JP3005873B2 - Automatic guided vehicle guidance system - Google Patents
Automatic guided vehicle guidance systemInfo
- Publication number
- JP3005873B2 JP3005873B2 JP3061273A JP6127391A JP3005873B2 JP 3005873 B2 JP3005873 B2 JP 3005873B2 JP 3061273 A JP3061273 A JP 3061273A JP 6127391 A JP6127391 A JP 6127391A JP 3005873 B2 JP3005873 B2 JP 3005873B2
- Authority
- JP
- Japan
- Prior art keywords
- distance measuring
- automatic guided
- guided vehicle
- measuring sensor
- vehicle body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000003287 optical effect Effects 0.000 claims description 11
- 230000006698 induction Effects 0.000 claims 1
- 238000005259 measurement Methods 0.000 description 8
- 239000000758 substrate Substances 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000037237 body shape Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Landscapes
- Measurement Of Optical Distance (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、基準となる壁面と無人
搬送車との距離を測定し、車体を予め定められた走行経
路に導きうる無人搬送車の誘導装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic guided vehicle guidance device which measures a distance between a reference wall surface and an automated guided vehicle and guides the vehicle body to a predetermined traveling route.
【０００２】[0002]
【従来の技術】図４に示すように、基準となる壁面Ｗ
と、車体２１との距離を測定し、車体を予め定められた
ステーション等に導きうる無人搬送車２０においては、
誘導装置として測距センサ２２Ａ…２２Ｈが車体内部に
設置されている。そして、２個の測距センサ２２Ａ、２
２Ｂにて検出された値ｄ１、ｄ２および既知の距離Ｓに
基づき、車体２１の姿勢角ψや、ずれ量を、図示しない
制御装置で演算し、これを減ずる如く無人搬送車２０を
誘導する。また、車体２１の前後、および左右のいずれ
の側面からでも、基準壁面との距離を測定しうるよう、
各側面に２個づつ計８個の測距センサが取り付けられる
のが一般的である。2. Description of the Related Art As shown in FIG.
And the automatic guided vehicle 20 that can measure the distance between the vehicle body 21 and the vehicle body to a predetermined station or the like,
Distance measuring sensors 22A to 22H are installed inside the vehicle body as a guidance device. Then, the two distance measuring sensors 22A, 2A
Based on the values d1 and d2 detected in 2B and the known distance S, the attitude angle の of the vehicle body 21 and the amount of deviation are calculated by a control device (not shown), and the automatic guided vehicle 20 is guided so as to reduce these. Also, the distance from the reference wall surface can be measured from either the front, rear, left or right side of the vehicle body 21.
In general, a total of eight distance measurement sensors, two each, are attached to each side surface.
【０００３】[0003]
【発明が解決しようとする課題】しかし、上述のような
従来の構成では、合計８個もの測距センサを無人搬送車
に設けるため、製作コストがきわめて高価になるという
問題があった。又、測距センサが車体内に占めるスペー
スが大きいため、車体形状が大型化するという問題があ
り、主として幅狭な通路を走行しなければならない無人
搬送車にとっては好ましくない。本発明は、かかる事情
に鑑み、案出されたものである。However, in the conventional configuration as described above, since a total of eight distance measuring sensors are provided in the automatic guided vehicle, there is a problem that the manufacturing cost is extremely high. In addition, since the space occupied by the distance measurement sensor in the vehicle body is large, there is a problem that the vehicle body shape becomes large, which is not preferable for an automatic guided vehicle that must travel mainly in a narrow passage. The present invention has been made in view of such circumstances.
【０００４】[0004]
【課題を解決する手段】本発明は、垂直線軸回りに回動
可能な光学式測距センサを無人搬送車の車体四隅に所定
の間隔を隔てて配置し、壁面の存在位置によって光学式
測距センサを所定の回動方向へと回動させ、常に２個の
光学式の測距センサで偏差と姿勢角を演算して修正させ
る制御装置を備えた構成としたものである。SUMMARY OF THE INVENTION According to the present invention, an optical distance measuring sensor rotatable about a vertical axis is arranged at predetermined intervals at four corners of a vehicle body of an automatic guided vehicle, and an optical distance measuring sensor is provided depending on a position of a wall surface. A control device is provided which rotates the sensor in a predetermined rotation direction and always calculates and corrects the deviation and the attitude angle by using two optical distance measuring sensors.
【０００５】[0005]
【実施例】本発明の一実施例を、以下図面に基づき説明
する。図１は、本発明の誘導装置１の平面図、図２は同
側面図（一部断面図）である。本発明に係る誘導装置１
は、光学式の測距センサ２（以下、単に測距センサとい
う）と、該測距センサ２を垂直軸線回りに回動自在に支
承する支持体３と、前記測距サンサ２を任意に回動させ
る駆動手段としての電動機４と、これらを配置する基板
１２とから構成される。An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view of a guidance device 1 of the present invention, and FIG. 2 is a side view (partial sectional view) of the same. Guidance device 1 according to the present invention
Is an optical distance measuring sensor 2 (hereinafter simply referred to as a distance measuring sensor), a support 3 that supports the distance measuring sensor 2 so as to be rotatable around a vertical axis, and an optional rotation of the distance measuring sensor 2. It comprises an electric motor 4 as a driving means for moving and a substrate 12 on which these are arranged.
【０００６】光学式測距センサ２は、測距ヘッド面２Ｃ
に設けられた発光部２Ａから赤外線等の探査光を発し、
該探査光が被測定物にて反射した反射光を受ける受光部
２Ｂとからなり、受光部２Ｂ内のポジションセンサ等
（不図示）で被測定物との距離を検知しうる周知の測距
センサである。The optical distance measuring sensor 2 has a distance measuring head surface 2C.
Emits a search light such as an infrared ray from the light emitting unit 2A provided in the
A light receiving unit 2B for receiving the search light reflected by the object to be measured; a known distance measuring sensor capable of detecting a distance from the object to be measured by a position sensor or the like (not shown) in the light receiving unit 2B; It is.
【０００７】前記測距センサ２の下面には、軸部７を有
するブラケット５が固着され、該ブラケット５のフラン
ジ部分には、ギア６が嵌入されている。また、ブラケッ
ト５の軸部７は、支持体３の玉軸受を介して回動自在に
支持されている。支持体３は、中空状の円筒材から形成
されるとともに、下端部分にはフランジ３Ａが形成され
ており、前記基板に固着されている。なお、軸部７の下
端は、ロックナット１２が締結される。A bracket 5 having a shaft 7 is fixed to the lower surface of the distance measuring sensor 2, and a gear 6 is fitted into a flange portion of the bracket 5. The shaft 7 of the bracket 5 is rotatably supported via a ball bearing of the support 3. The support 3 is formed of a hollow cylindrical material, and has a flange 3A formed at a lower end portion, and is fixed to the substrate. The lock nut 12 is fastened to the lower end of the shaft 7.
【０００８】前記測距サンサ２を任意に回動させる駆動
手段としての電動機４は、前記基板上に固定支持され、
その出力軸９には、前記ギア６に噛み合うピニオンギア
１０が固着されている。従って、電動機４を任意の方向
に回転駆動することによって、ピニオンギア１０からギ
ア６にトルクがギアダウンされて伝達され、測距センサ
を回動させることができる。なお、電動機以外にも、ロ
ータリソレノイドや、電動シリンダ等のアクチュエータ
を種々用いることができる。また、前記測距サンサ２の
回動角を９０度の角度に規制すべくストッパ８、９が支
持体３に形成されている。An electric motor 4 as a driving means for arbitrarily rotating the distance measuring sensor 2 is fixedly supported on the substrate,
A pinion gear 10 meshing with the gear 6 is fixed to the output shaft 9. Therefore, by rotating the electric motor 4 in an arbitrary direction, the torque is transmitted down from the pinion gear 10 to the gear 6, and the distance measuring sensor can be rotated. In addition to the electric motor, various actuators such as a rotary solenoid and an electric cylinder can be used. In addition, stoppers 8 and 9 are formed on the support 3 so as to restrict the rotation angle of the distance measuring sensor 2 to an angle of 90 degrees.
【０００９】[0009]
【作用】次に、本発明の作用について、図１及び図３に
基づき説明する。図３において、無人搬送車３０には、
車体の４隅に本発明に係る誘導装置１Ａ…１Ｄが設けら
れており、本例では初期状態として各誘導装置共、それ
ぞれ車体の外側面にその探査光が向くような状態として
説明する。Next, the operation of the present invention will be described with reference to FIGS. In FIG. 3, the automatic guided vehicle 30 includes:
Guide devices 1A... 1D according to the present invention are provided at the four corners of the vehicle body. In this example, as an initial state, each of the guide devices will be described as a state in which the search light is directed to the outer surface of the vehicle body.
【００１０】先ず、壁面Ｗ１と無人搬送車３０の相対位
置を検出するのは、測距センサ１Ａ、及び１Ｂから探査
光を壁面Ｗ１に投射し、壁面Ｗ１からの反射光をそれぞ
れの測距センサ１Ａ、及び１Ｂで受光し、それぞれの測
距センサ１Ａ、及び１Ｂにおける受光点の端部からの間
隔に相当する電圧値が壁面Ｗ１からの距離の差となり、
この距離差と測距センサ１Ａ、及び１Ｂの取付間隔とか
ら無人搬送車３０の現在位置での偏差と姿勢角を得て、
この偏差と姿勢角を修正する方向へ制御を行う。First, the relative position between the wall surface W1 and the automatic guided vehicle 30 is detected by projecting search light from the distance measurement sensors 1A and 1B onto the wall surface W1, and reflecting light from the wall surface W1 to the respective distance measurement sensors. 1A and 1B, the voltage value corresponding to the distance from the end of the light receiving point in each of the distance measuring sensors 1A and 1B is the difference in the distance from the wall surface W1,
The deviation and the attitude angle of the automatic guided vehicle 30 at the current position are obtained from the distance difference and the mounting intervals of the distance measuring sensors 1A and 1B,
Control is performed in a direction to correct the deviation and the attitude angle.
【００１１】次に、壁面Ｗ２と車体との相対位置を検出
する際には、測距センサ１Ａ及び１Ｄを、それぞれ９０
度回動させる如く電動機４を駆動して、上記測距センサ
１Ａ、及び１Ｄの回動動作終了後測距を行う。この測距
後距離差と測距センサ１Ａ、及び１Ｂの取付間隔とから
無人搬送車３０の現在位置での偏差と姿勢角を得て、こ
の偏差と姿勢角を修正する方向へ制御を行うのは上述の
通りである。Next, when detecting the relative position between the wall surface W2 and the vehicle body, the distance measuring sensors 1A and 1D
The electric motor 4 is driven so as to rotate by an angle, and the distance measurement is performed after the rotation operation of the distance measuring sensors 1A and 1D is completed. The deviation and the attitude angle at the current position of the automatic guided vehicle 30 are obtained from the distance difference after the distance measurement and the mounting intervals of the distance measurement sensors 1A and 1B, and control is performed in a direction to correct the deviation and the attitude angle. Is as described above.
【００１２】以上詳述したが、電動機４の回転駆動は、
無人搬送車３０の制御装置３１に予めプログラムされて
いる走行経路に基づき、測定の必要な壁面位置に応じて
行い得るものである。又、本発明は、本例に示す実施例
に限定されるものではなく、各誘導装置の初期状態とし
て、車体の前後に測距センサの探査光を向けた状態とし
てもよい。As described in detail above, the rotational drive of the electric motor 4 is as follows.
This can be performed based on the travel route programmed in advance in the control device 31 of the automatic guided vehicle 30 according to the wall position that needs to be measured. Further, the present invention is not limited to the embodiment shown in the present embodiment, and the initial state of each guidance device may be a state in which the search light of the distance measuring sensor is directed to the front and rear of the vehicle body.
【００１３】本発明は、上記の方法を採用した結果、測
定が必要な車体側面に光学式測距センサの探査光を、光
学式測距センサ自体で回動させて切り替えることができ
るから、光学式測距センサを４個設置するのみで、しか
も無人搬送車の全側面方向から従来と同様に基準となる
壁面との相対位置を認識することができる。従って、無
人搬送車の車体の小型化に貢献することができ、走行通
路幅の狭小化によりシステムレイアウトの効率を向上し
うる。さらに光学式測距センサの設置個数を半減するこ
とができるから、無人搬送車の製作コストを低減するこ
とができる。以上According to the present invention, as a result of adopting the above method, the search light of the optical distance measuring sensor can be switched by rotating the optical distance measuring sensor itself on the side of the vehicle body requiring measurement. It is possible to recognize the relative position with respect to the reference wall surface in the same manner as in the related art from all sides of the automatic guided vehicle only by installing four distance measuring sensors. Therefore, it is possible to contribute to the miniaturization of the body of the automatic guided vehicle, and it is possible to improve the efficiency of the system layout by reducing the width of the traveling passage. Further, since the number of optical distance measuring sensors installed can be reduced by half, the manufacturing cost of the automatic guided vehicle can be reduced. that's all
【図１】本発明の一実施例を表わす平面図である。FIG. 1 is a plan view illustrating an embodiment of the present invention.
【図２】本発明の一実施例を表わす側面図である。FIG. 2 is a side view showing an embodiment of the present invention.
【図３】本発明の作用を説明するための無人搬送車の平
面図である。FIG. 3 is a plan view of the automatic guided vehicle for explaining the operation of the present invention.
【図４】無人搬送車の誘導装置を説明するための概念図
である。FIG. 4 is a conceptual diagram for explaining an automatic guided vehicle guidance device.
１ 誘導装置 ２ 測距センサ ３ 支持体 ４ 電動機 ５ ブラケット ６ ギア ７ 軸部 ８ ストッパ ９ ストッパ １０ ピニオンギア １１ 基板 DESCRIPTION OF SYMBOLS 1 Guidance device 2 Distance measuring sensor 3 Support 4 Electric motor 5 Bracket 6 Gear 7 Shaft 8 Stopper 9 Stopper 10 Pinion gear 11 Substrate
Claims (1)
ンサを無人搬送車の車体四隅に所定の間隔を隔てて配置
し、壁面の存在位置によって光学式測距センサを所定の
回動方向へと回動させ、常に２個の光学式の測距センサ
で偏差と姿勢角を演算して修正させる制御装置を備えた
ことを特徴とする無人搬送車の誘導装置。1. An optical distance measuring sensor rotatable about a vertical axis.
Sensors are placed at the four corners of the automatic guided vehicle body at predetermined intervals.
The optical distance measuring sensor is set to a predetermined
Rotating in the direction of rotation, always two optical distance measuring sensors
Equipped with a control device to calculate and correct deviation and attitude angle with
Induction device AGV, characterized in that.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3061273A JP3005873B2 (en) | 1991-03-01 | 1991-03-01 | Automatic guided vehicle guidance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3061273A JP3005873B2 (en) | 1991-03-01 | 1991-03-01 | Automatic guided vehicle guidance system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05224744A JPH05224744A (en) | 1993-09-03 |
| JP3005873B2 true JP3005873B2 (en) | 2000-02-07 |
Family
ID=13166444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3061273A Expired - Lifetime JP3005873B2 (en) | 1991-03-01 | 1991-03-01 | Automatic guided vehicle guidance system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3005873B2 (en) |
-
1991
- 1991-03-01 JP JP3061273A patent/JP3005873B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH05224744A (en) | 1993-09-03 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 19991027 |