JP2002215238A - Obstruction detection sensor for unmanned carrier - Google Patents
Obstruction detection sensor for unmanned carrierInfo
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- JP2002215238A JP2002215238A JP2001008061A JP2001008061A JP2002215238A JP 2002215238 A JP2002215238 A JP 2002215238A JP 2001008061 A JP2001008061 A JP 2001008061A JP 2001008061 A JP2001008061 A JP 2001008061A JP 2002215238 A JP2002215238 A JP 2002215238A
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- detection
- automatic guided
- guided vehicle
- detection area
- measuring device
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- 238000010586 diagram Methods 0.000 description 5
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Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、走行路付近にある既設
物を検出しないで、衝突のおそれがある障害物のみを確
実に検出できるように、走行中に検出エリアを最適化す
る無人搬送車の障害物検出センサに関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned conveyance that optimizes a detection area during traveling so as to reliably detect only an obstacle that may cause a collision without detecting an existing object near a traveling path. The present invention relates to a vehicle obstacle detection sensor.
【０００２】[0002]
【従来の技術】工場内の走行路を、所定の誘導手段に案
内されて走行する無人搬送車は、障害物に衝突させない
ために障害物検出センサが取り付けられる。2. Description of the Related Art An automatic guided vehicle that travels along a traveling path in a factory while being guided by predetermined guidance means is provided with an obstacle detection sensor so as not to collide with an obstacle.
【０００３】この障害物検出センサは、超音波又はレー
ザ光等を用いる非接触式のものと、機械式の接触センサ
がある。これらは一般に検出エリア（領域）が固定され
ている。このため、交差点等で走行方向が変化すると、
衝突のおそれがある障害物を検出できない場合があっ
た。これは、例えば、直線路に適するように、前方を検
出エリアとして設定しておくと、交差点で曲がろうとす
るとき進行方向である斜め前方の障害物の検出ができな
いという不具合である。[0003] The obstacle detection sensor includes a non-contact type sensor using an ultrasonic wave or a laser beam and a mechanical contact sensor. These generally have a fixed detection area (region). Therefore, if the traveling direction changes at an intersection or the like,
In some cases, obstacles that could cause a collision could not be detected. This is a problem that, for example, if the front is set as a detection area so as to be suitable for a straight road, it is not possible to detect an obliquely forward obstacle which is the traveling direction when trying to turn at an intersection.
【０００４】この問題を解決するものとして、特開平９
−６４３３号公報に、検出エリアを最適化する発明が開
示されている。この発明は、回転するミラー面で、パル
ス状のレーザー光を無人搬送車の周囲に投射させ、物体
で反射した反射レーザー光を受光するまでの経過時間を
求めて、物体までの距離を求める距離センサを用いる。
そして、走行路の全長にわたって走行路の付近の既設物
の輪郭をマップ化した既設物マップを使用し、このマッ
プから走行位置・進行方向に応じて変化する既設物の輪
郭を求め、所定の検出エリアを既設物を除外した検出エ
リアに補正し、補正後の検出エリアにある障害物を検出
し、減速や緊急停止を行なう。To solve this problem, Japanese Patent Application Laid-Open No.
Japanese Patent Application Laid-Open No. -6433 discloses an invention for optimizing a detection area. The present invention provides a method for projecting a pulsed laser beam around an automatic guided vehicle around a rotating mirror surface, calculating an elapsed time until receiving a reflected laser beam reflected by an object, and calculating a distance to the object. Use a sensor.
Then, using the existing object map in which the outline of the existing object near the traveling road is mapped over the entire length of the traveling road, the contour of the existing object that changes according to the traveling position and the traveling direction is obtained from this map, and a predetermined detection is performed. The area is corrected to a detection area excluding the existing object, an obstacle in the corrected detection area is detected, and deceleration or emergency stop is performed.
【０００５】[0005]
【発明が解決しようとする課題】上記特開平９−６４３
３号公報の発明は、既設物マップとして、工場の壁部、
柱、ハウス、階段、種々の物品、その他の構造物等の走
行路側に臨む輪郭線を、工場座標系にて、予め設定して
おく必要がある。SUMMARY OF THE INVENTION The above-mentioned Japanese Patent Application Laid-Open No. 9-643 is disclosed.
The invention disclosed in Japanese Patent Publication No. 3 is an existing object map,
It is necessary to set in advance the contours of the pillars, houses, stairs, various articles, and other structures facing the traveling road side in the factory coordinate system.
【０００６】しかし、この設定作業は工場内の走行路周
りの全既設物について行う必要があって非常に大きな労
力を要する。また、走行中に検出エリアを補正するた
め、全走行路についての既設物マップを記憶した大容量
の記憶装置を用いる必要がある。さらに、走行中に走行
位置・進行方向に応じて、既設物マップの必要な部分を
リアルタイムで読出し、刻々と検出エリアの補正を行う
ので高速な処理装置が必要である。したがって、導入の
際の立ち上げに長時間を要すると共に、高コストの装置
となる問題があった。[0006] However, this setting work needs to be performed for all existing objects around the traveling path in the factory, and requires a great deal of labor. In addition, in order to correct the detection area during traveling, it is necessary to use a large-capacity storage device that stores existing object maps for all traveling paths. Furthermore, a necessary portion of the existing object map is read out in real time according to the traveling position and traveling direction during traveling, and the detection area is corrected every moment, so that a high-speed processing device is required. Therefore, there is a problem that it takes a long time to start up the apparatus at the time of introduction, and the apparatus becomes expensive.
【０００７】そこで、本発明は、走行中に、走行位置に
応じて検出エリアを変化させることができる無人搬送車
の障害物検出センサとして、導入時の作業を簡易に行え
る装置を低コストに提供することを目的とする。Accordingly, the present invention provides a low-cost device that can simplify the work at the time of introduction as an obstacle detection sensor of an automatic guided vehicle that can change the detection area according to the traveling position during traveling. The purpose is to do.
【０００８】[0008]
【課題を解決するための手段】本発明の請求項１にかか
る無人搬送車の障害物検出センサは、無人搬送車に取り
付けられ、その周囲を放射状に分割した所定の角度範囲
毎に、検出物体までの距離を測定する非接触式の距離測
定器と、前記距離測定器の測定範囲に、指定した複数の
境界点を結ぶ線により区画される検出エリアを複数パタ
ーン登録する検出エリア登録手段と、無人搬送車の走行
区間毎に、検出エリア設定手段に設定された複数の検出
エリアのパターンの中から使用するパターンを選択して
設定する使用パターン設定手段と、無人搬送車の走行中
に、距離測定器で所定の角度範囲毎に測定された検出物
体までの距離が、現在の走行区間に設定された検出エリ
アのパターンの範囲内にあるとき、障害物検出の出力を
発生する判定手段とを具備したことを特徴とする。According to a first aspect of the present invention, there is provided an automatic guided vehicle obstacle detection sensor mounted on an automatic guided vehicle, and a detection object is provided for each predetermined angular range in which the periphery is divided radially. A non-contact type distance measuring device that measures the distance to, and a detection area registration unit that registers a plurality of patterns of a detection area defined by a line connecting a plurality of designated boundary points in a measurement range of the distance measurement device, A use pattern setting means for selecting and setting a pattern to be used from a plurality of detection area patterns set in the detection area setting means for each traveling section of the automatic guided vehicle; Determining means for generating an obstacle detection output when the distance to the detected object measured for each predetermined angular range by the measuring device is within the range of the detection area pattern set in the current traveling section Characterized by comprising a.
【０００９】本発明の請求項２にかかる発明は、距離測
定器で測定された検出物体までの距離が検出エリア内に
あるか否かの判定基準として、測定原点から延ばした直
線が検出エリアを規定する線分と交差する点までの距離
を用いたことを特徴とする。According to a second aspect of the present invention, as a criterion for determining whether or not the distance to the detection object measured by the distance measuring device is within the detection area, a straight line extending from the measurement origin indicates the detection area. It is characterized in that a distance to a point that intersects a prescribed line segment is used.
【００１０】本発明の請求項３にかかる発明は、検出エ
リアを無人搬送車に近い停止エリアと無人搬送車から遠
い徐行エリアに分け、判定手段の障害物検出出力を停止
信号と徐行信号に分けて出力させることを特徴とする。According to a third aspect of the present invention, the detection area is divided into a stop area near the automatic guided vehicle and a slow area far from the automatic guided vehicle, and the obstacle detection output of the determination means is divided into a stop signal and a slow signal. Output.
【００１１】本発明の請求項４にかかる発明は、非接触
式の距離測定器を、高周波パルス光を照射する投光器、
及びこの投光器から照射され検出物体に当って反射した
光を受ける受光器を持つ投受光器と、上記投受光器を無
人搬送車の周囲に向けて回転させる回転機構と、投受光
器が所定角度回転する毎に、投光器への投光信号と受光
器の受光信号の位相差を、物体までの距離として取り出
すヘテロダイン検波回路とから構成したことを特徴とす
る。According to a fourth aspect of the present invention, there is provided a non-contact distance measuring device, comprising:
And a light emitting and receiving device having a light receiving device that receives light reflected from the light emitting device when the light is emitted from the light emitting device, a rotating mechanism that rotates the light emitting and receiving device toward the periphery of the automatic guided vehicle, and a light emitting and receiving device having a predetermined angle. A heterodyne detection circuit is provided which extracts a phase difference between a light projection signal to the light projector and a light reception signal from the light receiver every time the light rotates, as a distance to an object.
【００１２】本発明の請求項５及び請求項６にかかる発
明は、前記請求項１〜４に記載した無人搬送車の障害物
検出センサにおいて、高速走行時にも単位走行距離当た
りの検出回数を、十分なものにするためのものである。According to the fifth and sixth aspects of the present invention, the obstacle detection sensor for an automatic guided vehicle according to any one of the first to fourth aspects further comprises: It is meant to be sufficient.
【００１３】請求項５にかかる発明は、非接触式の距離
測定器が機械式の回転機構を持つとき、回転機構の往復
回転による一走査の角度範囲を、無人搬送車の走行速度
が高速になる程に小さくする検出範囲調整機構を設けた
ことを特徴とする。According to a fifth aspect of the present invention, when the non-contact type distance measuring device has a mechanical rotating mechanism, the angular range of one scan due to the reciprocating rotation of the rotating mechanism can be increased to increase the traveling speed of the automatic guided vehicle. It is characterized in that a detection range adjusting mechanism that makes the size as small as possible is provided.
【００１４】請求項６にかかる発明は、非接触式の距離
測定器が機械式の回転機構を持つとき、非接触式の距離
測定器を無人搬送車の前部の左右に１つずつ取り付け、
検出範囲調整機構によって、無人搬送車の走行速度が高
速になる程に小さく決められる検出範囲を、各距離測定
器の一走査の角度範囲の組合わせによって得ることを特
徴とする。According to a sixth aspect of the present invention, when the non-contact type distance measuring device has a mechanical rotation mechanism, the non-contact type distance measuring devices are mounted one by one on the left and right sides of the front of the automatic guided vehicle.
The detection range adjusting mechanism is characterized in that a detection range that is determined to be smaller as the traveling speed of the automatic guided vehicle becomes higher is obtained by a combination of one scan angle range of each distance measuring device.
【００１５】[0015]
【実施形態】本発明の障害物検出センサＡの概略構成を
示す図１において、１は非接触式の距離測定器で、無人
搬送車に取り付けられ、その周囲を放射状に分割した所
定の角度範囲毎に、検出物体までの距離ｘ1，ｘ2，ｘ
3，…を測定する。２は検出エリア登録手段で、前記距
離測定器１の測定範囲に、指定した複数の境界点ｅ1，
ｅ2，ｅ3，…を結ぶ線により区画される検出エリアａ
1，ａ2，ａ3，…を複数パターン登録する。３は使用パ
ターン設定手段で、無人搬送車の走行区間ｌ1，ｌ2，ｌ
3，…の夫々に、検出エリア設定手段２に設定された複
数の検出エリアのパターンａ1，ａ2，ａ3，…の中から
使用するパターンを選択して設定する。４は判定手段
で、無人搬送車の走行中に、距離測定器１で所定の角度
範囲毎に測定された検出物体までの距離ｘ1，ｘ2，ｘ
3，…が、現在の走行区間ｌiに設定された検出エリアの
パターンａjの範囲内にあるとき、障害物検出の出力を
発生する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In FIG. 1 which shows a schematic configuration of an obstacle detection sensor A of the present invention, reference numeral 1 denotes a non-contact type distance measuring device which is attached to an automatic guided vehicle and has a predetermined angular range in which the circumference is divided radially. For each, distance x1, x2, x to detected object
Measure 3, ... Reference numeral 2 denotes a detection area registration unit which stores a plurality of designated boundary points e1,
Detection area a divided by a line connecting e2, e3, ...
A plurality of patterns of 1, a2, a3, ... are registered. Reference numeral 3 denotes a use pattern setting means, which is a traveling section l1, l2, l of the automatic guided vehicle.
For each of 3,..., A pattern to be used is selected and set from a plurality of detection area patterns a1, a2, a3,. Numeral 4 denotes determination means, which are distances x1, x2, x to the detected object measured by the distance measuring device 1 for each predetermined angle range while the automatic guided vehicle is traveling.
.. Are within the range of the pattern aj of the detection area set in the current traveling section l i, an output of obstacle detection is generated.
【００１６】上記障害物検知センサＡは、例えば図２に
示すような構成の装置として製作される。図２におい
て、５は投受光器で、同一方向を向きモータ６により同
時に回転する投光用ミラー７及び受光用ミラー８と、投
光用ミラー７を介して高周波パルス光を検出物体９に照
射する投光素子１０及びその反射光を受光用ミラー８を
介して受光する受光素子１１から構成されている。The obstacle detection sensor A is manufactured as an apparatus having a configuration as shown in FIG. 2, for example. In FIG. 2, reference numeral 5 denotes a light emitting and receiving device, which is a mirror for light emission and a light receiving mirror 8 which are turned in the same direction and are simultaneously rotated by a motor 6, and irradiates a detection object 9 with high-frequency pulse light via the light emitting mirror 7 And a light receiving element 11 for receiving the reflected light via a light receiving mirror 8.
【００１７】１２は発振回路で、投光素子１０に供給す
る高周波パルス信号ｆ1、混合用の高周波パルス信号ｆ
2、及び位相基準信号ｆ5を発生する。１３はＡＧＣ回路
付きのアンプで、受光素子１１の出力する受光信号ｆ3
を増幅する。１４はヘテロダイン検波を行う混合回路
で、アンプ９で増幅された受光信号ｆ3と、混合用の高
周波パルス信号ｆ2を混合してビートダウン信号ｆ4を生
成する。このビートダウン信号ｆ4は、投光素子１０か
ら検出物体９を介して受光素子１１に到るまでの往復距
離２Ｌに応じて受光信号ｆ3に生じる位相遅れを持って
いる。Reference numeral 12 denotes an oscillation circuit, which is a high-frequency pulse signal f1 supplied to the light projecting element 10 and a high-frequency pulse signal f for mixing.
2, and a phase reference signal f5 is generated. Reference numeral 13 denotes an amplifier with an AGC circuit, and a light receiving signal f3 output from the light receiving element 11.
To amplify. A mixing circuit 14 for performing heterodyne detection mixes a light receiving signal f3 amplified by the amplifier 9 and a high frequency pulse signal f2 for mixing to generate a beatdown signal f4. The beat-down signal f4 has a phase delay that occurs in the light-receiving signal f3 according to the reciprocating distance 2L from the light-emitting element 10 to the light-receiving element 11 via the detection object 9.
【００１８】１５はレベル変換回路で、ビートダウン信
号ｆ4に生じている位相遅れを、位相基準信号ｆ5と位相
比較し、位相遅れに対応する電圧信号ｖ1を出力する。
１６はＡ／Ｄ変換器を内蔵したワンチップマイクロコン
ピュータで、レベル変換回路１５から入力されるアナロ
グ電圧ｖ1を距離の測定値ｘ1，ｘ2，…として受け、Ａ
／Ｄ変換器でデジタル値に変換した後に障害物有無の判
定を行い、出力回路１７を通して出力する。このマイク
ロコンピュータ１５は、ＲＯＭに書き込まれたプログラ
ムによって、前記図１の検出エリア登録手段２、使用パ
ターン設定手段３、判定手段４を実現している。また、
発振回路１２及びモータドライブＩＣ１８に対する制御
を行うことにより、非接触式の距離測定器１の一部を構
成している。Reference numeral 15 denotes a level conversion circuit which compares the phase delay occurring in the beat-down signal f4 with the phase reference signal f5 and outputs a voltage signal v1 corresponding to the phase delay.
Reference numeral 16 denotes a one-chip microcomputer incorporating an A / D converter, which receives the analog voltage v1 input from the level conversion circuit 15 as distance measurement values x1, x2,.
After the digital value is converted by the / D converter, the presence / absence of an obstacle is determined and output through the output circuit 17. The microcomputer 15 realizes the detection area registration unit 2, the use pattern setting unit 3, and the determination unit 4 of FIG. 1 by a program written in the ROM. Also,
The control of the oscillation circuit 12 and the motor drive IC 18 constitutes a part of the non-contact type distance measuring device 1.
【００１９】上記障害物検出センサＡは、例えば、図３
に示すようなケース１９に組み込まれる。投光素子１０
及び投光用ミラー７からなる投光部５ａと、受光素子１
１及び受光用ミラー８からなる受光部５ｂは、夫々共通
の回転軸の上下に分かれて取り付けられ、モータ６によ
って同一方向を向いて同時に回転し、透明プラスチック
で形成された上窓及び下窓を通して投受光を行う。この
ケース１９には、パーソナルコンピュータと接続するた
めの入出力コネクタが備えられている。投受光部５は、
マイクロコンピュータ１６の制御の下にモータ６によっ
て所定の検出角度範囲を往復回転し、所定ピッチ（例え
ば１.８°）回転する毎に、投光素子１０から出射し検
出物体９で反射して受光素子１１に戻ったパルス光の位
相遅れを測定することにより距離検出を行う。投受光部
５が測定角度範囲を一走査したとき得られる測定値は、
周囲にある物の配置状況に応じ、例えば図４に示すよう
になる。The obstacle detection sensor A is, for example, as shown in FIG.
As shown in FIG. Light emitting element 10
A light projecting unit 5a including a light projecting mirror 7 and a light receiving element 1
1 and a light-receiving part 5b composed of a light-receiving mirror 8 are separately mounted on the upper and lower sides of a common rotation axis, are simultaneously rotated in the same direction by a motor 6, and pass through upper and lower windows made of transparent plastic. Performs light emission and reception. The case 19 is provided with an input / output connector for connecting to a personal computer. The light emitting and receiving unit 5
Under the control of the microcomputer 16, the motor 6 reciprocates a predetermined detection angle range by the motor 6, and emits light from the light projecting element 10, reflects light by the detection object 9 and receives light every time the motor rotates by a predetermined pitch (for example, 1.8 °). Distance detection is performed by measuring the phase delay of the pulse light returned to the element 11. The measurement value obtained when the light emitting and receiving unit 5 performs one scan of the measurement angle range is
For example, as shown in FIG. 4 according to the arrangement situation of the surrounding objects.
【００２０】本発明の障害物検出センサＡは、無人搬送
車の走行区間ｌ1，ｌ2，ｌ3，…に応じて、検出エリア
のパターンａ1，ａ2，ａ3，…を切換える。この検出エ
リアのパターン登録は、図１の検出エリア登録手段２に
対して行われる。The obstacle detection sensor A of the present invention switches the detection area patterns a1, a2, a3,... In accordance with the traveling sections l1, l2, l3,. This pattern registration of the detection area is performed by the detection area registration means 2 of FIG.
【００２１】これは、障害物検出センサＡにパーソナル
コンピュータを接続し、図５に示すように障害物検出セ
ンサＡの扇形の検出範囲をパーソナルコンピュータのデ
ィスプレイに表示させながら行われる。初期状態で境界
点ｅ1からｅnは、投受光器５の位置する原点（ｅ0）
に、メモリの許容範囲内で選ばれた所定数だけ配置され
ている。そこで、この境界点をマウスでドラッグして任
意の位置に移動する。図５は、ｅ1，ｅ2，ｅ3，ｅ4を移
動可能な端まで移動させ、長方形の検出エリアを形成し
た状態を示している。この範囲は、実際には、扇形の検
出範囲内に設定しなければならない。この検出エリアａ
は、障害物検出装センサＡに近い停止エリアと、これか
ら遠い徐行エリアに分けられる。この境界線ｌの設定
は、マウスでドラッグして上下に移動させることにより
行う。This is performed while a personal computer is connected to the obstacle detection sensor A and the fan-shaped detection range of the obstacle detection sensor A is displayed on the display of the personal computer as shown in FIG. In the initial state, the boundary points e1 to en are at the origin (e0) where the light emitting and receiving device 5 is located.
Are arranged in a predetermined number selected within the allowable range of the memory. Therefore, this boundary point is moved to an arbitrary position by dragging with the mouse. FIG. 5 shows a state in which e1, e2, e3, and e4 are moved to movable ends to form a rectangular detection area. This range must actually be set within the fan-shaped detection range. This detection area a
Is divided into a stop area near the obstacle detection sensor A and a slow area far from the stop area. The setting of the boundary line 1 is performed by dragging the mouse up and down.
【００２２】この検出エリアａは、図４に示すように、
障害物検出センサＡの実際の測定値である周囲物体の境
界をディスプレイ上に同時に表示させて行うことができ
る。これは、検出すべきでない壁や固定構造物が、外側
になるように、境界点を入力するもので、例えば、直線
走行路は左右に短く前方に長い検出エリア、右回りをす
る交差点では無人搬送車が向きを変えながら進行する右
側を広く取った検出エリアａを設定し、特別な固定構造
物がある場合は、それを検出エリアａから外すように設
定を行う。この検出エリアａ1，ａ2，ａ3，…はエリア
番号を付けて登録されるもので、例えば１５〜３０パタ
ーンを登録することができる。これによって走行路の付
近に配置された設備等を障害物と認識させず、かつ検出
エリアの面積を充分に取った適切な検出エリアの設定が
可能になる。This detection area a is, as shown in FIG.
This can be performed by simultaneously displaying the boundary of the surrounding object, which is the actual measurement value of the obstacle detection sensor A, on the display. This is to input the boundary points so that the walls and fixed structures that should not be detected are on the outside.For example, on a straight road, the detection area is short to the left and right, and the detection area is long in the front. The detection area a is set so that the right side where the carrier moves while changing its direction is widened, and if there is a special fixed structure, the setting is made to remove it from the detection area a. The detection areas a1, a2, a3,... Are registered with area numbers, and for example, 15 to 30 patterns can be registered. As a result, it is possible to set an appropriate detection area that does not recognize equipment and the like arranged near the traveling path as an obstacle and that has a sufficiently large detection area.
【００２３】この登録後に、無人搬送車の走行区間ｌ
1，ｌ2，ｌ3，…の夫々に対して、検出エリア設定手段
２に登録された検出エリアａ1，ａ2，ａ3，…の中から
使用するパターンを選択して、図１の使用パターン設定
手段３に設定する。これは、走行区間を、直線路や、右
回り又は左回りのコーナ等の共通する形状で区分し、各
区間毎に、登録された検出エリアから使用するパターン
の番号を指定するもので、これによって各走行区間毎に
適切な検出エリアによる障害物検出が可能になる。After this registration, the traveling section l of the automatic guided vehicle
The pattern to be used is selected from the detection areas a1, a2, a3,... Registered in the detection area setting means 2 for each of 1, l2, l3,. Set to. This is to divide the running section into a common shape such as a straight road or a clockwise or counterclockwise corner, and specify the number of the pattern to be used from the registered detection area for each section. This enables obstacle detection with an appropriate detection area for each traveling section.
【００２４】障害物の有無判断は、判定手段４によって
行われる。無人搬送車の走行位置は、その誘導システム
によって検出されている。そこで、使用パターン設定手
段３に現在の走行区間ｌiを入力し、この走行区間に設
定された検出エリアａjを取得し、投受光器５が所定の
角度ピッチ回転する毎に測定する周囲の物体までの距離
ｘ1，ｘ2，ｘ3，…と比較判定する。The determination of the presence / absence of an obstacle is performed by the determination means 4. The traveling position of the automatic guided vehicle is detected by the guidance system. Therefore, the current travel section li is input to the use pattern setting means 3, the detection area aj set in this travel section is obtained, and the surrounding objects to be measured each time the light emitting and receiving device 5 rotates by a predetermined angle pitch. Are compared with the distances x1, x2, x3,.
【００２５】検出エリアのパターンａjは、例えば図６
に示すように、測定原点ｅ0を含む８つの境界点で検出
エリアが決められている。測定された距離ｘ1，ｘ2，ｘ
3，…が検出エリアａjの中にあるか否かは、図７に示す
ように原点から検出エリアを形成する直線までの距離と
比較することにより行われる。測定を行った角度が決ま
ると、その角度方向に延ばした直線と交わる検出エリア
を規定する線分が決まる。そして、原点から交点までの
距離ｒnは、線分の両端の座標を（Ｘ1，Ｙ1）（Ｘ2，Ｙ
2）とすると、次式により求めることができる。The pattern aj of the detection area is shown in FIG.
As shown in the figure, the detection area is determined by eight boundary points including the measurement origin e0. Measured distance x1, x2, x
Whether or not 3,... Are within the detection area aj is determined by comparing the distance from the origin to the straight line forming the detection area as shown in FIG. When the angle at which the measurement is performed is determined, a line segment that defines a detection area that intersects a straight line extending in the angle direction is determined. Then, the distance rn from the origin to the intersection is expressed by the coordinates of both ends of the line segment as (X1, Y1) (X2, Y
2), it can be obtained by the following equation.
【００２６】 ｒn＝｜（Ｘ1×Ｙ2−Ｘ2×Ｙ1）／ 〔（Ｘ1−Ｘ2）ｓｉｎ（φＮ）−（Ｙ1−Ｙ2）×ｃｏｓ（φＮ）〕｜ この距離ｒnを実測値ｘ1，ｘ2，…と比較することによ
り、検出エリアａjの範囲内か否かを判定し、範囲内に
あるとき障害物検出の出力を発生することができる。な
お、停止エリアと徐行エリアのどちらに入っているか
は、前記境界線ｌとの交点までの距離と比較することに
より同様に行える。Rn = | (X1 × Y2−X2 × Y1) / [(X1−X2) sin (φN) − (Y1−Y2) × cos (φN)] | This distance rn is measured x1, x2,. By comparing with, it can be determined whether or not it is within the range of the detection area aj, and when it is within the range, an output of obstacle detection can be generated. Whether the vehicle is in the stop area or the slow-moving area can be determined in the same manner by comparing the distance to the intersection with the boundary line l.
【００２７】上記判定は、ノイズの影響と出力のチャタ
リングを排除するため、隣接する測定点との距離を、例
えば、最長の測定距離である３ｍに対して５０ｃｍ以上
の差があるときはエラー値として判定対象から除外し、
障害物が徐行エリア又は停止エリアに出入りするとき
は、隣接した２点以上がエリア内に入ったときエリア内
に入ったこととし、１点もエリア内にないことによりエ
リアから外れたという判定を行っている。In order to eliminate the influence of noise and the chattering of the output, the above-mentioned judgment is performed by setting the distance between adjacent measurement points to, for example, an error value when there is a difference of 50 cm or more from the longest measurement distance of 3 m. Excluded from the judgment target as
When an obstacle enters or exits the slow-moving area or stop area, it is determined that the vehicle has entered the area when two or more adjacent points have entered the area, and it is determined that the vehicle has left the area because no point is within the area. Is going.
【００２８】この判定結果は、図２の出力回路１７から
無人搬送車の制御部に出力され、障害物が検出されたと
きは、これに当らないように減速又は停止の制御が行わ
れる。The result of this determination is output from the output circuit 17 of FIG. 2 to the control unit of the automatic guided vehicle, and when an obstacle is detected, deceleration or stop control is performed so as not to hit the obstacle.
【００２９】上記実施例では、モータ駆動式の投受光器
５を採用しているので、高速走行時に十分な回数の走査
ができず、単位走行距離当たりの検出回数が不足する事
態も予想される。そこで、この場合は、一走査の角度範
囲を小さくすることにより、これに対応することができ
る。すなわち、図示しない検出範囲調整機構によって無
人搬送車の走行速度が大きくなる程に往復回転により行
われる一走査の角度範囲を小さくして、一走査に要する
時間を短縮し、必要な検出速度を得る。In the above embodiment, since the motor driven type light emitting and receiving device 5 is employed, a sufficient number of scans cannot be performed during high-speed running, and the number of detections per unit running distance may be insufficient. . Therefore, in this case, it is possible to cope with this by reducing the angle range of one scan. That is, as the traveling speed of the automatic guided vehicle increases, the angular range of one scan performed by reciprocating rotation is reduced by a detection range adjustment mechanism (not shown), thereby shortening the time required for one scan and obtaining the required detection speed. .
【００３０】さらに、非接触式の距離測定器１を、無人
搬送車の前部の左右に１つずつ取り付けて、必要な検出
速度を得ることもできる。距離測定器１が２つあると、
検出エリアを広く取り、特に無人搬送車の前端付近の死
角を少なくすることができる。そこで、低速運転時は、
検出エリアを広く取り、高速運転時は衝突防止に必要な
エリアに限定すると共に、この検出エリアを２台の距離
測定器１で分担して検出を行うことにより、死角を少な
くしながら高速検出を行なうことができる。Further, it is possible to obtain a required detection speed by attaching one non-contact type distance measuring device 1 to each of the left and right of the front part of the automatic guided vehicle. If there are two distance measuring devices 1,
The detection area can be widened, and the blind spot near the front end of the automatic guided vehicle can be reduced. Therefore, at low speed operation,
The detection area is widened and limited to the area required to prevent collisions during high-speed driving, and this detection area is shared by two distance measuring devices 1 to perform detection, thereby enabling high-speed detection while reducing blind spots. Can do it.
【００３１】[0031]
【発明の効果】本発明の請求項１にかかる発明は、検出
エリアをパターン化して登録し、無人搬送車の走行区間
毎に、検出エリアのパターンを選択設定することによっ
て、簡易な設定と少ないデータ処理量で、障害物のみを
低コストに検出することができる。According to the first aspect of the present invention, the detection area is registered in a pattern, and the pattern of the detection area is selectively set for each traveling section of the automatic guided vehicle. Only the obstacle can be detected at low cost with the amount of data processing.
【００３２】本発明の請求項２にかかる発明は、距離測
定器で測定された検出物体までの距離が、検出エリア内
にあるか否かの判定基準として、測定原点から延ばした
直線が検出エリアを規定する線分と交差する点までの距
離を用いたので、判定を簡易な処理によって行うことが
できる。According to a second aspect of the present invention, a straight line extending from the measurement origin is used as a criterion for determining whether or not the distance to the detection object measured by the distance measuring device is within the detection area. Is used, the determination can be made by a simple process.
【００３３】本発明の請求項３にかかる発明は、検出エ
リアを無人搬送車に近い停止範囲と、無人搬送車から遠
い徐行範囲に分けるので、無人搬送車の制御をきめ細か
に行って、制御の最適化を図ることができる。In the invention according to claim 3 of the present invention, the detection area is divided into a stop range near the automatic guided vehicle and a slow range far from the automatic guided vehicle. Optimization can be achieved.
【００３４】本発明の請求項４にかかる発明は、光波を
利用したヘテロダイン検波により非接触式の距離測定を
行うので、安価な部品で製作することができ低コスト化
が図れる。In the invention according to claim 4 of the present invention, since non-contact distance measurement is performed by heterodyne detection using a light wave, it can be manufactured with inexpensive parts and cost can be reduced.
【００３５】本発明の請求項５にかかる発明は、高速走
行時に検出を行なう角度範囲を小さくするので、高速走
行時にも単位走行距離当たりの検出回数を十分なものに
することができる。In the invention according to claim 5 of the present invention, the angle range in which the detection is performed during high-speed running is reduced, so that the number of detections per unit running distance can be made sufficient even during high-speed running.
【００３６】本発明の請求項６にかかる発明は、無人搬
送車に２つの距離測定器を設置するので、測定範囲を余
り小さくせず、かつ死角を小さくして請求項５の効果を
得ることができる。According to the invention of claim 6 of the present invention, since two distance measuring devices are installed in the automatic guided vehicle, the effect of claim 5 can be obtained without making the measurement range too small and making the blind spot small. Can be.
【図１】 本発明の基本構成を示すブロック図。FIG. 1 is a block diagram showing a basic configuration of the present invention.
【図２】 本発明の一実施形態の構成を示すブロック
図。FIG. 2 is a block diagram showing the configuration of an embodiment of the present invention.
【図３】 本発明装置の一実施形態の外観を示す斜視
図。FIG. 3 is a perspective view showing the appearance of an embodiment of the device of the present invention.
【図４】 検出エリアと実測データの関係を示す図。FIG. 4 is a diagram showing a relationship between a detection area and measured data.
【図５】 投受光器の投受光範囲と境界点によって形成
される検出エリアと、検出エリア内を停止エリアと徐行
エリアを区分する境界線を示す図。FIG. 5 is a diagram showing a detection area formed by a light emitting and receiving range and a boundary point of the light emitting and receiving device, and a boundary line dividing the detection area into a stop area and a slow-moving area.
【図６】 境界点によって形成される検出エリアの例を
示す図。FIG. 6 is a diagram showing an example of a detection area formed by boundary points.
【図７】 測定原点から検出エリアを形成する直線まで
の距離を求める原理を説明する図。FIG. 7 is a view for explaining a principle of obtaining a distance from a measurement origin to a straight line forming a detection area.
Ａ 障害物検出センサ １ 非接触式の距離測定器 ２ 検知エリア登録手段 ３ 使用パターン設定手段 ４ 判定手段 ５ 投受光器 ６ モータ ７ 投光用ミラー ８ 受光用ミラー ９ 検出物体 １０ 投光素子 １１ 受光素子 １２ 発振回路 １３ アンプ １４ 混合回路 １５ レベル変換回路 １６ ワンチップマイクロコンピュータ １７ 出力回路 １８ モータドライブＩＣ A Obstacle detection sensor 1 Non-contact type distance measuring device 2 Detection area registration means 3 Use pattern setting means 4 Judgment means 5 Emitter / receiver 6 Motor 7 Emitter mirror 8 Light-receiving mirror 9 Detected object 10 Emitter 11 Light-receiving Element 12 Oscillation circuit 13 Amplifier 14 Mixing circuit 15 Level conversion circuit 16 One-chip microcomputer 17 Output circuit 18 Motor drive IC
フロントページの続き (72)発明者 平田 惠一 大阪府大阪市北区曽根崎２丁目１番12号 北陽電機株式会社内 Ｆターム(参考） 5H301 BB05 GG08 LL01 LL07 LL08 LL11 5J084 AA05 AB01 AC02 AD02 BA01 BA44 BA49 BB28 CA03 CA31 DA01 EA07 EA22 Continued on the front page (72) Inventor Keiichi Hirata 2-1-1-12 Sonezaki, Kita-ku, Osaka-shi, Osaka F-term (reference) 5H301 BB05 GG08 LL01 LL07 LL08 LL11 5J084 AA05 AB01 AC02 AD02 BA01 BA44 BA49 BB28 CA03 CA31 DA01 EA07 EA22
Claims (6)
放射状に分割した所定の角度範囲毎に、検出物体までの
距離を測定する非接触式の距離測定器と、 前記距離測定器の測定範囲に、指定した複数の境界点を
結ぶ線により区画される検出エリアを複数パターン登録
する検出エリア登録手段と、 無人搬送車の走行区間毎に、検出エリア登録手段に登録
された複数の検出エリアのパターンの中から使用するパ
ターンを選択して設定する使用パターン設定手段と、 無人搬送車の走行中に、距離測定器で所定の角度範囲毎
に測定された検出物体までの距離が、現在の走行区間に
設定された検出エリアの範囲内にあるとき、障害物検出
の出力を発生する判定手段とを具備したことを特徴とす
る無人搬送車の障害物検出センサ。1. A non-contact type distance measuring device which is attached to an automatic guided vehicle and measures a distance to a detection object for each predetermined angular range in which the circumference is divided radially, and a measuring range of the distance measuring device A detection area registration means for registering a plurality of patterns of detection areas defined by lines connecting a plurality of designated boundary points; and a plurality of detection areas registered in the detection area registration means for each traveling section of the automatic guided vehicle. A use pattern setting means for selecting and setting a pattern to be used from among the patterns; and a distance to a detection object measured for each predetermined angle range by a distance measuring device during traveling of the automatic guided vehicle. An obstacle detection sensor for an automatic guided vehicle, comprising: a determination unit that generates an output of obstacle detection when the vehicle is within a detection area set in a section.
距離が、検出エリア内にあるか否かの判定基準として、
測定原点から延ばした直線が検出エリアを規定する線分
と交差する点までの距離を用いたことを特徴とする請求
項１に記載した無人搬送車の障害物検出センサ。2. A criterion for determining whether a distance to a detection object measured by a distance measuring device is within a detection area,
The obstacle detection sensor according to claim 1, wherein a distance from a point at which a straight line extending from the measurement origin intersects a line segment defining a detection area is used.
アと、無人搬送車から遠い徐行エリアに分け、判定手段
の障害物検出出力を、停止信号と徐行信号に分けて出力
させることを特徴とする請求項１又は２に記載した無人
搬送車の障害物検出センサ。3. The detection area is divided into a stop area close to the automatic guided vehicle and a slow area far from the automatic guided vehicle, and the obstacle detection output of the determination means is divided into a stop signal and a slow signal to be output. An obstacle detection sensor for an automatic guided vehicle according to claim 1 or 2.
この投光器から照射され検出物体に当って反射した光を
受ける受光器を持つ投受光器と、上記投受光器を無人搬
送車の周囲に向けて回転させる回転機構と、投受光器が
所定角度回転する毎に、投光器への投光信号と受光器の
受光信号の位相差を、物体までの距離として取り出すヘ
テロダイン検波回路とから非接触式の距離測定器を構成
したことを特徴とする請求項１〜３のいずれか１項に記
載した無人搬送車の障害物検出センサ。4. A light emitter for irradiating high-frequency pulsed light, a light emitter / receiver having a light receiver illuminated from the light emitter and receiving light reflected on a detection object, and the light emitter / receiver is directed around the automatic guided vehicle. A non-contact type from a rotation mechanism that rotates the projector and a heterodyne detection circuit that takes out the phase difference between the light emission signal to the light emitter and the light reception signal of the light receiver every time the light emitter and receiver rotates a predetermined angle as the distance to the object The obstacle detection sensor for an automatic guided vehicle according to any one of claims 1 to 3, wherein the sensor comprises a distance measuring device.
構を持つとき、回転機構の往復回転による一走査の角度
範囲を、無人搬送車の走行速度が高速になる程に小さく
する検出範囲調整機構を設けたことを特徴とする請求項
１〜４のいずれか１項に記載した無人搬送車の障害物検
出センサ。5. When the non-contact type distance measuring device has a mechanical rotating mechanism, the angle range of one scanning by the reciprocating rotation of the rotating mechanism is reduced as the traveling speed of the automatic guided vehicle increases. The obstacle detection sensor of an automatic guided vehicle according to any one of claims 1 to 4, further comprising a range adjusting mechanism.
構を持つとき、非接触式の距離測定器を無人搬送車の前
部の左右に１つずつ取り付け、検出範囲調整機構によっ
て、無人搬送車の走行速度が高速になる程に小さく決め
られる検出範囲を、各距離測定器の一走査の角度範囲の
組合わせによって得ることを特徴とする請求項１〜４の
いずれか１項に記載した無人搬送車の障害物検出セン
サ。6. When the non-contact type distance measuring device has a mechanical rotation mechanism, one non-contact type distance measuring device is attached to each of the left and right sides of the front of the automatic guided vehicle, and the detection range adjusting mechanism is used. 5. The method according to claim 1, wherein a detection range determined as the traveling speed of the automatic guided vehicle becomes higher is obtained by a combination of an angular range of one scanning of each distance measuring device. The obstacle detection sensor of the automatic guided vehicle described.
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| JP2001008061A JP2002215238A (en) | 2001-01-16 | 2001-01-16 | Obstruction detection sensor for unmanned carrier |
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| JP2001008061A JP2002215238A (en) | 2001-01-16 | 2001-01-16 | Obstruction detection sensor for unmanned carrier |
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