JPH04312105A - Stop position detecting display device - Google Patents

Abstract

PURPOSE:To reduce the time/labor and the cost required for the production and the maintenance and at the same time to prevent the deterioration of the position error detecting accuracy in the image pickup direction of an image pickup means by using a light emitting matter and a light shielding matter to form a reference member. CONSTITUTION:In regard to a light emitting reference member 1 which displays the reference position information on a plane view, a light shielding matter 3 having a light transmitting opening part 4 is provided at the side of a light emitting surface 2C of a light emitting matter 2 formed in a two-dimensional plane shape. The position matching is not required between the matter 2 and the part 4 of the matter 3. A maintenance job is required only for replacement of the matter 2 if it has 8 trouble. Then the entire surface 2C serves as a light source and the light emitted from this light source passes through the part 4 or stopped if the part 4 is not provided. Therefore the even light is emitted through the part 4 regardless of the image pickup direction of an image pickup means. Then the correct shape of the part 4 can be recognized.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a display device for detecting a stop position, which is provided with a light-emitting reference member for displaying reference position information in plan view at a station where a mobile vehicle automatically travels.

0002

2. Description of the Related Art Conventionally, a display device for detecting a stop position provided with a light-emitting reference member includes a light-shielding body in which an opening for passing light is formed, and a light-shielding body disposed behind each opening of the light-shielding body. It was constructed with a light source such as an LED that emits light forward through the opening.

0003

However, in this type of stop position detection display device, as can be seen from the above configuration, it is necessary to install a large number of light sources aligned with each of the openings. However, there was a problem in that it required a lot of effort and cost. In addition, if even one of the light sources fails, it becomes unusable as a display device, so it is necessary to replace the failed light source each time, realign the position, and install it, which increases maintenance time and effort. There was also the problem of increased costs.

[0004] Furthermore, in the case of detecting the amount of deviation of the stop position when a moving vehicle has stopped at a station provided with the above-mentioned display device for detecting the stop position, it is preferable that the reference member on the station is provided on the moving vehicle. An image is taken by an imaging means such as a camera, and the amount of deviation is determined from the imaging information. At this time, if the imaging means takes an image of the reference member from an oblique direction, the amount of deviation from the light source that has passed through the opening is The light may not be detected uniformly, and therefore the shape of the opening may not be correctly recognized, and as a result, the amount of deviation of the stop position may not be determined with high accuracy.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to reduce labor and costs in terms of production and maintenance, and to detect deviations in the stop position of the imaging means depending on the imaging direction. An object of the present invention is to provide a display device for detecting a stop position that can prevent a decrease in accuracy.

[0006]

[Means for Solving the Problems] A first feature of the display device for detecting a stop position according to the present invention is that the reference member includes a light emitting body whose light emitting surface is formed in a two-dimensional planar shape, and a light emitting body of the light emitting body. and a light shielding body disposed on the light emitting surface side and having an opening for light passage.

A second characteristic feature is that the surface of the light shielding body facing the light emitting body is configured as a light reflecting surface.

[0008]

[Operation] According to the first characteristic means of the present invention, in manufacturing a display device for detecting a stop position, an opening for light passage is formed on the light emitting surface side of the light emitting body formed in a two-dimensional planar shape. All that is required is to install the light shielding body, and at this time, there is no need to align the light emitting body and each opening of the light shielding body. Furthermore, when a light emitting body breaks down, maintenance work is only required to replace the failed light emitting body.

In addition, in the operation of the stop position detection display device, the entire two-dimensional planar light emitting surface of the light emitting body serves as a light source, and the light emitted from the light emitting surface is emitted from the light passing opening of the light shielding body. Where the opening is open, it passes through the opening, and where the opening is not open, it is blocked. here,
When taking an image with an imaging means such as a camera, uniform light comes out from the opening regardless of the direction in which the reference member is imaged, so that the shape of the opening can be correctly recognized.

According to the second characteristic means, among the light emitted from the light emitting surface of the light emitting body formed in a two-dimensional plane, the light that hits the non-opening part of the light shielding body is directed toward the light emitting body. After being reflected by the surface and passing between the light emitting surface and the light emitting surface, the light is emitted from the opening. Therefore, the amount of light from the opening increases, and the level of the imaging signal of the imaging means for imaging this light increases, allowing the imaging means to more accurately recognize the shape of the opening.

[0011]

Therefore, according to the first characteristic means of the present invention, it is possible to reduce the effort and cost in manufacturing and maintaining the display device for detecting the stop position, and at the same time, the display device for detecting the stop position can be easily detected by the moving vehicle regardless of the imaging direction. This makes it possible to ensure the detection accuracy of stop position deviation.

Further, according to the second characteristic means, it is possible to ensure a higher accuracy in detecting the deviation of the stop position of the moving vehicle, thereby further enhancing the effect of the first characteristic means.

[0013]

Embodiments Hereinafter, embodiments of the present invention will be explained based on the drawings. First, the traveling control system of a moving vehicle to which the stop position detection display device of the present invention is applied will be described. As shown in FIGS. 3 and 4, a load transfer manipulator 16 as a working device is mounted. A load transfer station S as a work station is located on the side of the travel path of the mobile vehicle A.
A plurality of T's are installed. Then, as the mobile vehicle A stops at the designated station ST, the manipulator 16 is configured to automatically transfer the load N between the station ST and the mobile vehicle A. There is.

However, the mobile vehicle A is configured to autonomously travel between stations ST without using a travel guide or the like. Then, when stopped at the station ST, the displacement amount Yα in the width direction of the vehicle body, the displacement amount Xα in the longitudinal direction of the vehicle body, and the inclination θ in the longitudinal direction of the vehicle body with respect to the reference position in a plan view with respect to the station ST. Based on the amount information, the travel route to the next station ST can be automatically corrected.

In the figure, the stationary reference coordinate axes (hereinafter referred to as layout coordinate axes) of the travel control system of the moving vehicle are
The X' and Y' axes are the reference coordinate axes fixed to moving vehicle A, and the longitudinal direction of the vehicle is the
' axis. Then, the center AC of moving vehicle A is defined as X',
Y' is the origin of the coordinate axis, and when moving vehicle A stops in the properly set stop state with respect to station ST,
The center AC coincides with the reference position LC on the layout coordinate axes, the X'' axis and the X' axis are parallel, and the Y'' axis and the Y' axis are parallel.

[0016] The mobile vehicle A is located at the station ST.
When the mobile vehicle A stops at the designated station ST, the amount of deviation of the mobile vehicle A from the properly set stop state with respect to the station ST is detected, and the manipulator 16
In order to automatically correct the operating amount of the mobile vehicle A and automatically correct the travel route when the mobile vehicle A travels toward the next station ST, a reference member 1 that displays reference position information with respect to the station ST is provided. It is provided.

On the other hand, the mobile vehicle A has a pair of left and right propulsion wheels 6, each of which can be stopped and reversed independently by a pair of electric motors 5, and which are provided approximately in the center of the vehicle body in the longitudinal direction.
The vehicle includes a pair of left and right idle wheels 7 provided at the front and rear ends of the vehicle body, respectively. In other words, the mobile vehicle A is configured to be able to change direction on the spot.

Furthermore, the moving vehicle A is equipped with an optical fiber type gyro device Sb, and based on the information of the gyro device Sb, a deviation in the traveling direction with respect to the planned traveling route is detected, and the pair of left and right propulsion is detected. The pair of electric motors 5 are operated to change gears so as to differentiate the rotational speeds of the wheels 6 for steering. In the figure, Sc is a ground-contact wheel-type travel distance detecting sensor provided at the center of rotation of the pair of left and right propulsion wheels 6.

To explain the manipulator 16, as shown in FIG. 4, it is constructed in a so-called multi-joint type, and has a load gripping tool 17 and display information of the reference member 1 at its tip. A two-dimensional image sensor Sa as a camera for reading the image is attached. Although not described in detail, the manipulator 16 controls the operating amount of the electric motor provided at each joint based on information from an encoder that detects the operating amount and various control information stored in advance. Then, cargo transfer work will be carried out.

Next, regarding the control configuration of the moving vehicle A,
This will be explained with reference to FIG. A system for communicating various information such as destination information of the mobile vehicle A and operation command information of the manipulator 16 between the ground-side central control device 8 that manages the operation of the mobile vehicle A and the mobile vehicle A. Wireless communication device 9
a and 9b are provided on the mobile vehicle A and on the ground side. The communication device 9b on the ground side is connected to the central control device 8.
The communication device 9a on the mobile vehicle side is connected to the mobile vehicle A.
It is connected to a microcomputer-based mobile vehicle controller 10 mounted on the mobile vehicle A to control the travel of the vehicle A and the operation of the manipulator 16.

In FIG. 5, 11 is the image sensor S.
an image processing unit 12 that performs image processing on the imaged information of a and transmits information on the reference member 1 to the mobile vehicle controller 10;
1 is a manipulator controller that controls the operation of the manipulator 16 based on commands from the mobile vehicle controller 10; 13 is a travel controller that controls the operation of the travel motor 5 that drives the left and right propulsion wheels 6; 14 is the travel controller A drive device 15 drives the traveling motor 5 based on commands from the traveling controller 13, and is used to manually set destination information for the mobile vehicle A during teaching, etc., and to perform recovery in the event of an emergency stop, etc. This is a setting device for manually setting various information.

The reference member 1 will be explained as shown in FIG.
As shown in FIG. 2, an element mark 1c serving as an element section displaying information for specifying the location of the reference member 1 with respect to the entire reference member 1 has a predetermined radius around the center point O' of the reference member 1. They are distributed two-dimensionally on the circumference. In the figure, the X-axis corresponds to the longitudinal direction of the vehicle body, and the Y-axis corresponds to the lateral direction of the vehicle body, and corresponds to the layout coordinate axes X" and Y", respectively.
The center point O' is parallel to the axis and is the origin of the X, Y coordinates. The element mark 1c is located on the X axis and on the Y axis.
It is provided on the axis and on a straight axis that makes 45 degrees with each axis. However, it is not provided in one direction of the X axis. Furthermore,
Each element mark 1c is arranged on a straight line connecting three circles with different diameters (a large circle, a medium circle, and a small circle) and their centroids, and separated by a predetermined distance in order of size, and The center point O' is located at a predetermined distance on the larger diameter side on the extension of
It is configured so that there is. Further, the reference member 1
At a position equidistant from the center point O' on the X and Y axes at the center of the center, there is a center mark 1d consisting of four small circles for accurately detecting the position of the center point O'. is provided.

Further, in a position on the X-axis of the reference member 1 where the element mark 1c is not provided, a mark is placed in advance in order to identify which station ST the moving vehicle A is stopped at. A group of marks are provided to display assigned address information. These mark groups include four reference position marks a to d located at each vertex of a square, and a plurality of reference position marks a to d located inside the reference position marks a to d and displaying the address information in the form of a binary code. Consists of three types of marks: address marks e to l, parity marks m to p for the address marks e to l, and a small circle t centered at the point where the X-axis intersects the straight line connecting marks a and c. . In the above, it is assumed that the centers of marks f, j, and n are on the X axis.

[0024] Further, on the X-axis of the reference member 1, on the opposite side of the position where the mark group for displaying the address information is provided, there is a position where the vehicle body when the mobile vehicle A is stopped with respect to the station ST is located. A tilt detection mark 1e used for detecting the tilt of is provided. This inclination detection mark 1e consists of a large circle on the X-axis and two small circles located at equal distances above and below on a straight line passing through the center of the large circle and parallel to the Y-axis. Further, the distance between the center of the small circle t and the center of the large circle of the tilt detection mark 1e is set to L.

Further, to explain the optical characteristics of the reference member 1, its structure, as shown in FIG. a light-shielding body 3 made of a resin sheet with a matte black surface, disposed on the light-emitting surface 2c side, and having an opening 4 for light passage formed therein corresponding to the position of the mark; It is configured. Therefore, the opening 4 is formed into the element mark 1c, the center mark 1d, the inclination detection mark 1e, the center point O', the mark group a to p for displaying the address information, and the small circle t. This means that it is compatible. Note that FIG. 1 shows a cross-sectional structure taken along the X-axis in FIG. 2.

The light emitting body 2 is composed of a support plate 2a made of transparent glass, and a layered light emitting portion 2b made of an electroluminescent material as a light emitting material provided on the opposite side of the support plate 2a from the light shielding body 3. has been done. Although not shown in the drawings, the light emitting section 2b emits light by applying a voltage in the layer direction using a transparent electrode on the support plate 2a side and a reflective electrode on the opposite side of the support plate 2a. There is. Further, in order to configure the surface of the light shielding body 3 facing the light emitting body 2 as a light reflecting surface, a silver light reflecting sheet 3a is applied to that surface.
is attached.

Next, an outline of stop position detection for detecting the deviation amounts Xα, Yα, and θ of the moving vehicle A from the set proper stopped state when the moving vehicle A is stopped at the station ST during automatic operation will be explained. First, the manipulator 16 automatically moves the two-dimensional image sensor Sa to a reading setting position corresponding to the reference member 1 based on a command from the manipulator controller 12, and here the image sensor Sa reads the reference member 1. The moving vehicle controller 10 detects the deviation amounts Xα, Yα, and θ based on the result of processing the read information by the image processing unit 11. At the reading setting position, the coordinate axes x and y on the image of the two-dimensional image sensor Sa are parallel to the coordinate axes X' and Y' of the mobile vehicle A, respectively.

To explain the positional deviation detection operation using FIGS. 6 to 8, in the imaging field of view S1 of the image sensor Sa moved to the reading setting position by the manipulator 16, normally after autonomous driving, Since the error is not 0, the X-Y axis of the reference member 1 and the image sensor S
The xy axes of the imaging field of view a do not match, and the center point O', which is the origin of the XY axes, and the origin G of the xy axes are also shifted (see FIG. 6). The illustrated state is image sensor Sa
is a narrow field of view imaging means with high reading resolution, and since the positional deviation is relatively large, the center point O of the reference member 1 is
' is not within the imaging field of view S1, but element mark 1
This shows a state where one piece of c is captured.

Here, the imaging signal from the image sensor Sa is input to the image processing section 11, where it is binarized based on the magnitude of the contrast of the imaging signal, and then the reference of the element mark 1c within the imaging field of view S1 is determined. It is output as coordinate detection information for the entire member 1. In the figure, among the three circles constituting the element mark 1c, the center of gravity of the smallest circle is P, and the center of gravity of the largest circle is R. As mentioned above, since the center point O' of the reference member 1 is located at a predetermined distance on the extension line connecting point P and point R, the above point P or point R
From the coordinate values on the x-y coordinate axes on the screen, the center point O
' and the origin G of the x-y axis is the specific detection distance amount (x
0, y0) is found.

Next, the detection distance amount (x0
. The manipulator 16 is operated to move the image sensor Sa to a position where the image is captured. The screen on which the small circle t is imaged is the imaging field of view SL, and the tilt detection mark 1
The screen where e is imaged is defined as the imaging field of view SR (see FIG. 7).

Here, station S of mobile vehicle A
A method for determining the deviation angle θ with respect to the longitudinal direction of the vehicle will be explained with reference to FIG. In each imaging field of view SL, SR,
The coordinate values on the screen of the centroid positions of the large circle and small circle t of the inclination detection mark 1e are (x4, y4), (x5,
y5). In addition, a straight line connecting each center of gravity of the large circle and small circle t of the tilt detection mark 1e, that is, the X axis, and the screen coordinate x
Let θ be the angle formed with the axis. Here, since the distance L between the centers of gravity of the large circle and small circle t of the inclination detection mark 1e is predetermined due to the configuration of the reference member 1, the inclination θ can be obtained as shown in the following formula. . θ=sin-1(|x4-x5|/L)

On the other hand, the X-axis of the reference member 1 corresponding to the longitudinal direction of the vehicle body is attached so as to be parallel to the layout coordinate axis X" axis of the station ST corresponding to the longitudinal direction of the vehicle body, and the Since the x-axis corresponding to the station ST is configured to be parallel to the X' axis corresponding to the longitudinal direction of the vehicle body, which is a coordinate axis fixed on the vehicle body A, the deviation angle of the vehicle body A with respect to the station ST is θ. It will be given to you.

Furthermore, as described above, since the image sensor Sa is moved by a predetermined amount of operation to the reading setting position, the center position G of the image pickup screen and the center AC of the moving vehicle A are The distance relationship is determined, and by adding the distance (x0, y0) between the detected center point O' of the reference member 1 and the center position G of the imaging screen as a correction amount, the layout coordinate axes are finally determined. Reference stopping position LC at
Then, the deviation amounts Xα and Yα corresponding to the distance from the center position AC of the moving vehicle A can be obtained.

Thereafter, based on the values of the deviation amounts Xα and Yα and the value of the inclination θ, the amount of movement of each joint that is set and stored in advance is corrected, so that when the mobile vehicle A is stopped, Even if the posture deviates from the properly set stop state with respect to the station ST, the load gripping tool 17 of the manipulator 16 is configured to properly grip the load N at the predetermined position with respect to the reference member 1. be.

Further, in the imaging field SL in which the marks a to p are imaged, the address marks e to l and the parity marks m to p are arranged according to their sizes and the reference position marks that have been set and stored in advance. Based on the positional relationships with respect to a to d, the presence or absence of the address marks e to l and the parity marks m to p is determined, and based on the combination of the presence or absence of the marks, the moving vehicle A is currently stopped. The address of station ST will be determined.

[0036] Then, as the cargo transfer work is completed,
Information on the travel route to the next station ST stored in advance or instructed by the central control device 8 via the communication devices 9a, 9b, and the center AC of the moving vehicle A with respect to the reference stop position LC. Based on the information on the deviation amounts Xα, Yα and the inclination θ, the traveling direction for traveling to the next station ST is corrected and automatic traveling is started.

[Another Embodiment] In the above embodiment, a light emitting body formed with a two-dimensional planar light emitting surface 2c is composed of a layered light emitting portion 2b made of an electroluminescent material. In addition, other devices having a two-dimensional planar light emitting surface, such as a plasma discharge tube, can be used.

In addition to the above embodiment in which the surface of the light shielding body 3 facing the light emitting body 2 is configured as a light reflecting surface, a silver light reflecting sheet 3a is pasted on that surface. A vapor-deposited layer of metal or the like having high light reflection may be formed on the surface facing the body 2.

Further, in the reference member 1 of the above embodiment, there is an opening 4 through which light passes through a group of circular marks arranged two-dimensionally.
However, on the contrary, it is also possible to configure a portion other than the circular mark group to be an opening 4 through which light passes.

[0040]Also, in the above embodiment, the mobile vehicle A is configured to run autonomously. The specific configuration of each part required to carry out the present invention may be modified in various ways.

[0041] Although reference numerals are written in the claims for convenience of comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

[Figure 1] Cross-sectional structural diagram of the reference member

[Figure 2] Plan view of reference member

[Figure 3] Plan view of the moving vehicle stopped at the station

[Figure 4] Front view of the same

[Figure 5] Block diagram of control configuration

[Figure 6] Explanatory diagram of positional deviation detection

[Figure 7] Explanatory diagram of angular shift detection

[Figure 8] Explanatory diagram of angular shift detection

[Explanation of symbols]

1 Standard member 2. Luminous body 2c　Light emitting surface 3. Light shielding body 4 Opening A Moving vehicle ST station

Claims (2)

[Claims] 1. A display device for detecting a stop position, which is provided with a light-emitting reference member (1) for displaying reference position information in plan view at a station (ST) where a moving vehicle (A) automatically travels. The reference member (1) has a light emitting surface (
2c) has a light emitting body (2) formed in a two-dimensional planar shape, and is arranged on the light emitting surface (2c) side of the light emitting body (2), and an opening (4) for light passage is formed. A stop position detection display device comprising a light shielding body (3). 2. The display device for detecting a stop position according to claim 1, wherein a surface of the light shielding body (3) facing the light emitting body (2) is configured as a light reflecting surface. .