JPH03219309A - Device for instructing control information for moving vehicle - Google Patents

Abstract

PURPOSE:To simplify the constitution of equipment by arranging a reference member capable of simultaneously displaying reference position information to a moving vehicle observed on a plan and traveling route address information to the moving vehicle on the stop position of the vehicle. CONSTITUTION:In order to automatically correct the manipulated variable of a manipulator 1 by detecting the shear of the manipulator 1 from a previously set and stored reference position on a station (ST) observed as a plan when the moving vehicle (A) stops the specified ST and automatically correct a traveling course for traveling the vehicle A to the succeeding ST, the reference member 3 for displaying the reference position information to the ST is arranged on the ST. The member 3 is constituted so as to display address information indicating previously applied positions on the traveling route simultaneously with the display of the reference position information in order to identify the ST on which the vehicle A stops. Consequently, the constitution of the equipment can be simplified.

Description

[Detailed Description of the Invention] [Graduation Field of Application] The present invention provides a control for a moving vehicle to simultaneously instruct the moving vehicle with reference position information in plan view and address information on a travel route. The present invention relates to an information indicating device.

[Prior Art] For example, in order to automatically stop a moving vehicle at a predetermined stop position, it is necessary to specify reference position information for the stop position and address information on the travel route. The reference position information for the position and the address information on the travel route were each instructed separately.

[Problem to be solved by the invention]

If the reference position information for the stop position and the address information on the traveling route are separately indicated, the equipment configuration will become complicated, and the installation of display means on the ground side will be troublesome.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable simultaneous instruction of reference position information in plan view and address information on a travel route to a moving vehicle. be.

[Means for Solving the Problems] The characteristic configuration of the control information indicating device for a mobile vehicle according to the present invention is as follows.

A first characteristic configuration is that a reference member is provided at a stop location of the moving vehicle and is formed to be able to simultaneously display reference position information for the moving vehicle in a plan view and address information on the traveling route for the moving vehicle. , the moving vehicle is provided with an imaging means for reading the reference position information and the display information of the reference member.

A second characteristic configuration is that the reference member is configured to display the address information based on a combination of brightness or display color of a plurality of display areas divided into a predetermined pattern.

[Function] In the first characteristic configuration, the reference is formed such that reference position information for the moving vehicle in a plan view and address information on the travel route for the moving vehicle can be displayed simultaneously at a stop location of the moving vehicle. By providing the member, it is possible to easily install the reference member on the ground side, and on the moving vehicle side, the reference position information and the address information on the traveling route are simultaneously read by the imaging means. So do it.

In the second characteristic configuration, the reference member is configured to display address information based on a combination of brightness or display color of a plurality of display areas divided into a predetermined pattern, so that one reference member can display address information. The number of address information that can be displayed can be increased.

[Effects of the Invention] Accordingly, in the first characteristic configuration, the reference position information in plan view and the address information on the traveling route can be simultaneously instructed to the moving vehicle, so that the equipment configuration for guiding the moving vehicle can be simplified. We have now been able to achieve this goal.

Furthermore, in the second characteristic configuration, since the number of pieces of address information that can be displayed with one reference member can be increased, it becomes possible to easily cope with cases where there are many addresses on the travel route.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIGS. 18 to 20, a mobile vehicle (A) is equipped with a load transfer manipulator (1) as a working device.
A load transfer station (ST), which serves as a stopping point for the mobile vehicle (A), is installed at a sideways portion of the travel path.

Then, the mobile vehicle (A) is directed to the designated station (
The manipulator (1) is configured to automatically transfer a load (N) between the station (ST) and the moving vehicle (A) when the vehicle stops at the station (ST). Although not detailed, one station (ST)
The cargo (N) transferred to the moving vehicle (A) is unloaded at another station (ST) or transferred to the station (ST)
Every time the processing work etc. are completed, it is transferred to the mobile vehicle (A) again and transported to the next station (ST).

However, the mobile vehicle (A) is configured to autonomously travel between stations (ST) without using a travel guide or the like. As will be described in detail later, the station (S) when stopped at the station (ST)
Based on the deviation information of the amount of deviation in the width direction of the vehicle body (Y), the amount of deviation in the longitudinal direction of the vehicle body (Y), and the inclination in the longitudinal direction of the vehicle body (θ) with respect to the reference position in plan view with respect to T). , the travel route to the next station (ST) can be automatically corrected (see FIG. 21).

To explain the travel route between the stations (ST), as shown in FIG. 20, the longitudinal direction of the moving vehicle (A) is set as the y-axis, and the lateral direction of the vehicle body is set as the y-axis. be. The distance (1) in the y-axis direction between two adjacent stations (Sr1) and (ST2) is
1) and the distance (I!, z) in the y-axis direction, the regular route (L,) for making the mobile vehicle (A) autonomously travel.
The information will be set and stored in advance. However, it is assumed that the mobile vehicle (A) is driven from one station (STZ) to the other station (STZ, ).

The regular Lo) (Lo) is, for example, each straight line section (T, ), (T2), divided into a plurality of straight lines connecting the two stations (Sr1), (STZ),
(T:t) each distance information and each straight section (TI),
Turning radius (R1), (R2) and turning angle (θ) for changing direction at the connection point of (T2) and (T3)
1) and (θ2), and the distance information and turning angle information are stored in advance as travel control information for the moving vehicle (A).

That is, the mobile vehicle (A) moves from one station (ST2) to the other station (ST + ) based on the stored travel control information in each of the straight sections (
T, ), (T2), and (Tz) in that order, and autonomously travels while turning at a set angle with a set radius at the connection point of each section, and automatically stops at the next station (STI). We are making it possible to do so. In addition, in FIG. 20, (rl) and (r2) are the two stations (STI) in the vehicle width direction,
(ST2) This is the distance between each of the regular loops 1- (LO).

As shown in FIG. 18 and FIG. 19, when the mobile vehicle (A) stops at the designated station (ST), the station (ST) stores a preset and stored station (ST). The manipulator (
1) When detecting the deviation from the reference position in a plan view and automatically correcting the operating amount of the manipulator (1) or moving the mobile vehicle (A) toward the next station (ST). In order to automatically correct the travel route of the station (ST), a reference member (3) is provided that displays reference position information for the station (ST). Note that this reference member (3) indicates a position on a travel route assigned in advance in order to be able to identify the station (ST) at which the moving vehicle (A) is stopped. It is configured such that address information can be displayed simultaneously with the reference position information.

To explain the reference member (3), as shown in FIG. 1, the surface of a flat plate formed into a substantially square shape in plan view is painted black, for example, and reference position information is printed on the four corners of the flat plate. Four white circular reference position marks (
44) are provided, and their reference position marks (44) are provided.
An address mark (m
) is attached.

Adding an explanation to the address mark (m), there are four display areas divided into a plurality of predetermined patterns ( m, to m4) are formed. Then, by filling each display area (m, to m,), for example, the display area corresponding to the address to be displayed in black, a so-called Kalra code (see FIGS. 2 to 17) is formed. It is. If there are many addresses on the travel route, one address will be displayed using a plurality of address marks (m).

Therefore, the reference member (3) is configured to be able to simultaneously display reference position information in plan view and address information on the travel route. Note that reading of the reference position information and address information and discrimination of the read information will be described later.

Next, the configuration of the mobile vehicle (A) will be explained.

As shown in FIGS. 18 and 19, the mobile vehicle (A)
is driven by a pair of electric motors (5) that can be stopped and reversed separately on the left and right sides, and is connected to a pair of left and right propulsion wheels (6) provided approximately in the middle of the vehicle body in the longitudinal direction, and to each of the front and rear ends of the vehicle body. It is provided with a pair of left and right free wheels (7), and is configured to be able to change direction on the spot.

Further, the moving vehicle (A) is equipped with, for example, a gyro device (Sb) having an optical fiber 2, and the gyro device (Sb) is equipped with a second optical fiber.
Based on the information in b), a deviation in the running direction from the normal route (LO) is detected, and the pair of left and right propulsion wheels (
The pair of electric motors (5) are gear-changed so as to differentiate the rotational speeds of the two electric motors (5) for steering.

In Fig. 18, (Sc) indicates the pair of left and right propulsion wheels (
6) is a distance detection sensor with a ground hole provided at the center of turning.

As shown in FIG. 22, between the central control unit (8) on the ground side that manages the operation of the mobile vehicle (A) and the mobile vehicle (A), information on the direction of light for the mobile vehicle (A), that is, A wireless communication device (94), (9b) for communicating various information such as address information of the station (ST) to be stopped and operation command information of the manipulator (1) is connected to the moving vehicle (A). It is installed on the ground side. The communication device (9b) on the ground side is connected to the central control device (8), and the communication device (94) on the moving vehicle side is connected to the communication device (94) on the moving vehicle (
It is connected to a microcomputer-based mobile vehicle controller (1o) mounted on the mobile vehicle (A) to control the travel of the vehicle A) and the operation of the eyebrow break (1).

In addition, (11) in FIG. 22 is information read by image processing the imaged information of the image sensor (S4) as an imaging means for reading the display information of the reference member (3), which will be described in detail later. An image processing unit (12) transmits information to the mobile vehicle controller (10);
1o) a manipulator controller that operates the manipulator (1) based on the command; (13) a travel controller that controls the operation of the drive device (14) of the travel motor (5); This is a setting device for manually setting the heading light information for the moving vehicle (A) and manually setting various information for recovery in case of an emergency stop.

As shown in FIGS. 18 and 19, the manipulator (1) has a so-called multi-jointed structure, and has a load gripping tool (2) and a reference member (2) at its tip.
A two-dimensional image sensor (S4) as an imaging means for reading the display information of 3) is attached. Although not described in detail, the eyebrow break (1) detects the operating amount of the electric motor attached to each joint based on the information of the encoder that detects the operating amount and various information set and stored in advance. The cargo transfer work will be carried out under controlled conditions.

However, as shown in FIG. 23, the two-dimensional image sensor (S4) does not locate the reference member (3) anywhere within the imaging field of view.
A wide-angle field of view (24th
A wide field of view sensor (S,) equipped with a wide field of view (see figure) and a narrow field of view (see figure 25) that captures an image with the entire reference member (3) within the imaging field of view (see figure 25). Sensor (S
2) is equipped with two image sensors. In the figure, (16) is a lighting device that proves the imaging surface of the image sensor (S4).
It is formed into a ring shape surrounding the imaging field of view.

In other words, even if the resolution of the image sensor (S4) is the same, the narrower the imaging field of view is, the more the reference member (3)
), the reference position information and address information displayed by the reference member (3) are basically determined based on the information read by the narrow-field sensor (S2). However, since the mobile vehicle (A) travels autonomously, there is a possibility that when it stops at the station (ST), it will deviate significantly from the properly set stopped state.

Therefore, if the field of view of the image sensor (S4) is narrow,
If the deviation of the stop position is large, there is a possibility that the reference member (3) protrudes from the imaging field of the image sensor (S4). If the reference member (3) protrudes from the imaging field of view, there is a risk of misreading the displayed information.

Therefore, the mobile vehicle (A) is connected to the station (ST).
When the image sensor (
S4) is moved to the station (ST) where the reference member (3) is attached, and as shown in FIG. 24, first,
The wide field of view sensor (S,) detects the station (
ST) The above is imaged to determine where the reference member (3) is within the imaging field of view. Next, the reference member (
The operating amount of the manipulator (1) is automatically corrected so that the reference member (3) does not protrude from the imaging field of view, and as shown in FIG.
By capturing the image at the center of the imaging field of view in S2), even if the stopping position of the mobile vehicle (A) shifts significantly, the reference member (3) is not misread. be.

To explain the position detection of the reference member (3) by the wide-field sensor (sl), the reference member (3)
The whole is formed into a substantially black square, and its size is constant.

Therefore, the installation surface of the reference member (3) is formed into a smooth surface so that the amount of light reflection is larger than that of the reference member (3), and the size of the reference member (3) on the image is and by setting a window corresponding to the shape and searching within the captured image of the wide field of view sensor (Sl),
The center of the reference member (3) is the narrow field sensor (Sl)
The display information is read by positioning the display at the center of the visual field.

Moreover, by the mobile vehicle (A) controller (10),
A correction amount for the operating amount of the manipulator (1) is determined based on the information read by the image sensor (S4), information on the obtained correction amount is given to the manipulator controller (12), and the moving vehicle ( Even if A) deviates from the properly set stop state for the station (ST), the aforementioned holding tool (2) can properly grip the load. The information on the calculated correction amount is also used as control information for driving the mobile vehicle (A) to the next station (ST).

That is, using the mobile vehicle controller (10),
The reference member (3) is based on the travel control means for controlling the travel of the moving vehicle and the imaging information of the image sensor (S4).
Various means for determining display information will be configured.

Next, a configuration for determining display information of the reference member (3) based on imaging information of the image sensor (S4) will be described.

Imaging information of the image sensor (S4) is input to the image processing unit (11), where it is binarized based on the contrast, and the position and display of the reference member (3) within the imaging field of view are determined. Information will be read.

However, as described above, first, the manipulator (1) is actuated with a preset and memorized actuation amount, and the wide field of view sensor (S) detects the rough position of the reference member (3). Based on the detected position information, the amount of operation of the manipulator (1) is corrected, and the reference member (3) is imaged in a close-up state by the narrow field of view sensor (Sl). Then, based on the imaging information of the narrow field sensor (Sl), each coordinate (Xt+Y
i) will be obtained (see Figure 25).

Next, from each coordinate (Xi, Yi) obtained, the center of gravity (X, Y) of the four reference position marks (44) is determined based on the following formula.
) and the longitudinal direction of the vehicle body in plan view, that is, the inclination (θ) with respect to the y-axis.

However, the value of the center of gravity (X, Y) is based on the reference position (XO
When the moving vehicle (A) is stopped in a properly set stop state with respect to the station (ST), the manipulator (
When 1) is operated with the set operating amount, the center of gravity (X, Y)
The mounting position of the reference member (3) is set so that the value of the reference member (3) matches the value of the reference position (XO, YO).

In other words, the value of the y-axis of the center of gravity (X, Y) corresponds to the amount of deviation in the longitudinal direction of the vehicle body from the reference position, the value of the y-axis corresponds to the amount of deviation in the width direction of the vehicle body, and the inclination (θ
) is made to correspond to the inclination with respect to the station (ST) in the longitudinal direction of the vehicle body.

Therefore, by correcting the amount of movement of each joint that is set and stored in advance based on the values of the center of gravity (X, Y) and the value of the inclination (θ), when the moving vehicle (A) is stopped, The posture is set properly with respect to the station (ST), that is, the reference position (xo, yo) of the reference member (3).
) of the manipulator (1).
2) allows the load to be gripped properly.

Next, address information that is read simultaneously when reading the reference position information will be explained.

The position of the rice-shaped frame formed in black on the white background is determined by information such as the positional relationship with respect to the white reference position mark (44) and a method such as pattern matching, and the position of the rice-shaped frame The four display areas formed within each frame (
The displayed Carla code, that is, the address information, is determined based on whether or not each of m+ to mn) is filled in black.

Then, as the load transfer work at the station (ST) is completed, the information stored in advance or instructed by the central control device (8) via the communication devices (94) and (9b) is transmitted. Based on the information on the traveling route to the next station (ST) and the information on the amount of deviation (X, Y) and inclination (θ) with respect to the reference position (×., Y,), the vehicle moves to the next station (ST). The vehicle will start autonomous driving by correcting the direction of travel.

To explain the correction of the traveling direction, as shown in FIG.
), the center of gravity (X, Y
) and the value of the inclination (θ), the moving vehicle (A) can change its direction in the direction of the set and memorized regular route (Lo) within a range that does not collide with the station (ST). maximum angle (θS) and the normal rule 1-
The travel distance (Ts) to the contact point (0) with (LO) is determined, the gyro device (Sb) is reset, and information on the detected travel direction is initialized.

Next, based on the information of the gyro device (Sb), the left and right propulsion wheels (6) are reversed to make a spin turn on the spot, and the tilt (θ) and the maximum angle at which the direction can be changed ( After changing the direction in the direction of the regular route (LO), the calculated travel distance (Ts ) is driven straight ahead and stopped at the contact point (0) with the regular route (Lo). After that, the direction of the maximum angle (θS) is changed to the station (ST) side by a spin turn, and the normal route (Lo) is changed.
The vehicle starts traveling at a set speed so that the vehicle automatically travels along the road to the next station (ST).

After starting automatic travel along the regular route (Lo), as described above, the left and right propulsion wheels (6) are steered with a rotational speed difference based on the information of the gyro device (Sb). Further, the position of the mobile vehicle (A) on the regular route (Lo) is determined based on the information of the travel distance detection sensor (Sc), and as the vehicle (A) reaches the next station (ST), the position of the mobile vehicle (A) is determined. It will automatically stop.

[Another Embodiment] In the above embodiment, reference position information and address information are formed on a mark of a specific shape, and the information is displayed based on the difference in brightness with respect to the background. The specific configuration of the members and the specific configuration of the imager means can be changed in various ways. For example, information may be displayed using colors instead of brightness. In this case, the imaging means will be constructed in color.

In addition, in the above embodiment, in order to switch the imaging field of the imaging means between wide and narrow, two sensors are provided and used in a switched manner. Two types of optical systems may be provided and used selectively. Moreover, it may be carried out without switching the field of view.

Further, in the above embodiment, a case where the mobile vehicle (8) is configured to run autonomously is illustrated, but it may be configured in a guided type so as to run along a guide line, for example, and the present invention may be implemented. The specific configuration of each part required for this purpose can be changed in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

4

[Brief explanation of drawings]

The drawings show an embodiment of the control information indicating device for a moving vehicle according to the present invention, in which FIG. 1 is an enlarged plan view of a reference member, FIGS. 2 to 17 are explanatory diagrams of address information, and FIG. Figure 19 is a schematic plan view of the car stopped at the stop location, Figure 20 is an explanatory diagram of the driving route, Figure 21 is an illustration of correcting the deviation of the moving vehicle, and Figure 22 is a diagram of the same front view. FIG. 23 is a block diagram of the control configuration, FIG. 23 is a schematic perspective view of the imaging means, and FIGS. 24 and 25 are explanatory diagrams of displacement detection. (A)...Moving vehicle, (3)...Reference member, (S4)...Imaging means, (m+ to 1T1
4)...Multiple display areas.

Claims (1)

[Claims] 1. Simultaneously display reference position information for the moving vehicle (A) in a plan view and address information on the travel route for the moving vehicle (A) at a stop location of the moving vehicle (A). A moving vehicle in which a freely formed reference member (3) is provided, and the moving vehicle (A) is provided with an imaging means (Sa) for reading the reference position information and the display information of the reference member (3). Control information indicating device for. 2. The reference member (3) is configured to display the address information based on a combination of brightness or display color of a plurality of display areas (m_1 to m_4) divided into a predetermined pattern. Item 1. A control information indicating device for a mobile vehicle according to item 1.