TWI600990B - Method of controlling unmanned material transportation vehicle - Google Patents
Method of controlling unmanned material transportation vehicle Download PDFInfo
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Description
本發明係有關於一種可任意建立或修改無人搬運車之移動路徑的控制方法。 The present invention relates to a control method for arbitrarily establishing or modifying a moving path of an automated guided vehicle.
由於目前一般倉儲中的物料運送，均是依賴人力為主，如果對於種類多、體積大及重量重之物料則不易搬運。 Since the materials in the current general storage are mainly manpower-dependent, it is not easy to carry for materials with many types, large volume and heavy weight.
因此有中華民國104年2月21日所公告之發明第I469902號「無人無軌式搬運車」專利案，其係揭露：包含一中央處理器、一車輛行進系統、一車輛方位校正系統及一棧板掃描系統。該車輛行進系統、車輛方位校正系統及棧板掃描系統電性連接於該中央處理器。該車輛行進系統用以提供一車輛主體之行駛動力，而該車輛方位校正系統用以偵測一導引行駛路徑，且該棧板掃描系統用以掃描偵測一棧板。該中央處理器依該行駛路徑操作該車輛行進系統，以便將該車輛主體由一第一位置行駛至一第二位置。 Therefore, there is a patent No. I469902 of the Republic of China on February 21, 104, "Unmanned Trackless Pallet" patent, which discloses: including a central processing unit, a vehicle traveling system, a vehicle orientation correction system, and a stack. Board scanning system. The vehicle travel system, the vehicle orientation correction system, and the pallet scanning system are electrically connected to the central processor. The vehicle travel system is configured to provide driving power of a vehicle body, and the vehicle orientation correction system is configured to detect a guiding travel path, and the pallet scanning system is configured to scan and detect a pallet. The central processor operates the vehicle travel system in accordance with the travel path to drive the vehicle body from a first position to a second position.
該專利前案必須經由製造的專業人員預先設定搬運車的移動路徑，如果有需要修改移動路徑時，同樣需由專業人員進行設定，並無法由一般使用者自行設定或任意修改，因此在使用上相當麻煩。 In the pre-patent case, the moving path of the truck must be preset by the manufacturing professional. If it is necessary to modify the moving path, it must also be set by a professional, and cannot be set or modified by the general user. Therefore, the use is Quite troublesome.
另外有中華民國103年6月1日所公告之發明第I439404號「自動搬運車導引系統及自動搬運車導引方法」專利案，其係揭露：包含自動搬運車導引系統包括軌道系統、自動搬運車、影像擷取裝置及運算單元。軌道系統用以導引自動搬運車，自動搬運車適用於在軌道系統上被導引而移動以及脫離軌道 系統而在一無軌道區移動。影像擷取裝置擷取無軌道區相關影像，該無軌道區相關影像至少包括該無軌道區之影像。運算單元判斷自動搬運車是否脫離軌道系統，以及運算自動搬運車於無軌道區之位置資訊。當自動搬運車脫離軌道系統時，由運算單元根據無軌道區相關影像導引自動搬運車。 In addition, there is a patent case No. I439404 of the Republic of China on June 1, 103, "Automatic Pallet Guide System and Automatic Guide Vehicle Guide Method", which discloses that the automatic guided vehicle guidance system includes a track system, Automatic truck, image capture device and arithmetic unit. The track system is used to guide the automated van, which is suitable for being guided and moved on the track system and off track The system moves in a trackless zone. The image capturing device captures an image of the trackless zone, and the image of the trackless zone includes at least the image of the trackless zone. The arithmetic unit determines whether the automatic transport vehicle is out of the track system and calculates the position information of the automatic transport vehicle in the trackless area. When the automatic transport vehicle is released from the track system, the arithmetic unit guides the automatic transport vehicle according to the image without the track area.
該專利前案同樣於移動路徑的設定上亦相當麻煩且複雜，無法供一般的使用者自行設定及修改。 The patent predecessor is also quite cumbersome and complicated in the setting of the moving path, and cannot be set and modified by the general user.
爰此，有鑑於目前無人搬運車之移動路徑的設定、修改及控制具有上述之缺點。故本發明提供一種無人搬運車之控制方法，包含：A.於一運送區域的地面上鋪設有縱橫交錯之一導引條，該導引條係具有一特定之顏色。B.一控制裝置具有對應該導引條座標位置之一棋盤式操作介面，該棋盤式操作介面係預先內建有相對應該導引條之實際的座標位置。C.於該棋盤式操作介面上建立一無人搬運車之一移動路徑，根據該無人搬運車於該運送區域中所欲移動的路徑，於該棋盤式操作介面上選擇相對應的該移動路徑及一移動順序。D.該控制裝置根據所選擇之該移動路徑，予以運算後轉換為相對應該導引條的座標位置之一實際移動路徑。E.該控制裝置於該運送區域中控制該無人搬運車，依據該實際移動路徑而沿著該導引條移動，並由一起點移動至一終點。 Therefore, in view of the fact that the setting, modification and control of the moving path of the unmanned van are currently having the above disadvantages. Therefore, the present invention provides a method for controlling an unmanned vehicle, comprising: A. paving a guide strip on the ground of a transport area, the guide strip having a specific color. B. A control device having a checkerboard operation interface corresponding to the coordinate position of the guide bar, the checkerboard operation interface being pre-built with the actual coordinate position corresponding to the guide bar. C. establishing a moving path of one of the unmanned vehicles on the checkerboard operation interface, and selecting the corresponding moving path on the checkerboard operation interface according to the path of the unmanned transport vehicle to be moved in the transporting area A moving order. D. The control device converts the selected movement path to an actual movement path corresponding to one of the coordinate positions of the guide bar. E. The control device controls the automated guided vehicle in the transport area, moves along the guide strip according to the actual moving path, and moves from a point to an end point.
上述導引條係為一膠帶，而供黏貼於該地面上。 The guiding strip is a tape for adhering to the ground.
上述導引條係為一黑色。 The above guiding strip is a black.
上述控制裝置係為一電腦或一智慧型手機，又該控制裝置具有一觸控螢幕，該棋盤式操作介面係顯示於該觸控螢幕上。 The control device is a computer or a smart phone, and the control device has a touch screen, and the checkerboard operation interface is displayed on the touch screen.
上述於該棋盤式操作介面上所點選的每一段該移動路徑，則會賦與相對應點選順序之編號代碼，並且將第一個編號代碼設定為該起點，而最後一個編號代碼則設定為該終點。 Each of the movement paths selected on the checkerboard operation interface is assigned a number code corresponding to the order of the selection, and the first number code is set as the start point, and the last number code is set. For this end point.
上述編號代碼係設定為二位數或三位數以上。 The above number code is set to two or more digits.
上述於每一段所點選的該移動路徑上，係進一步設定該無人搬運車之停留時間。 The moving path selected in each segment is further set to the dwell time of the automated guided vehicle.
上述無人搬運車設有一舉昇機構，藉以供撐起一物料或一物料架，又該無人搬運車設有一攝影機，該攝影機係供辨識該導引條，控制該無人搬運車沿著該導引條移動而不會偏離。 The above-mentioned unmanned vehicle has a lifting mechanism for supporting a material or a material rack, and the unmanned vehicle is provided with a camera for identifying the guiding strip and controlling the automated guided vehicle along the guiding The bar moves without deviating.
上述每一輛之無人搬運車分別內建有一ID碼，藉以辨識每一輛無人搬運車之身分，並賦與不同的優先通行權，藉以於該運送區域中移動時，依照該ID碼的不同，而能控制其先通行或後通行，又該無人搬運車係設有一偵測感應器，可供偵測於該實際移動路徑上的任何障礙物或是另一輛的無人搬運車，藉以控制於一安全距離內停止移動。 Each of the above-mentioned unmanned vehicles has an ID code built therein to identify the identity of each of the unmanned vehicles and assign different priority rights, so that when moving in the transportation area, according to the ID code And can control whether it passes first or later, and the unmanned vehicle has a detecting sensor for detecting any obstacle on the actual moving path or another unmanned van to control Stop moving within a safe distance.
上述於修改該實際移動路徑時，係重覆該步驟C及步驟D，於該棋盤式操作介面上新增或刪除該移動路徑，或者是變更每一段該移動路徑之該編號代碼，藉以改變該移動順序。 When the actual moving path is modified, the steps C and D are repeated, the moving path is added or deleted on the checkerboard operation interface, or the number code of each moving path is changed, thereby changing the number. Move order.
根據上述技術特徵係具有下列之優點： According to the above technical features, the following advantages are obtained:
1.不需依靠製造的專業人員即能自行進行無人搬運車之實際移動路徑之設定，而且可根據不同的使用需求，而且能輕易的建立或更改該實際移動路徑。 1. The actual moving path of the unmanned van can be set by the professional without the need of manufacturing, and the actual moving path can be easily established or changed according to different usage requirements.
2.於手動設定時，所點選之每一段移動路徑，均會賦與不同的編號代碼，以供作為後續變更移動順序之參考。 2. In the manual setting, each moving path selected will be assigned a different numbering code for reference as a subsequent change of the moving sequence.
3.無人搬運車之底部設有一攝影機，可供辨識該運送區域中地面上所黏貼之黑色導引條，而能控制該無人搬運車沿著該導引條移動而不會偏離該實際移動路徑。 3. A camera is arranged at the bottom of the unmanned vehicle to identify the black guide strip adhered on the ground in the transport area, and can control the unmanned transport vehicle to move along the guide strip without deviating from the actual moving path. .
4.每一輛無人搬運車分別內建有一ID碼，除了可以作為辨識每一輛無人搬運車身分之用外，更可以賦與不同的優先通行權，藉以於移動中同時相遇於同一座標位置時，可依照ID碼的不同，而選擇其先通行或後通行之順序。 4. Each of the unmanned vehicles has an ID code built in, in addition to being used to identify each unmanned body, it can also be assigned different priority rights, so that they can meet at the same coordinate position while moving. In the case of the ID code, the order of the first pass or the last pass may be selected.
5.該無人搬運車亦設有一偵測感應器，藉以偵測於實際移動路徑上的任何障礙物或是另一輛的無人搬運車，而可於一安全距離內停止移動，藉以避免於移動時發生碰撞而發生危險。 5. The automated guided vehicle also has a detection sensor for detecting any obstacles on the actual moving path or another unmanned transport vehicle, and can stop moving within a safe distance to avoid moving There is a danger of collision.
(1)‧‧‧地面 (1) ‧ ‧ ground
(2)‧‧‧導引條 (2) ‧‧‧Guide bars
(3)‧‧‧控制裝置 (3) ‧‧‧Control devices
(31)‧‧‧觸控螢幕 (31)‧‧‧ Touch screen
(32)‧‧‧棋盤式操作介面 (32)‧‧‧Checkerboard interface
(4)‧‧‧無人搬運車 (4) ‧ ‧ unmanned van
(41)‧‧‧舉昇機構 (41) ‧‧‧ Lifting institutions
(42)‧‧‧攝影機 (42)‧‧‧ camera
(43)‧‧‧偵測感應器 (43)‧‧‧Detection sensor
(A)‧‧‧起點 (A) The starting point of ‧ ‧
(B)‧‧‧終點 (B) ‧ ‧ end
(C)‧‧‧物料 (C) ‧ ‧ materials
(D)‧‧‧物料架 (D)‧‧‧Materials
[第一圖]係為本發明之操作流程圖。 [First figure] is a flowchart of the operation of the present invention.
[第二圖]係為本發明於地面上黏貼黑色導引條之示意圖。 [Second picture] is a schematic view of the invention in which a black guide strip is adhered to the ground.
[第三圖]係為本發明於控制裝置上顯示棋盤式操作介面之示意圖。 [Third Figure] is a schematic diagram showing the checkerboard operation interface on the control device of the present invention.
[第四圖]係為本發明於棋盤式操作介面點選移動路徑之示意圖。 [Fourth figure] is a schematic diagram of the movement path of the invention in the checkerboard operation interface.
[第五圖]係為本發明於運送區域中控制無人搬運車移動之示意圖。 [Fifth Figure] is a schematic view of the invention for controlling the movement of an automated guided vehicle in a transport area.
[第六圖]係為本發明無人搬運車沿著導引條移動之示意圖。 [Sixth] is a schematic view of the unmanned transport vehicle moving along the guide bar of the present invention.
請參閱第一圖所示，本發明實施例係包括有下列步驟： Referring to the first figure, the embodiment of the present invention includes the following steps:
A.於一運送區域的地面上鋪設有縱橫交錯之一導引條：如第二圖所示，本實施例主要係在一需要無人搬運車進行運送物料之運送區域中的地面(1)上，利用具有特定顏色之膠帶，予以縱橫相交的黏貼於地面(1)上，藉以形成一可供無人搬運車遵循移動之導引條(2)。本實施例之該導引條(2)係以黑色為主。 A. One of the criss-crossing guide strips is laid on the ground of a transport area: as shown in the second figure, this embodiment is mainly on the ground (1) in the transport area where the unmanned transport vehicle is required to carry the materials. Using a tape of a specific color, it is adhered to the ground (1) in a vertical and horizontal direction, thereby forming a guide strip (2) for the unmanned vehicle to follow the movement. The guide strip (2) of this embodiment is mainly black.
B.一控制裝置具有對應該導引條座標位置之一棋盤式操作介面：如第三圖所示，本實施例之控制裝置(3)係可為一電腦或一智慧型手機，又該控制裝置(3)上具有一觸控螢幕(31)，該觸控螢幕(31)上則顯示有該棋盤式操作介面(32)。又該控制裝置(3)之該棋盤式操作介面(32)係已預先內建有相對應該導引條(2)之實際的座標位置。 B. A control device has a checkerboard operation interface corresponding to the coordinate position of the guide bar: as shown in the third figure, the control device (3) of the embodiment can be a computer or a smart phone, and the control The device (3) has a touch screen (31), and the check screen (31) displays the checkerboard operation interface (32). Further, the checkerboard operation interface (32) of the control device (3) has a built-in actual coordinate position corresponding to the guide bar (2).
C.於該棋盤式操作介面上建立一無人搬運車之一移動路徑：如第三圖及第四圖所示，係於該觸控螢幕(31)上，根據無人搬運車於該運送區域中所欲移動的路徑，於該棋盤式操作介面(32)上利用觸控、滑鼠或鍵盤輸入等方式，選擇相對應的該移動路徑及該移動順序。如第三圖所示，首先於該棋盤式操作介面(32)上第一次所點選的路徑，則會賦與編號「01」之代碼，並且設定為起點(A)。又該編號之代碼係可根據不同的需求，而設定為二位數或三位數以上。又第二次之後依序所選擇的移動路徑，則同樣會依序賦與編號「02」、「03」...之代碼，直到最後一次點選的移動路徑則會被設定為終點。而在每一段的移動路徑上則可以透過該控制裝置(3)進一步設定其停留的時間。 C. establishing a moving path of an unmanned vehicle on the checkerboard operation interface: as shown in the third and fourth figures, on the touch screen (31), according to the unmanned transport vehicle in the transport area The path to be moved is selected on the checkerboard operation interface (32) by means of touch, mouse or keyboard input, and the corresponding moving path and the moving order are selected. As shown in the third figure, the path first selected on the checkerboard interface (32) will be assigned the code numbered "01" and set to the start point (A). The code of the number can be set to two or more digits according to different needs. After the second time, the moving path selected in the same order will be assigned the codes of the numbers "02" and "03", respectively, until the last selected moving path is set as the end point. On the moving path of each segment, the time of staying can be further set by the control device (3).
D.該控制裝置根據所選擇之該移動路徑，予以運算後轉換為相對應該導引條座標位置之一實際移動路徑：如第二圖及第四圖所示，利用該控制裝置(3)根據該棋盤式操作介面(32)以手動方式輸入所建立的移動路徑，再以預先已內建相對應該導引條(2)實際的座標位置，而予以運算後轉換為該無人搬運車於運送區域中的地面(1)上實際上所需要移動的距離，即為該實際移動路徑。 D. The control device converts to the actual movement path corresponding to one of the coordinate positions of the guide bar according to the selected movement path: as shown in the second and fourth figures, the control device (3) is used according to The checkerboard operation interface (32) manually inputs the established movement path, and then calculates and converts the actual coordinate position of the corresponding guide strip (2) into the transport area of the automated guided vehicle. The distance that actually needs to be moved on the ground (1) is the actual moving path.
E.該控制裝置於該運送區域中控制該無人搬運車，依據該實際移動路徑而沿著該導引條移動：如第三圖、第五圖及第六圖所示，該控制裝置(3)係可控制該無人搬運車(4)，依據所建立之該實際移動路徑，於該運送區域中移動。該無人搬運車(4)之頂部設有一舉昇機構(41)，藉以可供撐起一物料(C)或盛裝該物料之一物料架(D)。又該無人搬運車(4)之底部則設有一攝影機(42)，該攝影機(42)係可供辨識該運送區域中地面上所黏貼之黑色的該導引條(2)，而能控制該無人搬運車(4)沿著該導引條(2)移動而且不會偏離，以確保該無人搬運車可以依據該實際移動路徑進行移動，並且順利的運送該物料(C)由起點(A)到達終點(B)，並且在每一段的移動路徑上停留適當的時間，以供上、下該物料(C)。同時每一輛之無人搬運車(4)分別內建有一ID碼，不同的ID碼除了可以辨識每一輛無人搬 運車(4)之身分外，更可以賦與不同的優先通行權，藉以於該運送區域中移動時，如果同時通過同一座標位置的實際移動路徑時，會依照該ID碼的不同，而可以先通行或後通行。同時每一輛的無人搬運車(4)亦設有一偵測感應器(43)，藉以偵測於該實際移動路徑上的任何障礙物或是另一輛的無人搬運車(4)，於一安全距離內停止移動，藉以避免於移動時發生碰撞而發生危險。 E. The control device controls the automated guided vehicle in the transport area, and moves along the guiding strip according to the actual moving path: as shown in the third, fifth and sixth figures, the control device (3) The unmanned vehicle (4) can be controlled to move in the transport area in accordance with the established actual moving path. The top of the automated guided vehicle (4) is provided with a lifting mechanism (41) for supporting a material (C) or a material rack (D) for containing the material. Further, at the bottom of the unmanned vehicle (4), a camera (42) is provided, and the camera (42) is capable of recognizing the black guide strip (2) adhered to the ground in the transport area, and can control the The automated guided vehicle (4) moves along the guiding strip (2) without deviation, to ensure that the automated guided vehicle can be moved according to the actual moving path, and the material (C) is smoothly transported from the starting point (A) Arrive at the end point (B) and stay on the moving path of each segment for the appropriate time to feed the material (C). At the same time, each of the unmanned vehicles (4) has an ID code built in, and different ID codes can identify each one. In addition to the identity of the transport (4), it is possible to assign different priority rights, so that when moving in the transport area, if the actual moving path of the same coordinate position is simultaneously used, the ID code may be different according to the ID code. Pass through or after. At the same time, each of the unmanned vehicles (4) also has a detection sensor (43) for detecting any obstacles on the actual moving path or another unmanned vehicle (4). Stop moving within a safe distance to avoid danger when a collision occurs while moving.
如第二圖及第四圖所示，又如果需要進行修改該實際移動路徑時，同樣依照上述的步驟C及步驟D，直接於該棋盤式操作介面(32)上新增或刪除該移動路徑，或者是變更每一段的該移動路徑編號之代碼，藉以改變該移動順序。又由於該導引條(2)係為一膠帶，則可供任意的撕下或黏貼於該地面上不同的位置，藉以能隨時的更改該實際移動路徑，以供適應於不同的運送區域或該運送區域的位置變動。如此，則可達到不需依靠製造的專業人員，也能進行實際移動路徑的設定，即使是一般的使用者，亦可根據不同的使用需求，而輕易的建立或更改該實際移動路徑。 As shown in the second and fourth figures, if the actual moving path needs to be modified, the moving path is added or deleted directly to the checkerboard operation interface (32) according to the above steps C and D. Or change the code of the movement path number of each segment to change the order of movement. Moreover, since the guiding strip (2) is a tape, it can be arbitrarily peeled off or adhered to different positions on the ground, so that the actual moving path can be changed at any time to adapt to different shipping areas or The position of the transport area changes. In this way, the professional movement path can be set up without the need of manufacturing professionals, and even the average user can easily establish or change the actual movement path according to different usage requirements.
惟，以上所述僅為本發明其中之一實施例，當不能以此限定本發明之申請專利保護範圍，舉凡依本發明之申請專利範圍及說明書內容所作之簡單的等效變化與替換，皆應仍屬於本發明申請專利範圍所涵蓋保護之範圍內。 However, the above description is only one of the embodiments of the present invention. When the scope of the patent application of the present invention is not limited thereto, the simple equivalent changes and substitutions made by the scope of the patent application and the contents of the specification of the present invention are It is still within the scope of the protection covered by the scope of the invention.
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