CN105103069A - Automatic guided vehicle - Google Patents
Automatic guided vehicle Download PDFInfo
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- CN105103069A CN105103069A CN201480018197.XA CN201480018197A CN105103069A CN 105103069 A CN105103069 A CN 105103069A CN 201480018197 A CN201480018197 A CN 201480018197A CN 105103069 A CN105103069 A CN 105103069A
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- 238000005259 measurement Methods 0.000 claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims description 23
- 230000009471 action Effects 0.000 claims description 10
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 claims description 5
- 238000012360 testing method Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 21
- 238000001514 detection method Methods 0.000 abstract description 10
- 238000013459 approach Methods 0.000 abstract 1
- 235000004443 Ricinus communis Nutrition 0.000 description 13
- 238000004519 manufacturing process Methods 0.000 description 9
- 240000000528 Ricinus communis Species 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000001131 transforming effect Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000006731 degradation reaction Methods 0.000 description 2
- 238000007598 dipping method Methods 0.000 description 2
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- 239000002390 adhesive tape Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 230000002596 correlated effect Effects 0.000 description 1
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- 238000005286 illumination Methods 0.000 description 1
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- 210000001699 lower leg Anatomy 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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- 230000009897 systematic effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- Aviation & Aerospace Engineering (AREA)
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- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Disclosed is a technique in which a laser area-measurement sensor is mounted on an automatic guided vehicle in a manner so as to include the rear thereof as a detection range, and in which the position and/or orientation of a cart are/is detected on the basis of the measurement result of the laser area-measurement sensor. This automatic guided vehicle is an automatic guided vehicle (100) capable of connecting with a cart (200) and transporting the same, and comprises a laser area-measurement sensor (105) capable of measuring the rear of the vehicle. The laser area-measurement sensor (105) detects the position and/or orientation of the cart (200). Particularly, on the basis of the measurement result of the laser area-measurement sensor (105), the automatic guided vehicle approaches a cart (200) that is in the rear of the vehicle and not yet connected thereto, and connects with said cart (200); travels rearward with the cart (200) connected thereto; or stops traveling if the cart (200) that was connected to and traveling with the vehicle gets disconnected and the positional relationship between the vehicle and the cart (200) no longer corresponds to the positional relationship in a state where the vehicle and the cart were connected.
Description
Technical field
The present invention relates to automatic conveying vehicle, be particularly effectively applied to the technology that can link chassis to carry out the chassis trailed model automatic conveying vehicle carried.
Background technology
As the background technology of the art, such as, there is Japanese Unexamined Patent Publication 2009-288931 publication (patent documentation 1).Describe in this publication: " when Ben Che and transported material link, preventing this transported material from swinging and disturbing with surrounding environment when avoid-obstacles ".In addition, Japanese Unexamined Patent Publication 2004-98233 publication (patent documentation 2) is had.Describe in this publication: " self-regulation mobile robot that can determine optimum mobile alignment is provided ".
Prior art document
Patent documentation
Patent documentation 1: Japanese Unexamined Patent Publication 2009-288931 publication
Patent documentation 2: Japanese Unexamined Patent Publication 2004-98233 publication
Summary of the invention
The problem that invention will solve
Often automatic conveying vehicle or mobile robot is used in the induction system used in production line and automated warehouse etc.The mode of advancing while generating travel track when having the mode that presets its travel track as the control mode of these automatic conveying vehicles and mobile robot and perform and control.Certainly, perform in the automatic conveying vehicle that generates the mode of advancing while travel track when controlling and the mobile robot degree of freedom compared with the mode presetting its travel track when the dirigibility of obstacle avoidance and route are changed better.
On the other hand, in order to improve the transfer efficiency of the induction system using automatic conveying vehicle and mobile robot, the method that automatic conveying vehicle in systems in which or mobile robot's upper link chassis carry out drawing as transported material can carry more goods, can think more effective.Now, for automatic conveying vehicle, the chassis as transported material is angularly considered from the simplification of its price, structure and popularity (extensively existing general factory), expects for not having the device needing power and power supply.
For the chassis traction conveying utilizing automatic conveying vehicle AGV (AutomaticGuidedVehicle, automatic guided vehicle) to draw this chassis, after present inventor's research, find out following situation.Such as, consider article to be loaded in the situation that chassis is carried between the production line of factory, known exist problem as described below.Utilize Figure 12 ~ Figure 15 with <A: manual feed >, <B: to utilize the order of the automatic transport > of automatic conveying vehicle to be described.Figure 12 is the figure of the example for illustration of general manual feed.Figure 13 is for illustration of the general figure utilizing an example of the automatic transport of automatic conveying vehicle.Figure 14 is the figure of an example of size for illustration of chassis parking area and chassis in Figure 13.Figure 15 is the figure of an example of position for illustration of working space and chassis parking area.
<A: manual feed >
In manual feed, as shown in figure 12, in working space 1 and working space 2, there is operator respectively, utilize the equipment of production equipment 1 and production equipment 2 to carry out operation.The article that production equipment 2 also uses production equipment 1 to produce are as material.The article that production equipment 1 is produced are loaded on chassis by the operator of working space 1.After chassis is loaded with the article of defined amount, its chassis is placed on chassis parking area 1 by the operator of working space 1.Have conveying operator between production equipment 1 and production equipment 2, after seeing the chassis being placed on chassis parking area 1, this chassis is transported to chassis parking area 2 by conveying operator.
Due to reasons such as obstruction operation, problems in safety, the personnel in working space 1 and working space 2 except respective operator can not enter.In addition, from the angle of the efficiency in the operating efficiency of operator working space 1 and working space 2 and the space of factory, the distance between chassis parking area 1 and working space 1 and between chassis parking area 2 and working space 2 is expected short as much as possible.
<B: the automatic transport > utilizing automatic conveying vehicle
In the situation of above-mentioned Figure 12, consider as shown in fig. 13 that the conveying of conveying operator to be replaced to utilize the conveying of automatic conveying vehicle to save the situation of manpower.Because object conveyor is chassis, expect that automatic conveying vehicle is the automatic conveying vehicle of chassis trailed model.Utilize the sequence of batching products of automatic conveying vehicle as follows.
(1) in chassis parking area 1, automatic conveying vehicle automatically links chassis.
(2) automatic conveying vehicle advances to chassis parking area 2 under the state linked with chassis.
(3) in chassis parking area 2, automatic conveying vehicle removes the link with chassis.
Problem as described below is produced respectively in above each step (1), (2), (3).
<<B1: for step (1) >>
When the manual feed shown in above-mentioned Figure 12, the situation setting chassis parking area at ground setting-out or note adhesive tape etc. is more.Now, in order to not make people have too much location burden when placing chassis, as shown in figure 14, there is the vacant situation all around relative to chassis size with about 10cm.
The position being placed on the chassis of such chassis parking area is different and produce according to situation ± deviation of about 10cm.
Although by the size of chassis parking area is set as that chassis size just can not produce deviation, now the operator of working space needs when chassis being placed on chassis parking area to carry out accurate location, and owing to expending time in, therefore operating efficiency reduces.
In addition, although certain fixture can be arranged in chassis parking area, owing to becoming the reason such as obstacle or the obstacle becoming pedestrian of layout changing and situation about having difficulties.Further, although can carry out some transformation to chassis, when chassis number is many, need all transforming, improvement expenses becomes problem.
Therefore, expect that automatic conveying vehicle can be linked with the chassis that there is deviation prevented in chassis parking area automatically also not transforming chassis parking area chassis.
<<B2: for step (2) >>
Although chassis and automatic conveying vehicle are linked by certain connect mechanism, the unexpected position existed due to some reason in advancing disconnects situation about linking.In this case, expect that automatic conveying vehicle stops in this position advancing and sending the alarm such as light or sound as required.
<<B3: for step (3) >>
As shown in figure 15, draw because automatic conveying vehicle links chassis at the rear of this car, in order to chassis is placed on chassis parking area 2, between chassis parking area 2 and working space 2, need the gap that automatic conveying vehicle enters.The size of automatic conveying vehicle is depended in this gap, and because general known its total length of small-sized automatic conveying vehicle is also near 1m, that therefore considers on advancing is vacant, needs more than 1.5m.
As mentioned above, from the angle of operating efficiency and space efficiency, expect that the distance of working space and chassis parking area is close, there is this gap and constitute the reason that efficiency reduces.Therefore, in order to make the distance of working space and chassis parking area close, the gap between cancel job space and chassis parking area is expected.
From the angle of the miniaturization of automatic conveying vehicle, the angle of cost degradation and the cost degradation of entire system, above-mentioned steps (1), (2), problem that (3) are relevant are desirably in automatic conveying vehicle and prepare a solution and solve instead of prepare respective solution respectively.
Therefore, the present invention proposes in view of the above problems, its representational object is for providing following technology: on automatic conveying vehicle, install laser range sensor, its sensing range comprises this car rear, detects the one or both in the position of chassis and direction by the measurement result of this laser range sensor.
Above-mentioned and other object of the present invention and new feature are understood by the description of this instructions and accompanying drawing.
For solving the technical scheme of problem
In invention disclosed in the present application, the summary of representational invention is described as follows simply.
That is, representational automatic conveying vehicle is a kind ofly can link chassis to carry out the automatic conveying vehicle carried, and has following feature.
(1) above-mentioned automatic conveying vehicle has the laser range sensor that can measure this car rear, utilizes above-mentioned laser range sensor to detect one or both in the position of above-mentioned chassis and direction.
(2) above-mentioned automatic conveying vehicle has the laser range sensor that can measure this car rear, based on the measurement result of above-mentioned laser range sensor, near being positioned at the rear of above-mentioned car and not being attached to the above-mentioned chassis of above-mentioned car and linking above-mentioned chassis.
(3) above-mentioned automatic conveying vehicle has the laser range sensor that can measure this car rear, based on the measurement result of above-mentioned laser range sensor, rearward advances under the state linked with above-mentioned chassis.
(4) above-mentioned automatic conveying vehicle has the laser range sensor that can measure this car rear, based on the measurement result of above-mentioned laser range sensor, the above-mentioned chassis of advancing in link departs from, the position relationship of above-mentioned car and above-mentioned chassis becomes when not being the position relationship of connecting state and stops advancing.
Invention effect
The effect obtained by invention representational in invention disclosed in the present application is described as follows simply.
That is, representational effect is, automatic conveying vehicle installs laser range sensor, and its surveyed area comprises this car rear, can be detected the one or both in the position of chassis and direction by the measurement result of this laser range sensor.
Accompanying drawing explanation
Fig. 1 is the figure of an example of structure for illustration of automatic conveying vehicle in an embodiment of the invention and chassis.
Fig. 2 is the figure from top view automatic conveying vehicle and chassis in Fig. 1.
Fig. 3 is the figure of an example of measurement scope for illustration of laser range sensor in Fig. 1.
Fig. 4 is the figure of the example for illustration of the control method making automatic conveying vehicle movement in Fig. 1.
Fig. 5 is the figure of the principle for illustration of the position and direction detecting chassis in Fig. 1.
Fig. 6 is the figure of the leg-of-mutton relation formed for illustration of angle and the laser range sensor of chassis in Fig. 1.
Fig. 7 is the process flow diagram of the example for illustration of the control method in Fig. 1, automatic conveying vehicle being attached to chassis.
Fig. 8 is the figure of the position relationship for illustration of automatic conveying vehicle in Fig. 7 and chassis.
Fig. 9 is the figure of the warehouse-in mode for illustration of automatic conveying vehicle in Fig. 1.
Figure 10 is the process flow diagram of the example for illustration of the control method making automatic conveying vehicle retreat under the state linking chassis in Fig. 1.
Figure 11 is the figure of the position relationship for illustration of automatic conveying vehicle in Figure 10 and chassis.
Figure 12 is the figure of the example for illustration of general manual feed.
Figure 13 is for illustration of the general figure utilizing an example of the automatic transport of automatic conveying vehicle.
Figure 14 is the figure of an example of size for illustration of chassis parking area and chassis in Figure 13.
Figure 15 is the figure of the example for illustration of working space and chassis parking area.
Embodiment
In the following embodiments, for convenience's sake, multiple embodiment or chapters and sections are divided into be described when needed, but except situation about clearly stating especially, they are not that it doesn't matter mutually, but a side is the part or all of relation such as variation, details, supplementary notes of the opposing party.In addition, in the following embodiments, when (comprising number, numeral, amount, scope etc.) such as the numbers mentioning key element, except situation about clearly stating and principle are defined as except situation of optional network specific digit etc. clearly, be not limited to this optional network specific digit, and can on optional network specific digit or under.
Further, in the following embodiments, its textural element (also comprising key element step etc.) is non-essential except situation that situation about clearly stating and principle need clearly etc., and this need not explicit word.Similarly, in the following embodiments, when mentioning the shape of textural element etc., position relationship etc., except situation about clearly stating and principle being thought clearly except really not so situation etc., situation approximate or similar with its shape etc. is in fact comprised.This for above-mentioned numerical value and scope too.
[summary of embodiment]
First the summary for embodiment is described.In the summary of present embodiment, as an example, in bracket, be accompanied by textural element corresponding to embodiment, mark etc. be described.
The representational automatic conveying vehicle of present embodiment is a kind of automatic conveying vehicle (100) linking chassis (200) and carry out carrying, and has feature as follows.
(1) above-mentioned automatic conveying vehicle comprises laser range sensor (laser range scanners) (105) that can measure this car rear, utilizes above-mentioned laser range sensor to detect one or both in the position of above-mentioned chassis and direction (solution of step (1), (2), problem that (3) are relevant).
(2) above-mentioned automatic conveying vehicle comprises the laser range sensor (105) that can measure this car rear, based on the measurement result of above-mentioned laser range sensor, be not attached to the above-mentioned chassis of above-mentioned car near the rear being positioned at above-mentioned car, and link this chassis (solution of the problem that step (1) is relevant).
(3) above-mentioned automatic conveying vehicle comprises the laser range sensor (105) that can measure this car rear, based on the measurement result of above-mentioned laser range sensor, in rearward advance under the state that above-mentioned chassis links (solution of the problem that step (3) is relevant).
(4) above-mentioned automatic conveying vehicle comprises the laser range sensor (105) that can measure this car rear, based on the measurement result of above-mentioned laser range sensor, the above-mentioned chassis of advancing in link departs from, above-mentioned car and the position relationship of above-mentioned chassis become when not being the position relationship of connecting state, stops advance (solution of the problem that step (2) is correlated with).
Below for an embodiment of the summary based on present embodiment described above, be described in detail based on accompanying drawing.In addition, for illustration of in institute's drawings attached of embodiment, in principle same mark be accompanied by same parts and omit its repeat specification.
[embodiment]
Automatic conveying vehicle for present embodiment utilizes Fig. 1 ~ Figure 11 to be described with the chassis being attached to this automatic conveying vehicle.
The structure of < automatic conveying vehicle and chassis and action >
Fig. 1 ~ Fig. 4 is utilized to be described for the structure of the automatic conveying vehicle in present embodiment and chassis and action.Fig. 1 is the figure of an example of structure for illustration of automatic conveying vehicle 100 and chassis 200.Fig. 2 is the figure from top view automatic conveying vehicle 100 and chassis 200.Fig. 3 is the figure of an example of measurement scope for illustration of laser range sensor 105.Fig. 4 is the figure of the example for illustration of the control method making automatic conveying vehicle 100 movement.
Fig. 1 represents that automatic conveying vehicle in present embodiment 100 and this automatic conveying vehicle 100 can link the structure of the chassis 200 of conveying.The automatic conveying vehicle 100 of present embodiment is to link the chassis trailed model automatic conveying vehicle that chassis 200 carries out carrying.
This automatic conveying vehicle 100 comprise travel mechanism 101, connect mechanism 107, detect chassis 200 whether link link detecting sensor 108, measure the extraneous sensor 104 around this car, the laser range sensor 105 measuring this car rear and control device 106.At this, this car in the measurement of extraneous sensor 104 and laser range sensor 105 refers to the main body of automatic conveying vehicle 100.
The driving wheel 102 that the device (not shown) that travel mechanism 101 comprises generation power is connected with through not shown Poewr transmission mechanism (certainly also comprising direct drive mode), rotate by making this driving wheel 102, castor (caster) 103 as engaged wheel is also rotated, automatic conveying vehicle 100 can be made to move.Illustrate at this and driving wheel 102 is arranged on rear side, castor 103 is arranged on the example of front side.The structure of this driving wheel 102 and castor 103 is not limited thereto, and those skilled in the art can suitably select.
Connect mechanism 107, for being arranged on the arm mechanism at automatic conveying vehicle 100 rear portion, can be that axle moves up and down with root.The front end of arm 109 offers porose 110, by putting down arm 109, being hung in hole 110 and being arranged on the pin 203 of chassis 200, can link automatic conveying vehicle 100 and chassis 200.In addition, after being lifted by arm 109 (representing with double dot dash line in Fig. 1), automatic conveying vehicle 100 is separated with chassis 200.Lifting and putting down of this arm 109 is not limited thereto, such as, motor can be used to drive.
When chassis 200 is attached to automatic conveying vehicle 100 by connect mechanism 107, is detected by link detecting sensor 108 and link, send to control device 106.Be not limited thereto as this link detecting sensor 108, such as, scrambler can be utilized to measure the angle of arm to detect connecting state.In addition, this link detecting sensor 108 also can the state of detection arm 109.Such as can be the device that limit switch etc. carries out mechanical detection, also can be the device carrying out electric detection.
In addition, owing to being provided with extraneous sensor 104 at this automatic conveying vehicle 100 front end face, therefore automatic conveying vehicle 100 can be detected the buildings, object, people etc. around automatic conveying vehicle 100 by this extraneous sensor 104 and be obtained its information, this delivery of content can be processed to control device 106.This extraneous sensor 104 is not limited thereto, such as, can use and be undertaken scanning the laser distance sensor etc. detected with the distance of the buildings of surrounding, object, people etc. by infrared laser.
Further, on rear side of the upper surface of automatic conveying vehicle 100, be provided with the laser range sensor 105 at measurement this car rear in the present embodiment.This laser range sensor 105 detects the chassis 200 at the rear of automatic conveying vehicle 100, can obtain the information such as position and direction of this chassis 200.Its content can be delivered to control device 106 and process.This laser range sensor 105 is not limited thereto, such as, can use and be undertaken scanning the laser distance sensor etc. detected with the distance of chassis 200 by infrared laser.
Then, control device 106, in order to conveying carrier 200, carries out the control of travel mechanism 101.Particularly, based on the surrounding condition of the current location of the automatic conveying vehicle 100 obtained according to the information that obtained by extraneous sensor 104, target location and automatic conveying vehicle 100, send to travel mechanism 101 control signal of advancing, control of advancing.Further, the position of the chassis 200 obtained based on the information obtained according to laser range sensor 105 and direction, control to link the situation of chassis 200, link chassis 200 advancing when carrying etc.
In the automatic conveying vehicle 100 of present embodiment, the identification of the current location of this automatic conveying vehicle 100 etc. are generated by the map that control device 106 has and the function of location recognition realizes.The measurement information of the environment (buildings, object etc. around) of map systematic function sensor 104 collection to external world in advance carries out statistical treatment, generates the map of the environment of automatic conveying vehicle 100 movement.The measurement information that extraneous sensor 104 records can be mated with the map generated in advance by location recognition function in automatic conveying vehicle 100 reality is mobile, calculate the position (x of measurement information and map match, y) with attitude (θ), the position of this car is identified.
Like this, the automatic conveying vehicle 100 in present embodiment becomes can not be needed guiding device and obtain self-position, according to the situation self-discipline ground trackless automatic conveying vehicle of advancing.In this self-discipline is advanced, the detection of the barrier undertaken by extraneous sensor 104, carries out slowing down according to the distance with this barrier, avoids, stopping etc.Further, automatically can select the route of shortest time, clog-free route, advance without the route etc. of blocking for the impact point of specifying.
In addition, for the chassis 200 that automatic conveying vehicle in present embodiment 100 links, those skilled in the art can suitably select, such as, comprise two castors 201 and two universal wheels 202.At this, illustrate the example that castor 201 is arranged on rear side, universal wheel 202 is arranged on front side.
Fig. 2 is the structure from the automatic conveying vehicle 100 shown in top view Fig. 1 and chassis 200, represents the frontal of the laser range sensor 105 in present embodiment included by automatic conveying vehicle 100.In addition, Fig. 3 represents an example of the measurement scope of laser range sensor 105.
As shown in Figure 2, laser range sensor 105 is arranged on rear side of the upper surface of automatic conveying vehicle 100.Then, as shown in Figure 3, measured by the scope at about about 220 °, this laser range sensor 105 pairs of automatic conveying vehicle 100 rears, especially, the chassis 200 that detection will be attached at automatic conveying vehicle 100 rear or the chassis 200 linked, obtain the information such as position and direction of this chassis 200 and be delivered to control device 106.
Fig. 4 is the figure of an example of control method for illustration of automatic conveying vehicle 100 movement made shown in Fig. 1, represents the structure of the wheel that the automatic conveying vehicle 100 in present embodiment has.
The travel mechanism 101 of automatic conveying vehicle 100 comprises left driving wheel 102L and right driving wheel 102R two driving wheels 102.This left driving wheel 102L and right driving wheel 102R is parallel to each other, and direction configures regularly towards the direct of travel of automatic conveying vehicle 100.Except the driving wheel that direction is fixing in this driving wheel 102, the driving wheel etc. of turning angle can be controlled in addition.Further, automatic conveying vehicle 100 comprises left foot wheel 103L and right crus of diaphragm wheel 103R as engaged wheel castor 103.This castor 103 comprise fix in direction castor, the unfixed universal wheel in direction, the castor etc. of turning angle can be controlled, use universal wheel at this.
The rotating speed of left driving wheel 102L and right driving wheel 102R can separately control.Such as, when making left driving wheel 102L equal with the rotating speed of right driving wheel 102R, automatic conveying vehicle 100 straight ahead, when making left driving wheel 102L different from the rotating speed of right driving wheel 102R, automatic conveying vehicle 100 is turned and is advanced.Now, the curvature of turning is determined by the speed discrepancy of left driving wheel 102L and right driving wheel 102R.In addition, straight ahead and turning are not limited to advance, and also can retreat.
Such as, if make the rotating speed of left driving wheel 102L unit interval be greater than the rotating speed of the unit interval of right driving wheel 102R, then automatic conveying vehicle 100 right direction is turned.On the other hand, if make the rotating speed of left driving wheel 102L unit interval be less than the rotating speed of the unit interval of right driving wheel 102R, then automatic conveying vehicle 100 left direction is turned.
In addition, if make the sense of rotation of left driving wheel 102L contrary with the sense of rotation of right driving wheel 102R, then automatic conveying vehicle 100 rotates in original place.
The chassis 200 such as in FIG this automatic conveying vehicle 100 linked includes direction and is fixed on unfixed two universal wheels 202 of two castors 201 and direction in the working direction of chassis 200.
The solution > of the problem of the automatic transport that < automatic conveying vehicle in the past causes
The solution of the problem of the automatic transport utilizing Fig. 5 ~ Figure 11 to cause for automatic conveying vehicle in the past in the automatic conveying vehicle in present embodiment is described.Fig. 5 is the figure for illustration of detecting the position of chassis 200 and the principle in direction.Fig. 6 is the figure of the leg-of-mutton relation formed for illustration of angle and the laser range sensor 105 of chassis 200.
As mentioned above, the automatic conveying vehicle 100 of present embodiment has installed laser range sensor 105, and sensing range comprises this car rear, can by the one or both in the position of the measurement result detection chassis 200 of this laser range sensor 105 and direction.Utilize Fig. 5 and Fig. 6 that one example of the detection position of this chassis 200 and the principle in direction is described.
(1) when chassis 200 enters the measurement scope of laser range sensor 200, as shown in Figure 5, the laser irradiated from laser range sensor 105 is irradiated to the front end face of chassis 200, measures the distance from laser range sensor 105 to chassis 200 front end face.
(2) on the other hand, the laser not being irradiated to chassis 200 front end face is irradiated to the object far away than chassis 200, and measurement is to the distance of this point.Usually being positioned at enough points at a distance by the point measured for comparing chassis 200, coming therefore, it is possible to distinguish with the front end face of chassis 200.Thereby, it is possible to detect the angle (two ends of front end face) of chassis 200.
(3) as shown in Figure 6, the direction at the angle of chassis 200 that observe from laser range sensor 105, that detect (2) is the direction of illumination of laser, is known.In addition, the distance to the angle of chassis 200 is the measurement result that laser range sensor 105 obtains.Thus, calculate according to the leg-of-mutton relation that angle and the laser range sensor 105 of chassis 200 are formed, can detect that chassis 200 is relative to the position of laser range sensor 105 and direction.
In addition, the method for the position and direction that calculate chassis 200 according to laser range sensor 105 in reality is not limited thereto.
<<B1: the solution >> of the problem of step (1)
Step (1) automatically to link the step of chassis 200 for automatic conveying vehicle 100 in chassis parking area.Solution for this step (1) is neither also do not transform chassis parking area chassis 200, and automatic conveying vehicle 100 automatically can link with the chassis 200 of the location deviation being placed on chassis parking area.
As mentioned above, for linking the connect mechanism 107 of chassis 200 with automatic conveying vehicle 100, the arm 109 being arranged on automatic conveying vehicle 100 rear portion being put down, the hole 110 being opened in the front end of this arm 109 is hung over and is arranged on the pin 203 of chassis 200.Automatic conveying vehicle 100 and chassis 200 can be linked thus.After chassis 200 is attached to automatic conveying vehicle 100, is detected by link detecting sensor 108 and link, send to control device 106.
In addition, as mentioned above, if position and the direction of chassis 200 can be learnt by the measurement result of laser range sensor 105, then can set position and the direction of automatic conveying vehicle 100, can be connected with this chassis 200.The position that can link with chassis 200 and direction, as impact point, make automatic conveying vehicle 100 move to impact point.The control method that this automatic conveying vehicle 100 is attached to chassis 200 such as there is the method shown in Fig. 7 and Fig. 8.Fig. 7 is the process flow diagram of example automatic conveying vehicle 100 being attached to the control method of chassis 200, and Fig. 8 is for illustration of the figure of automatic conveying vehicle in this control method 100 with the position relationship of chassis 200.
First, position and direction (S301) of chassis 200 is detected by laser range sensor 105.In this S301, automatic conveying vehicle 100 and the position relationship of chassis 200 are as shown in Fig. 8 (1).This Detection Information is passed to control device 106.
Then, control device 106 judges whether position and direction (S302) that can detect chassis 200.The judged result of S302 is when cannot detect, and after standby certain hour, (S303) returns S301.The judged result of S302 is when having detected, and automatic conveying vehicle 100 rotates (S304) in original place.In this S304, automatic conveying vehicle 100 and the position relationship of chassis 200 are as shown in Fig. 8 (2).
Then, the direction (S305) of control device 106 front, the rear whether head for target point (chassis 200) that judges this car (automatic conveying vehicle 100).The judged result of S305 be not towards when, return S304.The judged result of S305 be towards when, automatic conveying vehicle 100 retreats (S306) point-blank.In this S306, automatic conveying vehicle 100 and the position relationship of chassis 200 are as shown in Fig. 8 (3).
Then, control device 106 judges whether automatic conveying vehicle 100 arrives impact point (S307).The judged result of S307 is when not arriving, and returns S306.The judged result of S307 is when arriving, and automatic conveying vehicle 100 rotates (S308) in original place.In this S308, automatic conveying vehicle 100 and the position relationship of chassis 200 are as shown in Fig. 8 (4).
Then, control device 106 judges that the front, rear of this car (automatic conveying vehicle 100) is whether towards the direction (S309) of chassis 200.The judged result of S309 be not towards when, return S308.The judged result of S309 be towards when, automatic conveying vehicle 100 stops advancing (S310).Then, control device 106 makes connect mechanism 107 action, links (S311) with chassis 200.In this S311, automatic conveying vehicle 100 and the position relationship of chassis 200 are as shown in Fig. 8 (5).
As mentioned above, automatic conveying vehicle 100 automatically can link with the chassis 200 of the location deviation being placed on chassis parking area neither also not transforming chassis parking area chassis 200.
<<B2: the solution >> of the problem of step (2)
Step (2) marches to the step of chassis parking area for automatic conveying vehicle 100 under the state linked with chassis 200.Solution for the problem of this step (2) is, when the unexpected position in advancing disconnects link, automatic conveying vehicle 100 can stop in this position advancing and sending the alarm such as light or sound as required.
In the advancing of automatic conveying vehicle 100 and chassis 200, because chassis 200 and automatic conveying vehicle 100 mechanically link, in the measurement result of laser range sensor 105, the position of chassis 200 relative to automatic conveying vehicle 100 within the specific limits.Such as, in above-mentioned Fig. 3, chassis 200 is within the scope of the measurement of laser range sensor 105.
When chassis 200 disconnects with the link of automatic conveying vehicle 100, chassis 200 is left behind owing to not having power.Such as, in above-mentioned Fig. 3, chassis 200 departs from the measurement scope of laser range sensor 105.Now, control device 106 stops the alarms such as the concurrent bright dipping of automatic conveying vehicle 100 or sound.
As mentioned above, when the unexpected position in advancing disconnects link, automatic conveying vehicle 100 can stop advancing the alarms such as concurrent bright dipping or sound in this position.
<<B3: the solution >> of the problem of step (3)
Step (3) removes the step with the link of chassis 200 at chassis parking area automatic conveying vehicle 100.Solution for the problem of this step (3) is, in order to make the distance of working space and chassis parking area close, the gap between working space and chassis parking area can be made to eliminate.
Therefore, the warehouse-in mode of automatic conveying vehicle 100 is as shown in Figure 9 adopted.Fig. 9 is the figure of the warehouse-in mode for illustration of automatic conveying vehicle 100.As shown in Figure 9, in order to make automatic conveying vehicle 100 not enter between chassis parking area 2 and working space 2, chassis 200 is made to enter chassis parking area 2 backward.In order to make chassis 200 enter backward, automatic conveying vehicle 100 is made to turn around before chassis parking area 2 and retreat.Like this, the chassis 200 being attached to automatic conveying vehicle 100 can be put into chassis parking area 2 in the mode of warehouse-in.
When measuring the direction of chassis 200 relative to this car, the control method that automatic conveying vehicle 100 is retreated such as has the method shown in Figure 10 and Figure 11.Otherwise, when the direction of chassis 200 relative to this car can not be measured, automatic conveying vehicle 100 cannot be made to retreat.
Figure 10 is the process flow diagram of the example for illustration of the control method making automatic conveying vehicle 100 retreat under the state linking chassis 200.Figure 11 is for illustration of the figure of automatic conveying vehicle in this control method 100 with the position relationship of chassis 200.
First, laser range sensor 105 is utilized to detect position and direction (S401) of chassis 200.This Detection Information is passed to control device 106.
Then, control device 106 judges whether position and direction (the step S402) that can detect chassis 200.The judged result of S402 is when cannot detect, and gives the alarm (S403) and terminates.
The judged result of S402 is when having detected, and control device 100 then judges the direction whether consistent (S404) of chassis 200 and this car (automatic conveying vehicle 100).When the judged result of S404 is consistent, automatic conveying vehicle 100 straight line retreats (S405).In this S405, automatic conveying vehicle 100 and the position relationship of chassis 200 are as shown in Figure 11 (1).
When the judged result of S404 is inconsistent, whether then judge chassis 200 relative to this car (automatic conveying vehicle 100) towards right (S406).When the judged result of S406 is towards the right side, while automatic conveying vehicle 100 is turned right, retreat (S407).In this S407, automatic conveying vehicle 100 and the position relationship of chassis 200 are as shown in Figure 11 (2).
When the judged result of S406 is towards a left side, while automatic conveying vehicle 100 is turned left, retreat (S408).In this S408, automatic conveying vehicle 100 and the position relationship of chassis 200 are as shown in Figure 11 (3).
After S405, S407, S408 terminate, control device 106 judges whether automatic conveying vehicle 100 arrives impact point (chassis parking area) (S409).The judged result of S409 is when not arriving, and returns S401.The judged result of S409 is when arriving, and automatic conveying vehicle 100 stops advancing (S410).
As mentioned above, by making chassis 200 enter chassis parking area backward, can gap between cancel job space and chassis parking area.
The effect > of a < embodiment
By the automatic conveying vehicle 100 in the present embodiment that as above illustrates and the chassis 200 being attached to this automatic conveying vehicle 100, following effect can be obtained.
(1) automatic conveying vehicle 100 has the laser range sensor 105 that can measure this car rear, and this laser range sensor 105 can be utilized to detect one or both in the position of chassis 200 and direction.
(2) automatic conveying vehicle 100 has the laser range sensor 105 that can measure this car rear, automatically link in the step of chassis 200 at automatic conveying vehicle 100 in chassis parking area, can based on the measurement result of laser range sensor 105, be not attached to the chassis 200 of this car near the rear being positioned at this car, and link this chassis 200.
(3) automatic conveying vehicle 100 comprises the laser range sensor 105 that can measure this car rear, remove with the step of the link of chassis 200 at automatic conveying vehicle 100 in chassis parking area, can based on the measurement result of laser range sensor 105, rearward advance under the state linked with chassis 200.
(4) automatic conveying vehicle 100 has the laser range sensor 105 that can measure this car rear, march in the step of chassis parking area under the state that automatic conveying vehicle 100 and chassis 200 link, can based on the measurement result of laser range sensor 105, the chassis 200 of advancing in link departs from, the position relationship of Ben Che and chassis 200 becomes when not being the position relationship of connecting state and stops advancing.
(5) automatic conveying vehicle 100 controls the control device 106 of the action of this car based on the measurement result of laser range sensor 105 by configuration, control device 106 can be utilized to control advancing of this car, and control the link of chassis 200.
(6) by above-mentioned (1) ~ (5), the result that control device 106 can detect based on the laser range sensor 105 of described (1), combines each action in multiple above-mentioned (2) ~ (4) and controls.
(7) automatic conveying vehicle 100 has the extraneous sensor 104 that can measure the surrounding of this car, and control device 106 also can control advancing of this car based on the measurement result of this extraneous sensor 104.
(8) automatic conveying vehicle 100 has the link detecting sensor 108 of the link that can detect this car and chassis 200, and control device 106 also can control advancing of this car based on the testing result of this link detecting sensor 108.
(9) automatic conveying vehicle 100 has the travel mechanism 101 making the movement of this car, and control device 106 can control this travel mechanism 101 to control advancing of this car.
(10) automatic conveying vehicle 100 has and can carry out and the link of chassis 200 and the connect mechanism 107 be separated, control device 106 can control this connect mechanism 107 to the link controlling this car and chassis 200 be separated.
Above present inventor's proposed invention is illustrated particularly based on embodiment, but the present invention is not defined in the above-described embodiment, various change can be carried out and without the need to explicit word in the scope not departing from its purport.Such as, above-mentioned embodiment is the detailed description carried out to illustrate with being easily understood the present invention, and non-limitingly must possess illustrated whole structure.Further, for the part-structure of above-mentioned embodiment, can carry out in the scope not departing from technological thought other structure add, delete, replace.
Such as, be illustrated in the above-described embodiment for automatic conveying vehicle, but be not limited thereto as the present invention, the mobile object of restraining oneself of the robot etc. for self-discipline movement is also applicable.
Indicia explanation
100 automatic conveying vehicles
101 travel mechanisms
102 driving wheels
103 castors
104 extraneous sensors
105 laser range sensors
106 control device
107 connect mechanisms
108 link detecting sensor
109 arms
110 holes
200 chassis
201 castors
202 castors
203 pins.
Claims (10)
1. can link chassis to carry out the automatic conveying vehicle carried, it is characterized in that:
There is the laser range sensor that can measure this car rear, utilize described laser range sensor to detect one or both in the position of described chassis and direction.
2. can link chassis to carry out the automatic conveying vehicle carried, it is characterized in that:
There is the laser range sensor that can measure this car rear, based on the measurement result of described laser range sensor, near being positioned at the rear of described car and not being attached to the described chassis of described car and linking this chassis.
3. link chassis to carry out the automatic conveying vehicle carried, it is characterized in that:
There is the laser range sensor that can measure this car rear, based on the measurement result of described laser range sensor, rearward advance under the state linked with described chassis.
4. link chassis to carry out the automatic conveying vehicle carried, it is characterized in that:
There is the laser range sensor that can measure this car rear, based on the measurement result of described laser range sensor, the described chassis of advancing in link departs from, the position relationship of described car and described chassis becomes when not being the position relationship of connecting state and stops advancing.
5. the automatic conveying vehicle according to any one of Claims 1 to 4, is characterized in that:
The measurement result also had based on described laser range sensor controls the control device of the action of described car,
Described control device controls advancing of described car, and controls the link of described chassis.
6. automatic conveying vehicle as claimed in claim 5, is characterized in that:
Described control device detects one or both in the position of described chassis and direction and the result obtained based on described laser range sensor, combines following multiple action and controls:
Near being positioned at the rear of described car and the described chassis do not linked with described car the action linked with described chassis;
The action of rearward advancing under the state linked with described chassis; With
The described chassis of advancing in link departs from, the position relationship of described car and described chassis becomes the action stopping advancing when not being the position relationship of connecting state.
7. automatic conveying vehicle as claimed in claim 5, is characterized in that:
Also there is the extraneous sensor of the surrounding of measurement described car,
Described control device controls advancing of described car based on the measurement result of described extraneous sensor.
8. automatic conveying vehicle as claimed in claim 5, is characterized in that:
Also there is the link detecting sensor of the link that can detect described car and described chassis,
Described control device controls advancing of described car based on the testing result of described link detecting sensor.
9. automatic conveying vehicle as claimed in claim 5, is characterized in that:
Also there is the travel mechanism making described car movement,
Described control device controls described travel mechanism to control advancing of described car.
10. automatic conveying vehicle as claimed in claim 5, is characterized in that:
Also have and can carry out and the link of described chassis and the connect mechanism be separated,
Described control device control described connect mechanism to the link controlling described car and described chassis be separated.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013062900A JP6109616B2 (en) | 2013-03-25 | 2013-03-25 | Automated guided vehicle |
| JP2013-062900 | 2013-03-25 | ||
| PCT/JP2014/055380 WO2014156501A1 (en) | 2013-03-25 | 2014-03-04 | Automatic guided vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105103069A true CN105103069A (en) | 2015-11-25 |
| CN105103069B CN105103069B (en) | 2018-07-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480018197.XA Active CN105103069B (en) | 2013-03-25 | 2014-03-04 | automatic conveying vehicle |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6109616B2 (en) |
| CN (1) | CN105103069B (en) |
| WO (1) | WO2014156501A1 (en) |
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| CN108776482A (en) * | 2018-06-22 | 2018-11-09 | 北京京东尚科信息技术有限公司 | Unmanned dispensing vehicle, dispatching control method and device for unmanned dispensing vehicle |
| CN109195853A (en) * | 2016-05-12 | 2019-01-11 | 爱知机械技术***株式会社 | The traction device of unmanned waggon and the unmanned waggon for having the traction device |
| TWI658346B (en) * | 2017-11-13 | 2019-05-01 | 台灣積體電路製造股份有限公司 | Intelligent environmental and security monitoring method and monitoring system |
| CN111409654A (en) * | 2020-04-03 | 2020-07-14 | 首钢智新迁安电磁材料有限公司 | Rail transport device |
| CN111771175A (en) * | 2018-02-13 | 2020-10-13 | 精工爱普生株式会社 | Travel control system for transport vehicle and travel control method for transport vehicle |
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| WO2017072771A1 (en) * | 2015-10-28 | 2017-05-04 | Bar-Ilan University | Robotic cooperative system |
| CN106054889B (en) * | 2016-06-28 | 2019-05-10 | 深圳市三宝创新智能有限公司 | A kind of robot autonomous barrier-avoiding method and device |
| JP7095301B2 (en) * | 2018-02-13 | 2022-07-05 | セイコーエプソン株式会社 | Travel control system for transport vehicles and travel control methods for transport vehicles |
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| JP7365573B2 (en) * | 2019-06-03 | 2023-10-20 | 株式会社リコー | Connecting devices, connecting moving devices, and autonomous moving devices |
| JP7380350B2 (en) | 2020-03-10 | 2023-11-15 | 株式会社リコー | Autonomous running device, autonomous running control method, and autonomous running control program |
| JP7151925B1 (en) | 2022-04-28 | 2022-10-12 | 株式会社椿本チエイン | Automatic guided vehicle control method, control device, and computer program |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP6109616B2 (en) | 2017-04-05 |
| WO2014156501A1 (en) | 2014-10-02 |
| CN105103069B (en) | 2018-07-03 |
| JP2014186680A (en) | 2014-10-02 |
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