JPH0780678B2 - Origin position giving means - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention travels in a storage area, and based on a moving amount from an origin position arbitrarily determined by a moving distance sensor provided on both wheels, the present traveling position is determined. A manned forklift that calculates and obtains luggage storage position information with the current traveling position as a luggage storage position, improves the accuracy of the current traveling position, improves inventory management, and speeds up loading / unloading work of luggage. The present invention relates to an origin position giving means for the purpose.

(Prior Art) In a conventional manned forklift, there is no one that calculates its own current traveling position by its own traveling.

(Problems to be Solved by the Invention) As described above, since there is no conventional manned forklift that calculates its own current traveling position by its own traveling, the luggage storage position information depends on the operator's memory, or Whether it is manually input to the computer,
Both were through people. Therefore, inventory management is inaccurate due to erroneous memory or input error, which is a cause of impeding the speeding up of loading and unloading of packages. In the case where a large amount of small quantities of various types of goods are frequently carried in or taken out as in today's day, there is a strong demand for more accurate inventory management and speeding up the work of carrying in or taking out the goods.

(Means for Solving the Problems) The present invention has various configurations as described below in order to achieve the above object.

(1) Origin position providing means arranged at the origin position of the storage area, and Y at the origin position of the entrance passage surface of the storage area.
Origin correction magnetic tape and X origin correction magnetic tape are attached respectively.

(2) Origin position providing means arranged at the origin position of the storage area, wherein Y is set at the origin position of the entrance passage surface of the storage area.
A structure in which an origin correction magnetic tape and an X origin correction magnetic tape intersecting in an orthogonal state are attached to the Y origin correction magnetic tape.

(3) Origin position providing means arranged at the origin position of the storage area, wherein Y origin correction magnetic tapes having different polarities are attached in parallel to each other at the origin position of the approach path surface of the storage area, and X origin correction magnetic In some cases, the tape is attached to the Y origin correction magnetic tape at a position perpendicular to and closest to the Y origin correction magnetic tape.

(Operation) The manned forklift truck can be moved by the driver's steering between the origin position, which is, for example, the entrance / exit of the storage area, and a plurality of luggage storage positions. The luggage storage position is a storage location for luggage provided in the storage area, and is formed using, for example, a multi-tiered rack or the like in addition to the floor surface, and is arranged at an appropriate position in the storage area.

The travel distance sensors provided on the left and right wheels of the manned forklift detect the travel distance of each wheel, and the control means calculates the detection output of the travel distance sensor to determine the position and attitude angle at which the manned forklift is traveling. Calculate the current running position information. Also, based on this current running position information,
The discriminating means identifies the storage position information about the storage position of the luggage currently being delivered by the manned forklift. Incidentally, this information is appropriately recorded in the vehicle body, or is transmitted to the ground equipment by using a transmitting means and managed.

The storage area is provided with a correction applying means for correcting the current traveling position information, and the vehicle body is provided with a current traveling position correction sensor for detecting it, so that the current traveling position information can be corrected correctly, and the luggage It is useful for grasping accurate information on the storage location.

The storage area is provided with an origin detection sensor for detecting the origin position providing means provided at the origin position of the storage area, and the traveling position information is reset by resetting the current traveling position information each time the origin position is passed. The accuracy of information can be improved.

(Example) Hereinafter, an example of the present invention will be described with reference to the drawings.

Figures 1-3 show manned forklift 1 and storage area 2.
In this embodiment, the manned forklift 1 is equipped with straddle arms 4, 4 projecting from the front side of the vehicle body 3 and equipped with masts 6, 6 movable in the front-rear direction.
A lift bracket 5 that can be moved up and down is engaged with and a fork is attached to the lift bracket 5. A caster 7'is provided near the steering and driving wheel 7 on one lower side of the vehicle body 3 and two wheels 9L and 9R, which are idler wheels, are attached to the front ends of the straddle arms 4 and 4, respectively.

In the present embodiment, the manned forklift 1 is described as a mass-treach type as described above, but is not limited to this and can be applied to various vehicles such as a counterbalance type.

The manned forklift 1 has a travel distance sensor S1 arranged on wheels 9L and 9R, and a vehicle body 3 has a current travel position correction sensor S1.
2, an origin detection sensor S3, a luggage identification sensor S4 provided on the lift bracket 5, a control unit 10 located inside the vehicle body 3, a transmission unit 12 located on the roof above the driver's seat and having an antenna 11, and a display Device 13 and call button 14
Etc. are provided.

The storage area 2 is a frozen warehouse in this example,
The warehouse has an entrance and exit consisting of a double door including an outer door 16 leading to the outside and an inner door 17, and the manned forklift 1 uses the outside of the outer door 16 as an origin position 20 to store the storage area 2. Can move to and from the interior. In the present embodiment, the frozen warehouse is used, but the present invention is not limited to this, and any place having a space for storing luggage may be used.

The storage area 2 has a main passage 2A extending from the doorway.
A storage group in which sub-passages 2B ... Orthogonal to the main passage 2A are arranged on both sides of the sub-passage, and a plurality of luggage storage positions 21 ... are arranged side by side along the sub-passage 2B. twenty two
However, since they are arranged in multiple rows, the luggage storage position 21
... are arranged in multiple rows and columns.

The luggage storage position 21 may be a floor surface on which the luggage is directly stacked, or may be a rack arranged in multiple stages, and when the racks are arranged in multiple stages, the luggage storage positions 21 of the respective stages may be set. The rack or the manned forklift 1 is provided with other appropriate identification means for identification.

Further, correction giving means A is provided in the storage area 2, and origin position giving means B is arranged at the origin position 20 on the entrance passage surface of the storage area 2.

The moving distance sensor S1 arranged on the wheels 9L, 9R of the manned forklift 1 is, in this example, composed of encoders S1L, S1R having a rotating wheel slidably contacting the outer peripheral surface thereof. Absorbs errors due to wear of 9L and 9R.

However, the current traveling position correction sensor S2 for detecting the correction applying means A corrects the error in the measured value of the moving distance due to the lateral slip, the unevenness of the road surface, the dust, etc. when turning.

As the correction applying means A, a magnetic tape system using a magnetic tape is adopted in this embodiment.

For example, as shown in FIG. 3, the magnetic tape system extends in the direction orthogonal to the main passage 2A of the storage area 2, that is, in the X direction and at the same time in the Y direction by keeping a constant interval of 5 m, for example, in the Y direction. By arranging the Y-correction magnetic tape AY, which is used for position correction, and the X-correction magnetic tape AX, which extends in the Y-direction along both ends of the main passage 2A to correct the position in the X-direction. , The correction giving means A
Is formed.

The origin position providing means B has the following configuration.

(1) First, as a first embodiment, a Y origin correction magnetic tape and an X origin correction magnetic tape are attached to the origin position of the entrance area of the storage area.

(2) As a second embodiment, a Y origin correction magnetic tape and an X origin correction magnetic tape which intersects the Y origin correction magnetic tape in an orthogonal state are attached to the origin position on the entrance passage surface of the storage area.

In the first and second embodiments described above, if the Y origin correction magnetic tape and the X origin correction magnetic tape are detected, the X and Y coordinates already obtained are set to zero, and the manned forklift 1 again.
Current traveling position information based on the X and Y coordinates obtained by the moving distance sensor S1 arranged on the wheels 9L and 9R is obtained.

(3) As a third embodiment, Y origin correction magnetic tapes having different polarities are attached in parallel to each other at the origin position of the entrance area of the storage area, and the X origin correction magnetic tape is perpendicular to the Y origin correction magnetic tape. Some are attached at the closest position. Also for this. Attach the above Y origin correction magnetic tapes parallel to each other, and
A case where the origin correction magnetic tape having the same polarity as that of the Y origin correction magnetic tape which is perpendicular and closest to the Y origin correction magnetic tape is attached.

B. Attach the above Y origin correction magnetic tapes parallel to each other, and
There is a case where the origin correction magnetic tape having a polarity opposite to the polarity of the Y origin correction magnetic tape which is perpendicular and closest to the Y origin correction magnetic tape is attached.

As an optimum embodiment of the origin position giving means B of the present invention, the above (3) a. The case will be described in detail. The X origin correction magnetic tape BX which can correct the origin in the X direction by extending in the Y direction outside the outer door 16, and the origin in the Y direction extending outside the X origin correction magnetic tape BX. It is provided with first and second Y origin correction magnetic tapes BY1 and BY2 capable of correcting.

The X origin correction magnetic tape BX has, for example, an N pole, and the first Y origin correction magnetic tape BY1 has an N pole and the other is an S pole (this polarity can also be reversed). .

Further, an origin detection sensor for detecting the origin position providing means B
S3 is also a magnetic sensor, and X origin correction magnetic sensor S3X and Y
Origin correction magnetic sensor S3Y and distance between them l
Is set equal to the distance 1 between the X origin correction magnetic tape BX and the first Y origin correction magnetic tape BY1. Further, the magnetic sensors S3X and S3Y are both formed in an elongated body extending in the width direction of the vehicle body and are arranged in front of and behind the magnetic sensors S2X and S2Y.

The baggage identification sensor S4 uses a bar code reader to read a bar code attached to the baggage, and is attached to, for example, the lift bracket 5 (which is not directly related to the present invention, but is equipped with the present device. If you do, the type of luggage,
It is added because the quantity can be known and inventory management becomes more convenient.

The detection outputs of the encoders S1L and S1R of the moving distance sensor S1 are, as shown in FIG.
It goes to 0 and is sent to the control means 41 of the control unit 10.

The control unit 10 has the control means 41 and the discrimination means 42, and sends the output thereof to the transmission unit 12.

Further, the control means 41 includes a calculation means 45, a coordinate and direction memory.
46 and a correction means 47. The correction means 47 is provided with the display device 13 for displaying the location, and the correction means 47 is an AND circuit to which the call button 14 is connected.
49 is connected to the discriminating means 42. The transmission unit 12 has an information transmission means 50 having the antenna 11.

The calculating means 41 includes a ΔX displacement amount calculating circuit 51, a ΔY
Displacement calculation circuit 52, orientation calculation circuit 53, coordinate calculation circuit
Includes 54 and.

The operation of the manned forklift 1 will be described below with reference to FIGS.

A When the manned forklift 1 is outside the storage area 2 and carries in a load (not shown), the origin correction is first performed at the origin position 20.

The Y origin correction magnetic sensor S3Y of the origin detection sensor S3
After detecting the S pole of the Y origin correction magnetic tape BY2, the N pole of the first Y origin correction magnetic tape BY1 is detected, and X
The origin correction magnetic sensor S3X separates the distance l
When the origin correction magnetic tape BX is detected at the same time, it is assumed that the manned forklift 1 is orthogonal to the outer door 16, and the coordinate orientation memory 46, the Y coordinate of the correction means 47, and the orientation (attitude angle) are set to zero. X origin correction magnetic sensor S3X
Extends in the lateral direction, and therefore, by detecting the amount of left / right deviation from the X origin correction magnetic tape BX,
The X coordinate obtained by the encoders S1R and S1L can be set according to the amount of displacement.

At the same time when the Y coordinate is set to zero, the encoders S1R and S1L
Start a new reading of.

When exiting, the Y origin correction magnetic sensor S3Y
The coordinates of the first and second Y origin correction magnetic tapes B1Y and B2Y are detected by detecting each N pole and S pole within a predetermined moving distance.
Reset both X and Y to 0. After that, it is determined that the storage area 2 is outside the area, and the reading of the moving distance sensor S1 is completed. The reset by detecting the Y origin correction magnetic tapes BY1, BY2 at the time of this exit is within the area range in which the current traveling position information obtained when the storage area 2 is moved determines that the vehicle body is near the origin position 20. Only works.

B When the manned forklift 1 moves from the origin position 20 to the inside of the storage area 2, the current traveling position information about the coordinates (X, Y) and the attitude angle w at which the manned forklift 1 actually moves and exists. Are sequentially calculated by the calculation means 45.

This calculation is performed by the moving distance sensor S1 in this example. The obtained value is sampled at a fixed time interval (for example, 10ms), and it is 1/2 of the sum of the wheel movement distance in the unit time.
Then, by calculating and integrating the moving distance of the vehicle body and the direction by the difference between the moving distances of the wheels 9L and 9R, the current position X in the horizontal direction and the current position Y in the vertical direction, that is, the coordinates (X, Y). And the attitude angle w are calculated.

Each arithmetic expression is shown in Table 1, and the symbols in each expression in the same table will be explained first as follows.

i: Sampling frequency Xi, Yi: X-direction and Y-direction position when sampling frequency is i (mm) wi: Attitude angle of vehicle body at sampling frequency i (rad) Δwi: Between sampling frequency i and i-1 Posture angle change (r
ad) ΔLi: Moving distance of the vehicle body representative point between sampling times i and i-1 (mm) ΔLli, ΔLli: Sampling times i and i-1 of wheels 9R, 9L
Travel distance (mm) pli, pri: Accumulated number of pulses of encoder Nl, Nr: Number of pulses per encoder rotation Dl, Dr: Travel distance per encoder rotation (mm) W: Wheel tread (mm) Kl, Kθ: Error correction coefficient In Table 1, the traveling distance ΔLli of the wheel 9L between the sampling times i and i−1 is the first expression in Table 1.

A similar travel distance ΔLri of the wheel 9R is obtained as the second equation.

Further, the moving distance ΔLi between the sampling times i and i−1 at the vehicle body representative point 0 (center of turning) is given by the third equation.

 The change in posture angle Δwi at that time is given by the fourth equation.

As a result, from the first to fourth equations, the sampling frequency i
Position Xi in the X direction, position Yi in the Y direction, and attitude angle w of the vehicle body
i becomes the 5th-7th type | formula.

As shown in the equation (8), the current traveling position information of the current address (X, Y, w) from the origin position 20 to the current traveling position can be obtained by integrating the equations (5) to (7).

Note that this calculation is performed by each of the circuits 51, 52,
This is done using 53 and 54, and the current running position information is
The coordinates and direction are stored in the memory 46.

C The correction of the current traveling position information is performed by the current traveling position correction sensor S2 which detects the correction applying means A.

The magnetic sensor S2Y for Y direction correction detects the Y correction magnetic tape AY attached at a constant interval and sends it to the correction means 47 via the up / down counter 60.

At that time, the position Ya in the Y direction can be calculated by determining whether the manned forklift 1 is moving forward or backward and counting up or down. Similarly, the magnetic sensor S2X sequentially detects the X correction magnetic tape BX in the same manner to calculate the position Xa in the X direction. The correction means 47 compares the values Xa, Ya with the coordinates (X, Y) calculated by the movement distance sensor S1 and corrects them if necessary, so that the current traveling position information can be updated.

The magnetic sensor S2X that corrects in the X direction is also the tape BX.
Correct correction position information can be obtained by increasing or decreasing the number of times depending on the direction of crossing.

An example of such a work flow is shown in the flowchart of FIG.

The current traveling position information is displayed on the display device 13 together with the corrected current traveling position information. The luggage identification sensor S4 detects the bar code attached to the luggage, identifies the type of the luggage, and determines the luggage information based on the discrimination means 42.
Send to.

When the manned forklift 1 arrives at the luggage storage position 21 where the luggage should be unloaded, advances the mast 6 and delivers the luggage, the driver pushes the send button 14.

The signal is sent to the discriminating means 42 through the AND circuit 49, and the discriminating means 42 compares the current traveling position information at the time of receiving the signal with the previously stored information about the luggage storage position 21, Then, the manned forklift 1 identifies the luggage storage position 21 where the manned forklift 1 is delivering the luggage, and obtains the storage location information. In addition, the storage position information is sent to the sixth information via the antenna 11 of the information transmitting means 50 together with the luggage information.
It is sent to the ground device 70 shown in the figure. The ground device 70 includes a wireless LAN device 72 having an antenna 71 and a management device 73, and manages the information thereof, and at the same time, is displayed on a display device 74 such as a cathode ray tube.

〔The invention's effect〕

The manned forklift truck can be moved by a driver's steering between, for example, an origin position which is an entrance of the storage area and a plurality of luggage storage positions, and the manned forklift truck travels by a travel distance sensor and control means provided on the left and right wheels. The discriminating means can identify the storage position information, which is the actual storage position of the package currently being delivered, along with the current traveling position information by calculating the position and the attitude angle. This makes it possible to easily manage the storage location during loading and unloading work, and improves work efficiency and accuracy. However, the position information is inaccurate due to running road surface conditions due to bumps on the road surface and accumulated errors due to tire wear and the like. Since it will be accurate, the origin position detection sensor provided at the origin position of the storage area for detecting the origin position and detecting the usual position resets the current traveling position information every time the origin position is passed, thus ensuring the accuracy of the position information. can do.

Moreover, with the magnetic tape method, the sensors can be unified and the control circuit can be simplified.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention, FIG. 2 is a schematic plan view thereof, and FIG. 3 is a plan view illustrating a storage area in which correction applying means is formed using a magnetic tape, and FIG. Is a block diagram illustrating an on-vehicle unit, FIG. 5 is a diagram illustrating a calculation unit, FIG. 6 is a block diagram illustrating ground equipment,
FIG. 7 is a flowchart of the operation. 9L, 9R …… Wheels 10 …… Control unit 11 …… Antenna 12 …… Sending unit 14 …… Sending button 41 …… Control means 42 …… Discriminating means 43 …… Information sending means 45 …… Computing means 46 …… Coordinates , Direction memory 47 …… Correction means A …… Correction giving means B …… Origin position giving means S1 …… Movement distance sensor S2 …… Current traveling position correction sensor S3 …… Origin detection sensor S4 …… Package identification sensor

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Office reference number FI technical display location G05D 1/02 J

Claims (3)

[Claims] 1. A current traveling position is calculated on the basis of the amount of movement from an origin position arbitrarily determined by traveling distance sensors provided on both wheels while traveling in a storage area, and the present traveling position is set as a luggage storage position. A manned forklift for obtaining luggage storage position information, wherein Y origin correction magnetic tape and X origin correction magnetic tape are attached to the origin position of the entrance passage surface of the storage area as origin position providing means arranged at the origin position. Origin point providing means characterized by the above. 2. A current traveling position is calculated on the basis of the amount of movement from an origin position arbitrarily set by traveling distance sensors provided on both wheels while traveling in the storage area, and the present traveling position is set as a luggage storage position. A manned forklift for obtaining luggage storage position information, and a Y origin correction magnetic tape and an orthogonal state to the Y origin correction magnetic tape at an origin position of an entrance passage surface of the storage area, as an origin position providing means arranged at the origin position. X crossed at
Origin correction means is characterized in that a magnetic tape for origin correction is attached. 3. A current traveling position is calculated on the basis of the amount of movement from an origin position arbitrarily determined by traveling distance sensors provided on both wheels while traveling in the storage area, and the present traveling position is set as a luggage storage position. A manned forklift for obtaining baggage storage position information, wherein Y origin correction magnetic tapes having different polarities are attached in parallel to each other at the origin position of the entrance passage surface of the storage area as origin position providing means arranged at the origin position. Then X
An origin position giving means characterized in that the origin correction magnetic tape is vertically and closest to the Y origin correction magnetic tape.