JPH032910A - Stop state detector for mobile vehicle - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention provides a reference member that displays reference position information in a plan view at a stopping point of a moving vehicle, and a reference member that displays reference position information in a planar view. A moving vehicle is provided with a reference position reading means for reading display information, and a deviation amount determining means for determining a deviation amount of the moving vehicle from a set proper stopping state at the stopping point based on the information of the reference position reading means. The present invention relates to a stop state detection device.

[Conventional technology]

The stop state detection device of this type of mobile vehicle described above is capable of ensuring that even if a mobile vehicle transporting various workpieces in a factory stops in a state that deviates from the appropriate stop state set for the stop location such as a station, the vehicle will not be able to properly load the vehicle. In order to perform transfer work, etc., the device is configured to be able to determine the amount of deviation of the moving vehicle from the properly set stopped state. It was constructed in a so-called optical system by displaying a mark and using an image sensor etc. as a reading means (Japanese Patent Application Laid-open No.
(Refer to Publication No.-258613).

[Problem to be solved by the invention]

However, the optical type has the disadvantage that it tends to malfunction due to dirt, and an improvement has been desired.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a stop state detection device for a moving vehicle that is unlikely to malfunction due to dirt.

[Means to solve the problem]

In the stop state detection device for a moving vehicle according to the present invention, a reference member for displaying reference position information in a plan view is provided at a stop location of the moving vehicle, and the moving vehicle is provided with a reference member for displaying reference position information on the reference member. The device is provided with a reading means and a deviation amount determining means for determining the deviation amount of the moving vehicle from the set proper stopping state at the stopping point based on the information of the reference position reading means, and the characteristic structure thereof is as follows.

The first characteristic configuration is that the reference member is formed as a permanent magnet so that the front side and the back side thereof have different magnetic poles, and the reference position reading means is configured to read the reference position in the width direction and the front and rear direction of the moving vehicle. The deviation amount determining means is configured to sense changes in magnetic strength from the reference member in two different directions, and the deviation amount determining means detects changes in magnetic strength in each of the two directions sensed by the reference position reading means. Based on this, the amount of deviation in the width direction and the deviation 1 in the longitudinal direction of the moving vehicle with respect to the properly set stopped state are respectively determined.

A second characteristic configuration is that the reference position reading means detects four magnetic sensing means for sensing the magnetic intensity from the reference member in two different directions, a width direction and a front-rear direction of the moving vehicle, in a plan view. The deviation amount determining means is configured to detect the moving vehicle based on the difference in magnetic strength detected by each of a pair of magnetic sensing means arranged facing in the same direction. It is configured to determine the amount of deviation in the width direction and the amount of deviation in the front-rear direction, respectively.

A third characteristic configuration is that each of the reference member and the reference position reading means is provided as a pair separated from each other in the longitudinal direction of the moving vehicle, and the deviation amount determining means is configured to read the reference position of the pair. The present invention is configured to determine the inclination of the mobile vehicle with respect to the set appropriate stop state based on information of the means.

[Function] In the first characteristic configuration, the reference member is formed into a permanent magnet so that the front side and the back side have different magnetic poles, and the reference member is formed into a permanent magnet so that the front side and the back side have different magnetic poles. A change in the magnetic strength from the reference member is sensed, and based on the sensed change in the magnetic strength, the amount of deviation in the width direction and the amount of deviation in the front and rear direction of the moving vehicle with respect to the set proper stopped state are respectively determined. , it is configured in a so-called magnetic type.

In the second characteristic configuration, of the four magnetic sensing means arranged at intervals in two different directions, ie, the width direction and the front-rear direction of the moving vehicle, one pair is arranged facing the same direction. Since the amount of deviation in the width direction and the amount of deviation in the front and rear direction of the moving vehicle are determined based on the difference in magnetic strength detected by each of the magnetic sensing means of the magnetic sensing means of Errors can be reduced.

In the third characteristic configuration, a pair of reference members and reference position reading means are provided at intervals in the longitudinal direction of the moving vehicle to determine the inclination of the moving vehicle with respect to the properly set stopped state. Based on the information on the inclination and the amount of deviation of the moving vehicle in the width direction and the amount of deviation in the longitudinal direction, it is possible to quantitatively determine the deviation state of the moving vehicle with respect to the set appropriate stopped state.

〔Effect of the invention〕

In the first characteristic configuration, since the vehicle stop state detection device is configured magnetically, it is difficult to malfunction due to dirt.

In the second characteristic configuration, it is possible to reduce the error in determining the amount of deviation due to variations in the magnetic strength from the reference member, so that it is possible to accurately determine the amount of deviation of the moving vehicle with respect to the properly set stopped state.

In the third characteristic configuration, since the deviation state of the moving vehicle with respect to the set proper stop state can be quantitatively determined, the attitude of the moving vehicle with respect to the set proper stop state can be accurately corrected based on the information of the determined shift state. I can do it.

〔Example〕

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

As shown in FIGS. 5 to 7, the moving vehicle (A) is stopped on the side of the traveling path of the moving vehicle (A) on which the load transfer manipulator (1) as a working device is mounted. A plurality of load transfer stations (ST) are installed. Then, as the mobile vehicle (A) stops at the designated station (ST), the manipulator (1)
), the load (N) is automatically transferred between the station (ST) and the mobile vehicle (A).

However, although not described in detail, the manipulator (1) has a so-called multi-jointed structure, and a load gripping tool (2) is attached to the tip thereof, and a load gripping tool (2) is provided at each joint. The amount of operation of the electric motor (not shown) is controlled based on the information of an encoder (not shown) that detects the amount of operation and various control information set and stored in advance, and the load transfer work is automatically performed. It is configured so that it can be carried out.

In addition, the cargo (N) transferred to the moving vehicle (A) at one station (ST) is unloaded at another station (ST), or whenever processing work, etc. at the station (ST) is completed. Then, it is transferred again to the moving vehicle (A) and transported to the next station (ST).

Further, the mobile vehicle (A) is configured to autonomously travel between stations (ST) without using a travel guide or the like. Although the details will be described later, the station (ST) when stopped at the station (ST)
), which is the standard stop position in plan view, that is, the deviation in the longitudinal direction of the vehicle body 1 (X), the amount of deviation in the width direction of the vehicle body (Y), and the inclination in the longitudinal direction of the vehicle body (θ) with respect to the set proper stopping state. The next station (ST
) so that the travel route can be automatically corrected (see Fig. 8).

To further explain the travel route between the stations (ST), as shown in FIG. be. And two stations (ST
I), (ST2) in the X-axis direction (11
) and the distance (12) in the y-axis direction, information on the regular route (LO) on which the mobile vehicle (A) autonomously travels is set and stored in advance. However, the moving vehicle (A
) is assumed to run from one station (ST2) to the other station (STI).

The regular route (Lo) connects the two stations (
Straight sections (TI), (T2), (T
3”) each distance information and each straight section (TI), (
Turning radius (R1), (R2) and turning angle (θ1) for changing direction at the connection point of T2) and (T3)
, (θ2), and information such as distance information and turning angle is mapped and stored in advance as travel control information for the mobile vehicle (A).

That is, the moving vehicle (A) moves from one station (ST2) to the other station (ST) based on the stored traveling control information in each of the straight sections (TI).
), (T2), and (T3) in that order, it 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 this possible.

In Fig. 7, (r, ) and (r2) are the two stations (STI) and (ST2) in the width direction of the vehicle body.
and the regular route (Lo).

As shown in FIGS. 5 and 6, the station (S
In step T), when the moving vehicle (A) stops at the designated station (ST), a deviation from the properly set stop state with respect to the station (ST) that has been set and stored in advance is detected; In order to automatically correct the operating amount of the manipulator (1) and automatically correct the traveling route when the mobile vehicle (A) travels toward the next station (ST), the station (ST)
A reference member (3) for displaying reference position information for a properly set stop state is attached to the road surface on which the mobile vehicle (A) runs.

As shown in FIGS. 2 and 4, the reference member (3) is made by cutting a sheet-like magnetic material into squares of a set size.
A permanent magnet is formed so that the front side is the north pole and the back side is the south pole. Then, the reference member (3
) are carried by the moving vehicle (A) to the station (S).
When stopped in the properly set stop state for T),
Vehicle body center (X, Y) in plan view of the moving vehicle (A)
so as to be located at a set distance (W) from the station (ST) side, and at a set distance (L/2) from the center of the vehicle body (X, Y) in the longitudinal direction of the vehicle body, respectively. It is pasted on the road surface on which the mobile vehicle (A) travels.

Note that reading of the magnetic intensity from the reference member (3) formed on the permanent magnet and discrimination of the read information will be described later.

As shown in FIGS. 5 and 6, the mobile vehicle (A) is
A pair of electric motors (5) are used to freely stop and reverse the drive independently of each other. A pair of left and right idle wheels (7) are provided. In other words,
The mobile vehicle (A) is configured to be able to change direction on the spot.

A pair of magnetic reference position reading sensors (Sa) serving as reference position reading means for reading display information on the reference member (3) detect that the mobile vehicle (A) has stopped in the properly set stop state. The reference members (3) are attached to the lower part of the vehicle body of the vehicle (A) so that the reference members (3) are located at the center of each of the pair of reference members (3) when the reference members (3) are in the vehicle.

Further, the mobile vehicle (A) is equipped with a gyro device (Sb) using an optical fiber or the like, and the gyro device (Sb)
Based on the information in b), the pair of electric motors (5) detect a deviation in the traveling direction with respect to the regular route (Lo), and drive the pair of electric motors (5) so as to differentiate the rotational speeds of the pair of left and right propulsion wheels (6). ) to steer the vehicle by changing gears.

In FIG. 5, (Sc) indicates the pair of left and right propulsion wheels (6
) is a ground-contact wheel-type travel distance detection sensor installed at the center of rotation of the vehicle.

As shown in FIG. 1, information on the direction of the moving vehicle (A) is transmitted between the central control device (8) on the ground side that manages the operation of the moving vehicle (A) and the moving vehicle (A). Wireless communication devices (9a) and (9b) for communicating various information such as operation command information for the manipulator (1) and the like are provided on the moving vehicle (A) and on the ground side. The communication device (9b) on the ground side is connected to the central control device (8), and the communication device (9a) on the mobile vehicle side controls the traveling of the mobile vehicle (A) and the operation of the manipulator (1). In order to do this, it is connected to a microcomputer-based mobile vehicle controller (IO) mounted on the mobile vehicle (A).

In FIG. 1, (11) is a signal processing unit that processes information from the reference position reading sensor (Sa) and transmits the information to the mobile vehicle controller (10), and (12) is a signal processing unit that processes information from the reference position reading sensor (Sa) and transmits the information to the mobile vehicle controller (10). ) is a manipulator controller (13) that controls the operation of the manipulator (1) based on commands; (13) is a travel controller that controls the operation of the travel electric motor (5) that drives the left and right propulsion wheels (6); A controller (14) is a drive device for driving the electric motor (5) for traveling based on a command from the traveling controller (13), and (15) is a drive device for driving the electric motor (5) for driving based on a command from the traveling controller (13). This is a setting device for manually setting various information in order to manually set information or to perform recovery in the event of an emergency stop.

That is, by using the mobile vehicle controller (10) and the signal processing unit (11), the mobile vehicle (A) is adjusted to the properly set stop state based on the information of the reference position reading sensor (Sa). A deviation amount determining means (100) for determining the amount of deviation is configured.

As shown in FIGS. 2 and 3, the reference position reading sensor (Sa) includes four magnetic sensors (C) as magnetic sensing means for sensing the magnetic intensity from the reference member (3). , the deviation amount determination means (10
0) is based on the difference in magnetic strength detected by each of a pair of magnetic sensors (C) arranged in the same direction, and calculates the amount of deviation (X) in the front-rear direction and the width direction of the mobile vehicle (A). The inclination (Y) of the moving vehicle (A) with respect to the properly set stopped state in the longitudinal direction of the vehicle body is determined based on the information of the pair of front and rear reference position reading sensors (Sa). θ).

To explain further, as shown in FIG. 2, the pair of magnetic sensors (C) are saturable cores (C,).

A detection coil is wound around (C2), and a high frequency current of a set frequency is supplied from an oscillator (O3C), and a high frequency voltage is induced in these saturable cores (CI) and (C2). After rectifying each of these voltages separately, it is configured to output the difference between these high-frequency voltages.

In other words, when an external magnetic field is applied to the saturable cores (CI) and (C2), the inductance changes depending on the strength of the external magnetic field, and the saturable cores (CI) and (C2)
), (C2) A DC voltage (v) corresponding to the difference in inductance change is output.

Therefore, as shown in Figure 3, the output DC voltage (■
) becomes zero when the positions of the saturable cores (CI) and (C2) in plan view are equidistant from the center of the reference member (3), and As the deviation increases, the value changes depending on the amount of deviation.

The magnetic sensor (C) is connected to the moving vehicle (A).
Since the magnetic sensors (C) are spaced apart from each other in the front-rear direction and the width direction, the direct current voltage (V
) corresponds to the amount of deviation (X) in the longitudinal direction of the vehicle body with respect to the reference member (3), and the output voltage (v) from a pair of magnetic sensors (C) arranged at a distance in the width direction corresponds to the reference member (3). Amount of deviation in the width direction of the vehicle body relative to member (3) (Y)
It will correspond to

The displacement amount (X) in the vehicle body longitudinal direction and the displacement amount (
To explain the determination of Y) and the inclination (θ) in the longitudinal direction of the vehicle body, a pair of reference position reading sensors (
Based on the amount of deviation (x++ y+), (x2. y2) at the three locations in the front and rear of the vehicle body detected by Sa), and the spacing (L), (W) in the vehicle body longitudinal direction and width direction, This can be determined from the following equations (i) to (ii).

X=Xo+W-sinθ --(ii) Y=Y
o+1v−cosθ −−(iii) However, (x
, y, ) are the center coordinates of the mounting position of the pair of reference position reading sensors (Sa), and are defined by the following equation.

Then, based on the values of the vehicle body center (X, Y) of the mobile vehicle (A) determined from the above formulas (i) to (ii), that is, the information on the amount of deviation from the appropriate setting state, the manipulator (1) is adjusted. A correction amount of the actuation amount is determined, and the determined correction amount is given from the mobile vehicle controller (10) to the manipulator controller (12) to ensure that the mobile vehicle (A) is properly set for the station (ST). Even if it deviates from the stopped state, the load gripping tool (2) can properly grip the load. Further, the information on the determined amount of deviation is also used as control information for driving the moving vehicle (A) to the next station (ST).

To explain the correction of the traveling direction in order to make the mobile vehicle (A) travel to the next station (ST), as shown in FIG. If the vehicle is stopped with a positional shift and tilt in the direction toward which the vehicle approaches, first, the values of the displacement (X, Y) in the longitudinal direction and the width direction of the vehicle body and the value of the tilt (θ) are calculated. Based on the maximum angle (θS) at which the mobile vehicle (A) can change direction in the direction of the set and memorized regular route (LO) within a range that does not collide with the station (ST), ) is determined, and the gyro device (Sb) is reset to initialize information on the detected traveling direction.

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 ( θS) and then, based on the information of the distance detection sensor (Sc), drive straight at a low speed for the calculated distance (Ls) to follow the regular route (LO). Stop at the point of contact (0). After that, spin turn to the maximum angle (θS)
The vehicle changes its direction toward the station (ST) and starts traveling at a set speed so as to autonomously travel along the regular route (LO) and travel to the next station (ST).

After starting to travel along the regular route (Lo),
As described above (based on the information from the gyro device (Sb), the left and right propulsion wheels (6) are steered with a difference in rotational speed, and based on the information from the travel distance detection sensor (Sc)). to determine the position of the mobile vehicle (A) on the regular route (LO), and then proceed to the next station (ST).
) will be automatically stopped.

[Another example]

In the above embodiment, the reference member (3) is formed into a sheet-shaped square, but it may also be formed into a rectangular or disc shape, or a cylindrical permanent magnet may be buried in the road surface. Often, the specific shape etc. can be changed in various ways.

In addition, in the above embodiment, the case where the magnetic sensor (C) as the magnetic sensing means is configured using the saturable cores (,C,), (C2) was illustrated, but for example, various types such as magnetoresistive elements etc. can be used.

Further, in the above embodiment, the case where the pair of magnetic sensors (C) are arranged at intervals in the longitudinal direction and the width direction of the vehicle body is illustrated, but for example, if a plurality of magnetic sensors (C) (C) are arranged in the shape of a base in the longitudinal direction and the width direction of the vehicle body, and one reference member (3 ) and one reference position reading sensor (Sa) may be used to determine the amount of deviation (X, Y) and inclination (θ) in the vehicle body longitudinal direction and vehicle body longitudinal direction, respectively. In addition, each magnetic sensor (C) is configured to output a voltage according to the magnetic strength it senses, and is also configured to output a logical binary value indicating whether or not it senses magnetic field with a set strength or higher. The specific configuration of the reference position reading means can be changed in various ways.

Further, in the above embodiment, a case where the mobile vehicle (A) is configured to run autonomously is illustrated, but for example, it may be made to run using a running guide using a light reflective tape, a magnetic induction band, etc. The specific configuration of each part necessary for carrying out the present invention 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.

[Brief explanation of drawings]

The drawings show an embodiment of the stop state detection device for a moving vehicle according to the present invention, in which Fig. 1 is a block diagram of the control configuration, Fig. 2 is a circuit diagram of the signal processing section for the magnetic sensing means, and Fig. 3 shows its output. Fig. 4 is an explanatory diagram of voltage characteristics, Fig. 4 is an explanatory diagram of determining the amount of deviation, Fig. 5 is a schematic plan view of the moving vehicle stopped at a stopping point, Fig. 6 is a front view of the same, and Fig. 7 is a driving route. An explanatory diagram of
FIG. 8 is an explanatory diagram of correcting the displacement of the moving vehicle. (A)...Moving vehicle, (C)...Magnetic sensing means, (Sa)...Reference position reading means,
(X)・・・・・・Amount of deviation in the longitudinal direction of the moving vehicle, (Y
)・・・・・・Amount of deviation in the width direction of the moving vehicle, (θ)・
...Inclination, (3) ...Reference member, (10
0)...Displacement amount determination means.

Claims (1)

[Claims] 1. A reference member (3) for displaying reference position information in a plan view is provided at a stopping point of the moving vehicle (A),
A) includes a reference position reading means (Sa) for reading display information of the reference member (3), and a setting of the moving vehicle for setting an appropriate stop state at the stop location based on the information of the reference position reading means (Sa). (A) A stop state detection device for a moving vehicle, which is provided with a deviation amount determination means (100) for determining the deviation amount, wherein the reference member (3) has different magnetic poles on its front side and back side. The reference position reading means (Sa) measures the magnetic strength from the reference member (3) in two different directions, ie, the width direction and the front-rear direction of the mobile vehicle (A). The deviation amount determination means (100) detects the setting appropriate stop state based on the magnetic strength changes in the two different directions sensed by the reference position reading means (Sa). A stopped state detection device for a moving vehicle, which is configured to determine a deviation amount (Y) in the width direction and a deviation amount (X) in the front-rear direction of the moving vehicle (A) relative to the vehicle. 2. The stop state detection device for a moving vehicle according to claim 1, wherein the reference position reading means (Sa) comprises four magnetic sensing means (4) for sensing the magnetic intensity from the reference member (3).
C) are arranged at intervals in two different directions, ie, the width direction and the longitudinal direction of the moving vehicle (A) in plan view, and the deviation amount determining means (100) A pair of magnetic sensing means (C) arranged in the direction
A moving vehicle configured to determine the amount of deviation (Y) in the width direction and the amount of deviation (X) in the longitudinal direction of the moving vehicle (A) based on the difference in magnetic strength sensed by each of the moving vehicles. Stop state detection device. 3. The stop state detection device for a moving vehicle according to claim 1 or 2, wherein each of the reference member (3) and the reference position reading means (Sa)
) are provided at intervals in the longitudinal direction, and the deviation amount determining means (100) determines whether the mobile vehicle is in the properly set stopped state based on information from the pair of reference position reading means (Sa). A stop state detection device for a moving vehicle configured to determine the inclination (θ) of (A).