired by a plurality of transport vehicles instead of only the position information acquired by the transport vehicle, or it may be a combination of these conditions.
- the position of the guide line registered in the map is updated based on the accumulated guide line position data (S1004).
- the process returns to S1001 to continue the operation of the guided vehicle.
- the average coordinates of the accumulated positions of the guide line can be registered as the updated position of the guide line.
- intermediate coordinates between the above average coordinates and the position of the guidance line registered in the map can be registered as the updated position of the guidance line.
- an approximate straight line (or approximate curve) may be generated based on the accumulated positions of the guidance line, and the approximate straight line may be registered as the updated position of the guidance line.
- FIG. 13 is a flowchart showing abnormality determination processing in this embodiment.
- the transport vehicle is operated to run on the guide line in the guide travel mode (S1101).
- the process returns to S1101, and if continued, the process proceeds to S1103. (S1102).
- the predetermined distance can be set, for example, at a distance of several centimeters to several tens of centimeters.
- the process proceeds to S1104. If so, the process proceeds to S1105 (S1103).
- the vicinity of the registered installation position of the guide line can be determined by whether it is within a predetermined distance of, for example, several centimeters.
- the guided vehicle should be able to detect the guided line under normal conditions, as it is located near the installation position of the guided line registered on the map. Therefore, by detecting that there is an abnormality in any part of the transport system including the guide line and the transport vehicle, the identification information of the transport vehicle that detected the abnormal state and the position where the abnormal state was detected are associated with the recording unit 220 or Recorded in the state information recording unit 4010 .
- the process returns to processing S1101; S1106).
- a state in which a predetermined amount or more of history information has been accumulated means, for example, that work has been performed a predetermined number of times or more with a predetermined number of two or more guided vehicles at a position determined to be abnormal. be.
- S1107 if the above-described abnormal state is detected multiple times at substantially the same position (within a predetermined distance) in different transport vehicles, the process transitions to S1108. If so, the process proceeds to S1109 (S1107).
- S1109 S1107
- detecting an abnormality a plurality of times at the same position with different transport vehicles in S1107, for example, when three transport vehicles 10A, 10B, and 10C are working, 10 B at the same position at 10B. It is conceivable that an abnormality is detected once at the same position even with 10A.
- an abnormality is detected five times at the same position in 10B, an abnormality is detected five times in the same position in 10C, and an abnormality is detected once in the same position in 10A.
- S1108 since an abnormality is detected multiple times at almost the same position on different transport vehicles, it is determined that an abnormality has occurred due to the guidance line side, and the abnormality information of the guidance line and the abnormality have occurred.
- the location information is recorded in the state information recording unit 4010, and the abnormality information and the location information are output to the input/output device 5000.
- an abnormality on the guide line side include, for example, the tape of the two-dimensional code being peeled off and missing, or the two-dimensional code being dirty. It may be an abnormal condition such as being unable to be read by the camera.
- S1109 if an abnormality is detected multiple times in a specific transport vehicle, the process transitions to S1110, and if not, the process transitions to S1111.
- S1110 since an abnormality is detected multiple times in a specific transport vehicle, it is determined that an abnormality has occurred due to the transport vehicle side, and the abnormality information of the transport vehicle and the transport vehicle in which the abnormality has occurred identification information is recorded in the state information recording unit 4010, and the abnormality information and the identification information of the transport vehicle are output to the input/output device 5000.
- FIG. Concrete examples of abnormal conditions on the transportation vehicle side include, for example, an abnormal state such as an abnormality in the guide line detection section and dirt on the lens portion of the camera.
- the abnormality information due to the other factor is recorded in the state information recording unit 4010,
- the abnormality information is output to the input/output device 5000 .
- an abnormal state due to other factors for example, oil or the like is spilled on the floor of the work area, and the wheels of the transport vehicle are likely to spin. It is conceivable that the detection accuracy of the part is temporarily degraded.
- a situation can be considered in which the guidance line cannot be detected by the camera of the guidance line detection unit because the guidance line reflects strong light from the lighting in the facility or natural light.
- FIG. 14 shows an example of processing for separately setting a second predetermined distance for detecting deviation from the guide line and a first predetermined distance for detecting an abnormality in the guide line and recording an abnormality flag.
- FIG. 14 explains another example of anomaly detection processing in the anomaly determination unit 4040.
- FIG. Since the processing of S1201 to S1211 is almost the same as the processing of S1101 to S1111 in FIG. 13, the explanation is omitted.
- processing of S1212 and S1213 is added between S1201 and S1202.
- S1212 if the guidance line non-detection state continues for the first predetermined distance or longer, the process proceeds to S1213, otherwise, the process proceeds to S1203.
- the abnormality flag information indicating the possibility of an abnormality in the guide line is recorded in the recording unit 220 or the state information recording unit 4010 in association with the identification information of the guided vehicle that detected the abnormal state and the position where the abnormal state was detected.
- the first predetermined distance in S1212 is set as a shorter distance than the second predetermined distance in S1203.
- the abnormality determination unit 4040 determines that there is an abnormality in the guide line when the abnormality flag information recorded in the state information recording unit is detected at approximately the same position in a plurality of vehicles, and detects the abnormality flag a plurality of times in a specific transport vehicle. is detected, it is determined that there is an abnormality in the carrier.
- the device described in this specification may be realized as a single device, or may be realized by a plurality of devices (for example, cloud servers) or the like, all or part of which are connected via a network.
- the control unit 260 and the recording unit 220 of the transport vehicle may be realized by different servers connected to each other via a network.
- the controller 3000, the overall control device 4000, and the input/output device 5000 were each configured as separate hardware connected via a network. 3000 , the integrated control device 4000 , and the input/output device 5000 may be partially or wholly implemented in the transport vehicle 10 .
- a series of processes by the device described in this specification may be implemented using software, hardware, or a combination of software and hardware. It is possible to prepare a computer program for realizing each function of the control unit 260 according to the present embodiment and to implement it in a PC or the like.
- a computer-readable recording medium storing such a computer program can also be provided.
- the recording medium is, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, or the like.
- the above computer program may be distributed, for example, via a network without using a recording medium.
- a transport system comprising a transport vehicle that transports an object and a control device that controls the operation of the transport vehicle
- the transport vehicle is a guidance line detection unit that detects the guidance line laid on the travel path; a traveling control unit that causes the guided vehicle to travel along the guide line; a vehicle position estimating unit that estimates the vehicle position of the transport vehicle;
- the control device is A recording unit for recording map information including position information of the guide line, When the vehicle position estimated by the vehicle position estimating unit is at a position separated by a predetermined distance or more from the position of the guide line included in the map information, direct the guided vehicle to the position of the guide line included in the map information.
- a transport system characterized by: (Item 2) A transport system according to item 1, When the guide line detection unit does not detect the guide line and the vehicle position estimated by the vehicle position estimation unit is at a position separated by a predetermined distance or more from the position of the guide line included in the map information, A conveying system, wherein the conveying vehicle is caused to travel to a position of the guide line included in the map information. (Item 3) A transport system according to item 1 or 2, When the guide line detection unit does not detect the guide line and the vehicle position estimated by the vehicle position estimation unit is near the position of the guide line included in the map information, A transport system characterized by detecting an abnormality.
- a transport system according to item 3 The transport system, wherein the controller detects the abnormality in the guide line when different transport vehicles detect the abnormality a plurality of times at positions within a predetermined distance.
- a transport system according to item 3 or 4 A transportation system according to claim 1, wherein said control device detects an abnormality in said transportation vehicle when said abnormality is detected multiple times in a specific transportation vehicle.
- the transport system according to any one of items 1 to 5, The transport vehicle further includes an obstacle detection unit that detects obstacles,
- the control device includes a map management unit that generates the map information based on the position information of the obstacle detected by the obstacle detection unit and the position information of the guide line detected by the guide line detection unit.
- a transport system characterized by: (Item 7) A transport system according to item 6,
- the map management unit updates the position information of the guide line included in the map information based on the accumulated position information.
- a transport system comprising a transport vehicle that transports an object and a control device that controls the operation of the transport vehicle,
- the transport vehicle is a guidance line detection unit that detects the guidance line laid on the travel path; a traveling control unit that causes the guided vehicle to travel along the guide line; a vehicle position estimating unit that estimates the vehicle position of the transport vehicle;
- the control device is a recording unit that records map information including position information of the guide line; Abnormal state when the guide line detection unit does not detect the guide line and the vehicle position estimated by the vehicle position estimation unit is within a predetermined distance of the guide line position included in the map information.
- a transport system comprising a transport vehicle that transports an object and a control device that controls the operation of the transport vehicle,
- the transport vehicle is a guidance line detection unit that detects the guidance line laid on the travel path; a traveling control unit that causes the guided vehicle to travel along the guide line; a vehicle position estimating unit that estimates the vehicle position of the transport vehicle;
- the control device is a recording unit that records map information including position information of the guide line; Abnormal state when the guide line detection unit does not detect the guide line and the vehicle position estimated by the vehicle position estimation unit is within a predetermined distance of the guide line position included in the map information.
- a transport system comprising a transport vehicle that transports an object and a control device that controls the operation of the transport vehicle,
- the transport vehicle is a guidance line detection unit that detects the guidance line laid on the travel path; a traveling control unit that causes the guided vehicle to travel along the guide line; a self-vehicle position estimating unit that estimates the self-vehicle position of the transport vehicle; and an obstacle detection unit that detects obstacles
- the control device is a recording unit that records map information including position information of the guide line; and updating the position information of the guide line included in the map information based on the accumulated position information when a predetermined amount or more of the position information of the guide line detected by the transport vehicle is accumulated.
- a transport control method for a transport vehicle that transports an object comprising: a guidance line detection step of detecting a guidance line laid on the travel path; a travel control step of causing the guided vehicle to travel along the guide line; a self-vehicle position estimation step of estimating the self-vehicle position of the transport vehicle; a recording step of recording map information including position information of the guide line; When the vehicle position estimated in the vehicle position estimation step is at a position separated by a predetermined distance or more from the position of the guide line included in the map information, direct the guided vehicle to the position of the guide line included in the map information.
- a transportation control method characterized by: (Item 13) A transport control method for a transport vehicle that transports an object, comprising: a guidance line detection step of detecting a guidance line laid on the travel path; a travel control step of causing the guided vehicle to travel along the guide line; a self-vehicle position estimation step of estimating the self-vehicle position of the transport vehicle; a recording step of recording map information including position information of the guide line; Abnormal state when the guide line detection step does not detect the guide line and the vehicle position estimated in the vehicle position estimation step is within a predetermined distance of the guide line position included in the map information.
- a transport control method for a transport vehicle that transports an object comprising: a guidance line detection step of detecting a guidance line laid on the travel path; a travel control step of causing the guided vehicle to travel along the guide line; a self-vehicle position estimation step of estimating the self-vehicle position of the transport vehicle; a recording step of recording map information including position information of the guide line; Abnormal state when the guide line detection step does not detect the guide line and the vehicle position estimated in the vehicle position estimation step is within a predetermined distance of the guide line position included in the map information.
- a transport control method for a transport vehicle that transports an object comprising: a guidance line detection step of detecting a guidance line laid on the travel path; a travel control step of causing the guided vehicle to travel along the guide line; a self-vehicle position estimation step of estimating the self-vehicle position of the transport vehicle; an obstacle detection step for detecting obstacles; a recording step of recording map information including position information of the guide line; and updating the position information of the guide line included in the map information based on the accumulated position information when the position information of the guide line detected by the transport vehicle is accumulated.
- a transport system characterized by:
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Abstract
Description
物流倉庫や製造工場などでは、現場の作業と連携させるために、台車やパレットなどの搬送物を所定の位置と向きに所定の方法で停止させることが求められる。例えば、台車をベルトコンベアとの連携位置に停車させたり、作業員の作業位置に横付けしたりすることで、作業員が移動せず搬送物に乗せられた荷物を取ることができるように搬送物を搬送することが求められる。上記したようなベルトコンベアと連携させたり、作業員の作業位置に横付けするためには、精度の高い搬送作業が必要となる。
次に、本実施形態の搬送システムの構成を説明する。図8は、本実施形態に係る搬送システムの全体構成図の一例を示す図である。搬送システム1000は、複数の搬送車(10a, 10b)、搬送物である台車2000、搬送車の状態を表示又は搬送車へ指令を入力可能な操縦機3000、搬送車の運行に必要な情報を管理する統括制御装置4000、統括制御装置の情報を表示し統括制御装置に情報を入力する入出力装置5000、複数の搬送車(10a, 10b)と操縦機3000と統括制御装置4000を通信可能に接続する通信ネットワーク6000を備える。
図10を用いて搬送車の有する機能を説明する。図10は本実施形態に係る搬送車の機能構成図を示す図である。搬送車10は、搬送車外部の台車2000や通信ネットワーク6000と通信を行う通信部210と、記録部220、後述する各種センサを備えた検出部230、台車と連結するための連結部11、車輪を駆動させる車輪駆動部280、入力部240、表示部250、車輪駆動部280などの動作を制御する制御部260、を備えている。
以下に、マップ管理部4030により実施されるマップ作成の制御フローを説明する。図11は、本実施形態におけるマップ作成の制御フローを示すフロー図である。まず、マップ管理部4030は、搬送車に搭載された位置推定部で生成された物体位置の情報に基づいて、作業エリアのマップを生成する(S901)。ここで、検出される物体は、例えば作業エリアの外縁となる壁や作業エリア内側の障害物である。
以下に、マップ管理部4030により実施されるマップ更新の制御フローを説明する。図12は、本実施形態におけるマップ情報の更新処理フローを示すフロー図である。まず、マップ管理部4030で生成した統合マップの情報に基づいて搬送車の運用が開始される(S1001)。
以下に、異常判定部4040における異常検出処理の一例を説明する。図13は、本実施形態における異常判定処理を示すフロー図である。まず、搬送車は誘導走行モードで誘導ライン上を走行する運用が行われる(S1101)。次に、誘導ライン検出部により誘導ラインが検出できない状態が所定距離以上継続しているか否かに応じて、継続していない場合はS1101の処理に戻り、継続している場合はS1103に遷移する(S1102)。ここで、当該所定距離は、例えば数センチ~数十センチ程度の距離で設定することができる。
図13で示した異常検出処理では、S1102において誘導ラインの非検出状態が所定距離以上継続した場合に、誘導ラインからの逸脱(S1104)、誘導ラインの異常(S1108)、搬送車の異常(S1110)、他の要因による異常(S1111)のいずれかを検出する例を説明したが、誘導ラインにS1102で設定した所定距離よりも短い距離の欠損が発生していた場合には、誘導ラインの欠損を検出することができず、またS1102の所定距離を短く設定し過ぎると、搬送車が頻繁に誘導ラインからの逸脱を検知してリカバリ動作が頻発する可能性がある。そのため、誘導ラインからの逸脱を検知するための第2の所定距離と誘導ラインの異常を検出して異常フラグを記録するための第1の所定距離とを別々に設定する処理の例を図14を用いて説明する。
(項目1)
搬送物を搬送する搬送車と、当該搬送車の動作を制御する制御装置と、を備える搬送システムであって、
前記搬送車は、
走行路に敷設された誘導ラインを検出する誘導ライン検出部と、
前記誘導ラインに沿って搬送車を走行させる走行制御部と、
前記搬送車の自車位置を推定する自車位置推定部と、備え、
前記制御装置は、
前記誘導ラインの位置情報を含むマップ情報を記録する記録部を備え、
前記自車位置推定部で推定した自車位置が前記マップ情報に含まれる誘導ラインの位置から所定距離以上離れた位置である場合に、前記マップ情報に含まれる誘導ラインの位置へ前記搬送車を走行させる、ことを特徴とする搬送システム。
(項目2)
項目1に記載の搬送システムであって、
前記誘導ライン検出部が前記誘導ラインを検出せず、かつ前記自車位置推定部で推定した自車位置が前記マップ情報に含まれる誘導ラインの位置から所定距離以上離れた位置である場合に、前記マップ情報に含まれる誘導ラインの位置へ前記搬送車を走行させる、ことを特徴とする搬送システム。
(項目3)
項目1又は2に記載の搬送システムであって、
前記誘導ライン検出部が前記誘導ラインを検出せず、かつ前記自車位置推定部で推定した自車位置が前記マップ情報に含まれる誘導ラインの位置の近傍の位置である場合に、搬送システムの異常を検出する、ことを特徴とする搬送システム。
(項目4)
項目3に記載の搬送システムであって、
異なる搬送車が所定距離以内の位置で前記異常を複数回検出した場合に、前記制御装置は、前記誘導ラインの異常を検出する、ことを特徴とする搬送システム。
(項目5)
項目3又は4に記載の搬送システムであって、
特定の搬送車で複数回前記異常を検出した場合に、前記制御装置は、前記搬送車の異常を検出する、ことを特徴とする搬送システム。
(項目6)
項目1乃至項目5のいずれかに記載の搬送システムであって、
前記搬送車は、障害物を検出する障害物検出部を更に備え、
前記制御装置は、前記障害物検出部で検出した障害物の位置情報と、前記誘導ライン検出部で検出した前記誘導ラインの位置情報とに基づいて、前記マップ情報を生成するマップ管理部を備える、ことを特徴とする搬送システム。
(項目7)
項目6に記載の搬送システムであって、
前記搬送車の検出した前記誘導ラインの位置情報が蓄積された場合に、前記マップ管理部は、蓄積された前記位置情報に基づいて、前記マップ情報に含まれる誘導ラインの位置情報を更新する、ことを特徴とする搬送システム。
(項目8)
項目7に記載の搬送システムであって、
前記マップ管理部は、蓄積された前記位置情報のデータ量が所定しきい値を超えた場合に、蓄積された前記位置情報に基づいて、前記マップ情報に含まれる誘導ラインの位置情報を更新する、ことを特徴とする搬送システム。
(項目9)
搬送物を搬送する搬送車と、当該搬送車の動作を制御する制御装置と、を備える搬送システムであって、
前記搬送車は、
走行路に敷設された誘導ラインを検出する誘導ライン検出部と、
前記誘導ラインに沿って搬送車を走行させる走行制御部と、
前記搬送車の自車位置を推定する自車位置推定部と、備え、
前記制御装置は、
前記誘導ラインの位置情報を含むマップ情報を記録する記録部と、
前記誘導ライン検出部が前記誘導ラインを検出せず、かつ前記自車位置推定部で推定した自車位置が前記マップ情報に含まれる誘導ラインの位置の所定距離以内の位置である場合に異常状態を検出する異常判定部と、を備え、
前記異常判定部は、異なる搬送車により所定距離以内の位置で前記異常状態を複数回検出した場合に、前記誘導ラインの異常を検出する、ことを特徴とする搬送システム。
(項目10)
搬送物を搬送する搬送車と、当該搬送車の動作を制御する制御装置と、を備える搬送システムであって、
前記搬送車は、
走行路に敷設された誘導ラインを検出する誘導ライン検出部と、
前記誘導ラインに沿って搬送車を走行させる走行制御部と、
前記搬送車の自車位置を推定する自車位置推定部と、備え、
前記制御装置は、
前記誘導ラインの位置情報を含むマップ情報を記録する記録部と、
前記誘導ライン検出部が前記誘導ラインを検出せず、かつ前記自車位置推定部で推定した自車位置が前記マップ情報に含まれる誘導ラインの位置の所定距離以内の位置である場合に異常状態を検出する異常判定部と、を備え、
前記異常判定部は、特定の搬送車で複数回前記異常状態を検出した場合に、前記搬送車の異常を検出する、ことを特徴とする搬送システム。
(項目11)
搬送物を搬送する搬送車と、当該搬送車の動作を制御する制御装置と、を備える搬送システムであって、
前記搬送車は、
走行路に敷設された誘導ラインを検出する誘導ライン検出部と、
前記誘導ラインに沿って搬送車を走行させる走行制御部と、
前記搬送車の自車位置を推定する自車位置推定部と、
障害物を検出する障害物検出部と、備え、
前記制御装置は、
前記誘導ラインの位置情報を含むマップ情報を記録する記録部と、
前記搬送車の検出した前記誘導ラインの位置情報が所定量以上蓄積された場合に、蓄積された前記位置情報に基づいて前記マップ情報に含まれる誘導ラインの位置情報を更新する、ことを特徴とする搬送システム。
(項目12)
搬送物を搬送する搬送車の搬送制御方法であって、
走行路に敷設された誘導ラインを検出する誘導ライン検出ステップと、
前記誘導ラインに沿って搬送車を走行させる走行制御ステップと、
前記搬送車の自車位置を推定する自車位置推定ステップと、
前記誘導ラインの位置情報を含むマップ情報を記録する記録ステップと、を備え、
前記自車位置推定ステップで推定した自車位置が前記マップ情報に含まれる誘導ラインの位置から所定距離以上離れた位置である場合に、前記マップ情報に含まれる誘導ラインの位置へ前記搬送車を走行させる、ことを特徴とする搬送制御方法。
(項目13)
搬送物を搬送する搬送車の搬送制御方法であって、
走行路に敷設された誘導ラインを検出する誘導ライン検出ステップと、
前記誘導ラインに沿って搬送車を走行させる走行制御ステップと、
前記搬送車の自車位置を推定する自車位置推定ステップと、
前記誘導ラインの位置情報を含むマップ情報を記録する記録ステップと、
前記誘導ライン検出ステップが前記誘導ラインを検出せず、かつ前記自車位置推定ステップで推定した自車位置が前記マップ情報に含まれる誘導ラインの位置の所定距離以内の位置である場合に異常状態を検出する異常判定ステップと、を備え、
前記異常判定ステップは、異なる搬送車により所定距離以内の位置で前記異常状態を複数回検出した場合に、前記誘導ラインの異常を検出する、ことを特徴とする搬送制御方法。
(項目14)
搬送物を搬送する搬送車の搬送制御方法であって、
走行路に敷設された誘導ラインを検出する誘導ライン検出ステップと、
前記誘導ラインに沿って搬送車を走行させる走行制御ステップと、
前記搬送車の自車位置を推定する自車位置推定ステップと、
前記誘導ラインの位置情報を含むマップ情報を記録する記録ステップと、
前記誘導ライン検出ステップが前記誘導ラインを検出せず、かつ前記自車位置推定ステップで推定した自車位置が前記マップ情報に含まれる誘導ラインの位置の所定距離以内の位置である場合に異常状態を検出する異常判定ステップと、を備え、
前記異常判定ステップは、特定の搬送車で複数回前記異常状態を検出した場合に、前記搬送車の異常を検出する、ことを特徴とする搬送制御方法。
(項目15)
搬送物を搬送する搬送車の搬送制御方法であって、
走行路に敷設された誘導ラインを検出する誘導ライン検出ステップと、
前記誘導ラインに沿って搬送車を走行させる走行制御ステップと、
前記搬送車の自車位置を推定する自車位置推定ステップと、
障害物を検出する障害物検出ステップと、
前記誘導ラインの位置情報を含むマップ情報を記録する記録ステップと、
前記搬送車の検出した前記誘導ラインの位置情報が蓄積された場合に、蓄積された前記位置情報に基づいて前記マップ情報に含まれる誘導ラインの位置情報を更新するステップと、を備える、ことを特徴とする搬送システム。
Claims (15)
- 搬送物を搬送する搬送車と、当該搬送車の動作を制御する制御装置と、を備える搬送システムであって、
前記搬送車は、
走行路に敷設された誘導ラインを検出する誘導ライン検出部と、
前記誘導ラインに沿って搬送車を走行させる走行制御部と、
前記搬送車の自車位置を推定する自車位置推定部と、備え、
前記制御装置は、
前記誘導ラインの位置情報を含むマップ情報を記録する記録部を備え、
前記自車位置推定部で推定した自車位置が前記マップ情報に含まれる誘導ラインの位置から所定距離以上離れた位置である場合に、前記マップ情報に含まれる誘導ラインの位置へ前記搬送車を走行させる、ことを特徴とする搬送システム。 - 請求項1に記載の搬送システムであって、
前記誘導ライン検出部が前記誘導ラインを検出せず、かつ前記自車位置推定部で推定した自車位置が前記マップ情報に含まれる誘導ラインの位置から所定距離以上離れた位置である場合に、前記マップ情報に含まれる誘導ラインの位置へ前記搬送車を走行させる、ことを特徴とする搬送システム。 - 請求項1又は2に記載の搬送システムであって、
前記誘導ライン検出部が前記誘導ラインを検出せず、かつ前記自車位置推定部で推定した自車位置が前記マップ情報に含まれる誘導ラインの位置の近傍の位置である場合に、搬送システムの異常を検出する、ことを特徴とする搬送システム。 - 請求項3に記載の搬送システムであって、
異なる搬送車が所定距離以内の位置で前記異常を複数回検出した場合に、前記制御装置は、前記誘導ラインの異常を検出する、ことを特徴とする搬送システム。 - 請求項3又は4に記載の搬送システムであって、
特定の搬送車で複数回前記異常を検出した場合に、前記制御装置は、前記搬送車の異常を検出する、ことを特徴とする搬送システム。 - 請求項1乃至請求項5のいずれかに記載の搬送システムであって、
前記搬送車は、障害物を検出する障害物検出部を更に備え、
前記制御装置は、前記障害物検出部で検出した障害物の位置情報と、前記誘導ライン検出部で検出した前記誘導ラインの位置情報とに基づいて、前記マップ情報を生成するマップ管理部を備える、ことを特徴とする搬送システム。 - 請求項6に記載の搬送システムであって、
前記搬送車の検出した前記誘導ラインの位置情報が蓄積された場合に、前記マップ管理部は、蓄積された前記位置情報に基づいて、前記マップ情報に含まれる誘導ラインの位置情報を更新する、ことを特徴とする搬送システム。 - 請求項7に記載の搬送システムであって、
前記マップ管理部は、蓄積された前記位置情報のデータ量が所定しきい値を超えた場合に、蓄積された前記位置情報に基づいて、前記マップ情報に含まれる誘導ラインの位置情報を更新する、ことを特徴とする搬送システム。 - 搬送物を搬送する搬送車と、当該搬送車の動作を制御する制御装置と、を備える搬送システムであって、
前記搬送車は、
走行路に敷設された誘導ラインを検出する誘導ライン検出部と、
前記誘導ラインに沿って搬送車を走行させる走行制御部と、
前記搬送車の自車位置を推定する自車位置推定部と、備え、
前記制御装置は、
前記誘導ラインの位置情報を含むマップ情報を記録する記録部と、
前記誘導ライン検出部が前記誘導ラインを検出せず、かつ前記自車位置推定部で推定した自車位置が前記マップ情報に含まれる誘導ラインの位置の所定距離以内の位置である場合に異常状態を検出する異常判定部と、を備え、
前記異常判定部は、異なる搬送車により所定距離以内の位置で前記異常状態を複数回検出した場合に、前記誘導ラインの異常を検出する、ことを特徴とする搬送システム。 - 搬送物を搬送する搬送車と、当該搬送車の動作を制御する制御装置と、を備える搬送システムであって、
前記搬送車は、
走行路に敷設された誘導ラインを検出する誘導ライン検出部と、
前記誘導ラインに沿って搬送車を走行させる走行制御部と、
前記搬送車の自車位置を推定する自車位置推定部と、備え、
前記制御装置は、
前記誘導ラインの位置情報を含むマップ情報を記録する記録部と、
前記誘導ライン検出部が前記誘導ラインを検出せず、かつ前記自車位置推定部で推定した自車位置が前記マップ情報に含まれる誘導ラインの位置の所定距離以内の位置である場合に異常状態を検出する異常判定部と、を備え、
前記異常判定部は、特定の搬送車で複数回前記異常状態を検出した場合に、前記搬送車の異常を検出する、ことを特徴とする搬送システム。 - 搬送物を搬送する搬送車と、当該搬送車の動作を制御する制御装置と、を備える搬送システムであって、
前記搬送車は、
走行路に敷設された誘導ラインを検出する誘導ライン検出部と、
前記誘導ラインに沿って搬送車を走行させる走行制御部と、
前記搬送車の自車位置を推定する自車位置推定部と、
障害物を検出する障害物検出部と、備え、
前記制御装置は、
前記誘導ラインの位置情報を含むマップ情報を記録する記録部と、
前記搬送車の検出した前記誘導ラインの位置情報が所定量以上蓄積された場合に、蓄積された前記位置情報に基づいて前記マップ情報に含まれる誘導ラインの位置情報を更新する、ことを特徴とする搬送システム。
- 搬送物を搬送する搬送車の搬送制御方法であって、
走行路に敷設された誘導ラインを検出する誘導ライン検出ステップと、
前記誘導ラインに沿って搬送車を走行させる走行制御ステップと、
前記搬送車の自車位置を推定する自車位置推定ステップと、
前記誘導ラインの位置情報を含むマップ情報を記録する記録ステップと、を備え、
前記自車位置推定ステップで推定した自車位置が前記マップ情報に含まれる誘導ラインの位置から所定距離以上離れた位置である場合に、前記マップ情報に含まれる誘導ラインの位置へ前記搬送車を走行させる、ことを特徴とする搬送制御方法。 - 搬送物を搬送する搬送車の搬送制御方法であって、
走行路に敷設された誘導ラインを検出する誘導ライン検出ステップと、
前記誘導ラインに沿って搬送車を走行させる走行制御ステップと、
前記搬送車の自車位置を推定する自車位置推定ステップと、
前記誘導ラインの位置情報を含むマップ情報を記録する記録ステップと、
前記誘導ライン検出ステップが前記誘導ラインを検出せず、かつ前記自車位置推定ステップで推定した自車位置が前記マップ情報に含まれる誘導ラインの位置の所定距離以内の位置である場合に異常状態を検出する異常判定ステップと、を備え、
前記異常判定ステップは、異なる搬送車により所定距離以内の位置で前記異常状態を複数回検出した場合に、前記誘導ラインの異常を検出する、ことを特徴とする搬送制御方法。 - 搬送物を搬送する搬送車の搬送制御方法であって、
走行路に敷設された誘導ラインを検出する誘導ライン検出ステップと、
前記誘導ラインに沿って搬送車を走行させる走行制御ステップと、
前記搬送車の自車位置を推定する自車位置推定ステップと、
前記誘導ラインの位置情報を含むマップ情報を記録する記録ステップと、
前記誘導ライン検出ステップが前記誘導ラインを検出せず、かつ前記自車位置推定ステップで推定した自車位置が前記マップ情報に含まれる誘導ラインの位置の所定距離以内の位置である場合に異常状態を検出する異常判定ステップと、を備え、
前記異常判定ステップは、特定の搬送車で複数回前記異常状態を検出した場合に、前記搬送車の異常を検出する、ことを特徴とする搬送制御方法。 - 搬送物を搬送する搬送車の搬送制御方法であって、
走行路に敷設された誘導ラインを検出する誘導ライン検出ステップと、
前記誘導ラインに沿って搬送車を走行させる走行制御ステップと、
前記搬送車の自車位置を推定する自車位置推定ステップと、
障害物を検出する障害物検出ステップと、
前記誘導ラインの位置情報を含むマップ情報を記録する記録ステップと、
前記搬送車の検出した前記誘導ラインの位置情報が蓄積された場合に、蓄積された前記位置情報に基づいて前記マップ情報に含まれる誘導ラインの位置情報を更新するステップと、を備える、ことを特徴とする搬送システム。
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WO2024143041A1 (ja) * | 2022-12-27 | 2024-07-04 | 京セラドキュメントソリューションズ株式会社 | 移動体制御システム |
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- 2021-11-10 EP EP21963996.0A patent/EP4400931A1/en not_active Withdrawn
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JPH044407A (ja) * | 1990-04-23 | 1992-01-08 | Hitachi Kiden Kogyo Ltd | 無人搬送車のアドレステープ検出方法 |
JPH08211936A (ja) * | 1995-02-02 | 1996-08-20 | Mitsubishi Heavy Ind Ltd | 移動体の誘導装置 |
JP2012059176A (ja) * | 2010-09-13 | 2012-03-22 | National Institute Of Advanced Industrial & Technology | 移動体の誘導制御システム及び誘導制御方法 |
JP2012089078A (ja) | 2010-10-22 | 2012-05-10 | Symtec Hozumi:Kk | 自動搬送車の制御方法 |
JP2021107994A (ja) * | 2019-12-27 | 2021-07-29 | シャープ株式会社 | 自律走行装置及び自律走行管理システム |
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JP2023071149A (ja) | 2023-05-22 |
US20240329663A1 (en) | 2024-10-03 |
EP4400931A1 (en) | 2024-07-17 |
JPWO2023084637A1 (ja) | 2023-05-19 |
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