JP2000242330A - Automatic steering mobile object and device and method for correcting steering of same mobile object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make an automated guided vehicle to precisely travel while facilitating mark fitting execution and suppressing an increase in construction cost as much as possible. SOLUTION: The steering correcting device allows the automated guided vehicle 31 to travel along its original travel course with high precision by laying an electric conductor 35 as a reference mark along the original travel course, feeding an alternate signal before actual operation is started and detecting it by electromagnetic sensors 33 and 34 as reference mark detection sensors. Correction data showing how much optical marks 13 and 14 which are already fitted deviate when recognized by a TV camera 32 as a mark detection sensor are gathered as to all the optical marks 13 and 14 and stored in the form of a correction table. In the actual operation, the optical marks 13 and 14 are detected by the TV camera 32 and to correct the position of the automated guided vehicle 31 while the detection results are corrected with the correction data.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic steering moving body for accurately moving a moving body such as an automatic guided vehicle used in an automatic production system along a predetermined course, and a steering correction of the moving body. The present invention relates to an apparatus and a steering correction method for a moving body.

[0002]

2. Description of the Related Art In factories and waste disposal facilities, unmanned vehicles are sometimes used to transport articles and waste. Generally, there are an optical mark type and a magnetic mark type as a traveling guide mechanism of the automatic guided vehicle.

FIG. 15 is an external view showing a conventional optical mark type automatic guided vehicle. The automatic guided vehicle 11 is a TV
A mark detection sensor comprising a camera 12 is provided. The TV camera 12 captures images of a plurality of optical marks 13 and 14 attached to a ceiling (or a floor) of a facility along a preset course. While those marks 13,1
4 and guided. The optical marks 13 and 14 only need to have a difference in brightness enough to be sufficiently distinguished from the background in an image obtained by imaging.
In general, a reflective tape or the like is used as 14. In order to increase the difference in brightness between the optical marks 13 and 14 and the background, an illuminating device (not shown) is also used in combination.

FIG. 16 is a block diagram showing a main part of a conventional optical mark type automatic guided vehicle 11. The automatic guided vehicle 11 is provided with a mark detection sensor 15 such as a TV camera 12.
A mark position calculator 16 for calculating the positions and directions of the images of the optical marks 13 and 14 based on the images of the optical marks 13 and 14, and the positions of the images of the obtained optical marks 13 and 14 And a steering controller 17 for controlling the steering of the automatic guided vehicle 11 (not shown) based on the direction.

FIG. 17 shows an example of an image picked up by the mark detection sensor 15. Image 1 obtained
In 8, the Yc axis is set along the actual traveling direction of the automatic guided vehicle 11, and the Xc axis is set in a direction orthogonal to the Yc axis. The intersection between the Xc axis and the Yc axis is set as the origin Oc of this coordinate system. If this origin Oc is defined as the current position of the automatic guided vehicle 11, the position of the optical mark image 19 is represented by the distance Xp to the intersection P between the image 19 and the Xc axis, and the direction of the optical mark image 19 is And the angle θc between the direction in which the image 19 extends (longitudinal direction) and the Yc axis. The mark position calculator 16 obtains the distance Xp and the angle θc by image processing.

That is, when the automatic guided vehicle 11 obtains the image shown in FIG.
3 is shifted by the distance Xp and inclined obliquely by the angle θc. Therefore, the steering controller 1
7 executes steering control so that both the distance Xp and the angle θc become zero. Thereby, the automatic guided vehicle 11 travels with its position corrected so as to return to the course along the optical mark 13 overhead, and the next optical mark 14
, Where a similar position correction is also made to the optical mark 14. In this way, the automatic guided vehicle 11 travels along the course without largely deviating from the course set by the plurality of optical marks 13 and 14.

FIG. 18 is an external view showing a conventional magnetic mark type automatic guided vehicle. The automatic guided vehicle 21 is provided with mark detection sensors consisting of magnetic sensors 22a and 22b before and after the automatic guided vehicle 21. A plurality of magnetic sensors provided on the floor of the facility along a preset course by the magnetic sensors 22a and 22b. The vehicle travels guided by the marks 23 and 24 while detecting the marks 23 and 24. Magnetic mark 2
Each of the magnetic tapes 3 and 24 is made of, for example, a magnetic tape (hereinafter, referred to as a magnetic tape) or a stick (hereinafter, referred to as a magnetic stick). In the case of a rod, it is buried in the floor or housed in a groove provided in the floor.

FIG. 19 is a block diagram showing a main part of a conventional magnetic mark type automatic guided vehicle 21. As shown in FIG. The automatic guided vehicle 21 includes mark detection sensors 25a and 25b such as a pair of magnetic sensors 22a and 22b, and magnetic marks 23 and 24.
The mark position calculator 26 calculates and calculates the positions and directions of the magnetic marks 23 and 24 based on the detection results of the above, and the steering (not shown) of the automatic guided vehicle 21 based on the obtained positions and directions of the magnetic marks 23 and 24. And a steering controller 27 for controlling the steering control.

FIG. 20 is a diagram for explaining how to determine the positions and directions of the magnetic marks 23 and 24. As shown in the figure, in each of the magnetic sensors 22a and 22b, a number of magnetic array elements are arranged in a line along the longitudinal direction, and each magnetic array element is independently generated by the magnetic mark 23. The configuration is such that the strength of the magnetic field can be detected. Magnetic field strength is magnetic mark 2
3, the magnetic sensor 22a, 2
In 2b, the magnetic array element having the maximum magnetic field strength is closest to the magnetic mark 23.

That is, in the example of FIG. 20, in each of the magnetic sensors 22a and 22b, the magnetic array element positioned substantially directly above the magnetic mark 23 detects the maximum magnetic field strength, thereby detecting each of the magnetic sensors 22a and 22b. A position almost directly above the magnetic mark 23 of the 22b (points "A" and "B" in the figure)
Is specified.

Here, the Yc axis is set along the actual traveling direction of the automatic guided vehicle 21 and X is set in a direction orthogonal to the Yc axis.
When the c-axis is set, and the intersection of the Xc-axis and the Yc-axis is set as the origin Oc of this coordinate system, and this origin Oc is defined as the current position of the automatic guided vehicle 21, the mark position calculator 26 calculates these "A" The position and direction of the magnetic mark 23 can be calculated from the coordinates of the point and the point "B" and the distance L between the two magnetic sensors 22a and 22b (for example, obtained by actual measurement). The position of the magnetic mark 23 is represented by a distance Xp to an intersection P between the magnetic mark 23 and the Xc axis, and the direction of the magnetic mark 23 is the direction in which the magnetic mark 23 extends (in the figure, the axis in this direction is represented by “Ym”). Axis) and the Yc axis.

That is, in the state shown in FIG. 20, the automatic guided vehicle 21 is actually shifted from the magnetic mark 23 by the distance Xp and inclined obliquely by the angle θc. Therefore, the steering controller 27 determines the distance Xp
And the angle θc are both zero. Thereby, the automatic guided vehicle 21 travels with the position corrected so as to return to the course along the magnetic mark 23, reaches the next magnetic mark 24, and the same position correction is performed on the magnetic mark 24 there as well. Will be In this way, the automatic guided vehicle 21 is able to move the plurality of magnetic marks 2
The vehicle travels along the course without greatly deviating from the course set by 3, 24.

In both the optical mark type and the magnetic mark type, the automatic guided vehicle 1 between the front and rear marks is used.
The traveling method of the automatic guided vehicles 11 and 21 includes measuring the traveling distance of the automatic guided vehicles 11 and 21 by using rotary encoders attached to the left and right wheels of the automatic guided vehicles 11 and 21 and measuring a change in posture by using a gyro sensor. A vehicle that travels by an inertial guidance system that autonomously controls traveling, or an unmanned guided vehicle 11 or 12 that uses only rotary encoders for left and right wheels.
There are various methods, such as one that measures both the travel distance and the change in posture and travels through penetration guidance, or one that runs straight while holding the steering wheel, and any of these methods can be adopted.

[0014]

In both of the optical mark type and the magnetic mark type, the automatic guided vehicle travels along the marks, so that all the marks have a predetermined traveling course, that is, Along the designed traveling course, both the mounting position and the direction must be accurately aligned.

For example, as shown in FIG. 21, an i-th course to be provided on an original traveling course (displayed as a Ym axis)
The mark Mi (indicated by a broken line) is separated from the original position by a distance 位置, like a mark indicated by “Mj” with respect to the Ym axis.
Assuming that the automatic guided vehicle is displaced by Xi and the direction is also displaced by an angle △ θi, the automatic guided vehicle is position-corrected based on the position and direction of the displaced mark Mj. Forward mark Mi + 1
Is reached, the position is shifted from the original position by a distance ΔXi + 1 expressed by the following equation (1), and greatly deviates from the original traveling course. ΔXi + 1 = ΔXi + Lm × tan (Δθi) (1)

In order to avoid this, it is necessary to increase the accuracy of attaching the mark. Therefore, when attaching an optical mark to the ceiling, temporarily fix the mark on the ceiling,
For all marks, drop down from each mark,
The installation position of each mark must be fine-tuned so that the lower end of the plunger matches the original running course drawn on the floor, requiring a great deal of labor to install the mark, and increasing construction costs There was a problem of inviting.

When an optical mark is attached to the ceiling, as shown in FIG. 22, if the floor surface F is inclined with respect to the ceiling C, the mark 13 can be accurately positioned with respect to the original traveling course. Even if they are aligned, in the image 18 captured by the TV camera 12 as shown in FIG.
The image 19 corresponding to the optical mark 13 is displaced. In order to correct such an apparent misalignment, the transport vehicle 11 should be positioned immediately below each mark 13.
Must be stopped accurately along the original traveling course, and the position of the mark 13 must be shifted so that the position and the direction of the image 19 corresponding to the mark 13 are both zero. There was also a problem of increasing costs.

On the other hand, in the magnetic mark type, as in the case of the optical mark type, not only the labor and construction cost for attaching the mark with high accuracy are required, but also, as shown in FIG. And magnetic bar ((b) in the same figure)
If the rebar 29 is arranged near the magnetic mark 23, the magnetic field formed by the magnetic mark 23 is disturbed due to the influence, and even if the magnetic mark 23 is accurately arranged, the position correction of the automatic guided vehicle is performed. However, there is a problem that an error occurs.

The present invention has been made in order to solve the above-mentioned problems, and has been made in order to facilitate the installation of a mark and to minimize the increase in construction cost, and to enable an automatic guided vehicle to travel with high accuracy. It is an object of the present invention to provide a steering moving body, a steering correction device for the moving body, and a steering correction method for the moving body.

[0020]

In order to achieve the above object, an automatic steering moving body according to the present invention comprises a permanent mark detecting means for detecting a plurality of permanent marks provided in advance while moving the moving body; Based on the mark detection result,
Permanent mark position calculating means for determining a relative positional relationship between the permanent mark and the moving body, and fiducial mark detecting means for detecting a fiducial mark laid along an original course to be moved by the moving body with the moving body. A reference mark position calculating means for obtaining a relative positional relationship between the reference mark and the moving body based on a detection result of the reference mark by the reference mark detecting means; and a reference mark and a moving body obtained by the reference mark position calculating means. Correction data acquiring means for acquiring data on the relative positional relationship between the reference mark and the permanent mark based on the relative positional relationship between the permanent mark and the permanent mark, and Steering control means for steering the moving body by using data on the relative positional relationship between the reference mark and the permanent mark in moving the moving body based on the detection result. , It is those with a.

When a permanent mark is detected by a moving body,
Depending on the environment in which the moving body moves (for example, when the floor surface is inclined), a relative displacement occurs between the moving body and the permanent mark. Therefore, a reference mark is laid and detected, and a course to be originally moved is detected. This fiducial mark is laid directly on the floor, for example, and is required to be less affected by the environment and to be more accurate and more reliable than the permanent mark.

Next, a relative positional relationship between the reference mark and the moving body is obtained based on the detection result of the reference mark. At the time of actual movement, steering is performed using the permanent mark without using the reference mark.However, the relative positional relationship between the permanent mark and the moving body is shifted, which is a problem. Since it is located at both the mark and the moving body, this deviation is obtained using the reference mark, and is canceled at the time of actual steering.

From another point of view, it is originally preferable that the moving body be steered based on the fiducial mark. However, if the fiducial mark is actually used, it interferes with the work. Is obtained as correction data, and when the steering is performed based on the permanent mark, the permanent mark is treated in the same manner as the reference mark using the correction data. That is,
According to the present invention, it is possible to make the same as the case where the permanent mark is accurately attached to the original mark position. The moving body is not limited to an industrial machine such as an automatic guided vehicle, but can also be applied to attractions in amusement parks such as go-karts, toys, ships in harbors, and the like.

In the automatic steering vehicle according to the next invention, in the automatic steering vehicle, any or all of the reference mark detecting means, the reference mark position calculating means, and the correction data acquiring means are detachably attached to the moving body. It is what is being done.

According to the present invention, the reference mark detecting means is removed after the data of the relative positional relationship between the reference mark and the permanent mark is acquired by the correction data acquiring means, and thereafter, the moving body is steered according to the permanent mark. I do. The removed reference mark detecting means is attached to another moving body to acquire data on the relative positional relationship between the permanent mark and the reference mark. The same applies to the reference mark position calculation means and the correction data acquisition means.

In the above automatic steering vehicle, the reference mark may be an electric wire and signal generating means for supplying an AC signal to the electric wire, and the reference mark detecting means may be an electromagnetic sensor provided before and after the moving body. It is preferred that Alternatively, the reference mark may be formed of an optical reflective tape, and the reference mark detection unit may be a camera provided before and after a moving body.

A steering correction device for a moving object according to the next invention detects a plurality of permanent marks provided in advance, moves based on the detection result, moves with the moving object, and moves the moving object to the original course. Fiducial mark detecting means for detecting fiducial marks laid along the reference mark, and fiducial mark position calculating means for determining a relative positional relationship between the fiducial mark and the moving body based on a detection result of the fiducial mark by the fiducial mark detecting means. The relative positional relationship between the reference mark and the permanent mark based on the relative positional relationship between the reference mark and the movable body and the relative positional relationship between the permanent mark and the movable body determined by the reference mark position calculating means. Correction data acquisition means for acquiring data; and correction data storage means for storing data on the relative positional relationship between the reference mark and the permanent mark. .

The automatic steering moving body detects a permanent mark and performs steering based on the detection result. When the automatic steering is performed only by the permanent mark, a relative displacement occurs between the moving body and the permanent mark depending on an environment in which the moving body moves.
The steering correction device is a device for correcting this deviation, and obtains the relative positional relationship between the reference mark and the moving body based on the detection result of the laid reference mark. Since the relative positional relationship between the permanent mark and the moving body may be obtained from the automatic steering moving body, or may be obtained independently by the steering correction device, the permanent mark detecting means and the permanent mark position calculating means may be used. It cannot be a mandatory component. The correction data acquiring means acquires data on the relative positional relationship between the reference mark and the permanent mark based on the relative positional relationship between the reference mark and the movable body and the relative positional relationship between the permanent mark and the movable body. I do. This correction data is stored in the data storage means and is used when actually steering based on the permanent mark.

In the steering correction device for a moving body, the reference mark may be an electric wire and signal generating means for supplying an AC signal to the electric wire, and the reference mark detecting means may be an electromagnetic wave which can be attached to the front and rear of the moving body. Preferably, it is a sensor. Alternatively, the reference mark may be formed of an optical reflective tape, and the reference mark detection unit may be a camera that can be attached to the front and rear of the moving body.

A steering correction method for a moving body according to the next invention comprises a permanent mark detecting step of detecting a plurality of permanent marks provided in advance while moving the moving body, and a permanent mark detecting step based on a detection result of the permanent mark. A permanent mark position calculating step for obtaining a relative positional relationship between the moving body and the moving object, a fiducial mark laying step for laying a fiducial mark along an original course to which the moving object should move, and laying while moving the moving body. A reference mark detection step of detecting the reference mark, and a reference mark position calculation step of determining a relative positional relationship between the reference mark and the moving body based on the detection result of the reference mark;
A correction data acquiring step of acquiring data of a relative positional relationship between the reference mark and the permanent mark based on a relative positional relationship between the reference mark and the movable body and a relative positional relationship between the permanent mark and the movable body; And a steering correction step of correcting the steering of the moving body using the relative positional relationship data between the reference mark and the permanent mark in steering the moving body based on the detection result of the permanent mark.

In this method of correcting the steering of a moving body, first, a reference mark is detected, the relative positional relationship between the reference mark and the moving body is acquired from the detection result, and the permanent mark acquired while moving is compared with the permanent mark. From the relative position with the body,
The relative positional relationship data between the reference mark and the permanent mark is obtained. Then, at the time of actual steering, correction is performed using the data of the relative positional relationship.

If the "reference mark laying step" is before the "reference mark detection step and reference mark position calculation step", the "permanent mark detection step and permanent mark position calculation step" and the "reference mark laying step" And "the reference mark detecting step and the reference mark position calculating step", the invention is effectively established even if the order is not determined. Further, the “permanent mark detection step and reference mark detection step” and the “reference mark position calculation step and permanent mark position calculation step”
It may be performed simultaneously.

A steering correction method for a moving body according to the next invention is the same as the above-described steering correction method for a moving body, but includes a reference mark removing step of removing the reference mark after detecting the reference mark.

The reference mark is not used at the time of actual steering, and the steering is performed based on the permanent mark. For this reason, although the fiducial mark may or may not be removed, it is preferable to remove the fiducial mark because it can be arranged in a factory or other moving area and does not interfere. This removal step may be performed any time after the reference mark is detected.

[0035]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a steering correction method for a moving body, an automatic steering moving body, a steering correction device for an automatic steering moving body, an automatic production system, and an automatic production system according to the present invention will be described below. This will be described in detail with reference to the drawings. The present invention is not limited by the embodiment.

(First Embodiment) FIG. 1 is an external view showing a first embodiment according to the present invention. In the first embodiment, the present invention is applied to an optical mark type automatic guided vehicle 31. That is, the automatic guided vehicle 31 includes, for example, a TV camera 32 as a mark detection sensor for detecting the optical marks 13 and 14 which are permanent marks and are made of a reflective tape or the like.

The automatic guided vehicle 31 has, for example, electromagnetic sensors 33 and 34 at its lower front and rear ends, respectively, as reference mark detection sensors. Electromagnetic sensors 33, 3
The reference mark 4 to be detected is constituted by an electric wire 35 and a signal generator 36 for supplying an AC signal thereto. The electric wire 35 is laid along, for example, a floor surface along an original traveling course of the automatic guided vehicle 31, that is, a designed course.

FIG. 2 is a block diagram showing a configuration of a main part of the first embodiment. In the first embodiment, a mark detection sensor 41 corresponding to the TV camera 32 and the like, a mark position calculator 42, reference mark detection sensors 43 and 44 corresponding to the electromagnetic sensors 33 and 34, respectively, and a reference mark position calculator 45, a correction table creator 46 serving as correction data acquisition means, a carrier displacement calculator 47, and a steering controller 48 serving as steering control means.

The mark position calculator 42 calculates the position and direction of the optical mark image corresponding to the optical marks 13 and 14 based on the images of the optical marks 13 and 14 captured by the mark detection sensor 41. , Its calculation method is the same as that of the prior art, and a description thereof will be omitted.

The reference mark detection sensor 43 has, for example, a pair of pickup coils 431 and 432 spaced apart from each other as shown in FIG. KH supplied to
An electromagnetic field generated by an alternating current of about z to 10 KHz is detected. Here, two pickup coils 431, 4
32 is defined as Oc, and their coils 431,
Assuming that the direction passing through 432 is the Xc-axis direction, the combined output voltage of the pair of pickup coils 431 and 432 is such that when the position of the electric wire 35 with respect to the pickup coils 431 and 432 changes along the Xc-axis direction, as shown in FIG. ) Is adjusted as shown in the graph (vertical axis: combined output voltage V, horizontal axis: electric wire position Xc).

That is, the combined output voltage is
When the center point Oc between the points 31 and 432 coincides with the origin of the graph of FIG. 3B, the monotone increases (or may decrease monotonically) within the range of ± W / 2 in the Xc axis direction with respect to the origin Oc. It is supposed to. Therefore, the position of the electric wire 35 can be obtained between the widths of W in the Xc axis direction about the Oc point. The same applies to the reference mark detection sensor 44.

As shown in FIG. 4, the reference mark position calculator 45 calculates the respective positions of the electric wire 35 with respect to the two sensors 43 and 44, that is, the coordinates of the points A and B in FIG. From the XcYc of the automatic guided vehicle 31
Coordinate system (Yc axis: actual traveling direction of the automatic guided vehicle, Xc
(Axis: direction orthogonal to the Yc axis)
That is, the distance from the point Oc to the intersection Q between the electric wire 35 and the Xc axis and the direction of the electric wire 35, that is, the inclination angle θs are calculated.

As shown in FIG. 5, the correction table creator 46 controls the coordinates (Xp, 0) of the position P of the optical mark image 19 obtained by the mark position calculator 42 and the direction with respect to the Yc axis (inclination angle: θc ) And the reference mark position calculator 4
5, based on the coordinates (Xq, 0) of the position Q of the electric wire 35, ie, the coordinates (Xq, 0) and the direction with respect to the Yc axis (inclination angle: θs), obtained by the following equation (2) and
The coordinates (Xt, 0) representing the position of the optical mark image 19 with respect to the reference mark position and the inclination angle θt are obtained by performing the calculation shown in the equation. θt = θc−θs (2) Xt = Xp−Xq (3)

Θt and Xt are correction data indicating how much the optical mark image 19 deviates from the correct position (the position of the reference mark), and such correction data is applied to all the optical marks 13 and 14. Data is required. Then, as shown in FIG. 6, for example, each of the optical marks 13 of the mark numbers “1”, “2”,.
A correction table 100 is created in which the values of θt and Xt are stored for 14 respectively.

The correction table 100 is a ROM that can be electrically erased and rewritten in the correction table generator 46.
When a memory such as an EEPROM (hereinafter referred to as an EEPROM) is built in, the data is stored in the memory. When such a memory is not built in the correction table creator 46, a memory such as an EEPROM may be separately provided in the automatic guided vehicle 31 and the correction table 100 may be stored therein.

The carrier position deviation calculator 47 calculates the position and direction data of the optical mark image 19 obtained by the mark position calculator 42 (this represents the amount of deviation of the carrier 31 from the optical marks 13 and 14). X and θ respectively
) Using the correction data Xt and θt of the corresponding mark number in the correction table 100 (this data represents the amount of deviation of the optical marks 13 and 14 from the correct mark position) using the following equation (4). And the correction according to the equation (5) to correct the mark position, that is, the positional deviation amount ΔX and the inclination angle Δθ of the automatic guided vehicle 31 with respect to the original traveling course.
Ask for. Δθ = θ−θt (4) ΔX = X−Xt (5)

The steering controller 48 has a function of controlling the steering of the automatic guided vehicle 31 so that the displacement Xq and the inclination angle θs obtained by the reference mark position calculator 45 are both zero, and Arithmetic unit 47
Has the function of controlling the steering of the automatic guided vehicle 31 so that both the displacement amount ΔX and the inclination angle Δθ obtained by the above are set to zero.

Next, the operation of the first embodiment will be described. First, before actual operation of the automatic guided vehicle 31, correction data of all the optical marks 13 and 14 is collected and a correction table 100 is collected.
(Hereinafter referred to as a teaching mode) is executed. FIG. 7 shows a configuration of a main part of the first embodiment when the teaching mode is executed. At the start of the teaching mode, first, an electric wire 35 as a reference mark is laid on the floor based on a design drawing or the like. When removing the electric wire 35 before actual operation, the electric wire 35 may be temporarily fixed. The optical marks 13 and 14 are already attached to the ceiling.

Subsequently, an AC signal is supplied to the electric wire 35 by the signal generator 36, and in this state, the automatic guided vehicle 31 travels along the electric wire 35. At this time, the reference mark detection sensors 43 and 44 (electromagnetic sensors 33 and 34) always detect the electric wire 35. Then, the reference mark position calculator 45 calculates the position of the electric wire 35 from the respective positions (points A and B in FIG. 4) of the electric wire 35 with respect to the two sensors 43 and 44 and the distance L between the sensors (known from actual measurement and the like). The position Xq and the direction θs of the automatic guided vehicle 31 with respect to are calculated and obtained (see FIG. 4).

Then, the steering controller 48 calculates Xq
Automatic guided vehicle 31 so that the values of
And the position of the automatic guided vehicle 31 is corrected. At that time, since the electric wire 35 is continuous along the original traveling course, the automatic guided vehicle 31 can travel within an error of about ± several mm with respect to the original traveling course.

As described above, when the automatic guided vehicle 31 is traveling with high accuracy on the original traveling course, the mark detection sensor 41 (TV camera 32) is operated by the optical marks 13 and 1.
When 4 is detected, the mark position calculator 42 calculates and obtains the position Xp and direction θc of the optical mark image 19 in the captured image. Then, the correction table creator 46
Based on these values of Xp and θc and the values of Xq and θs obtained by the reference mark position calculator 45, correction data Xt and θt for the optical mark being detected are calculated and obtained (see FIG. 5). ) And store it in the correction table 100. Correction data is collected for all the optical marks 13 and 14, and when the correction table 100 is completed, the teaching mode ends.

Accordingly, the electric wire 35 as a reference mark, the signal generator 36, the mark detection sensor 41, the mark position calculator 42, the reference mark detection sensors 43 and 44, the reference mark position calculator 45, the correction table generator 46, and the steering wheel The controller 48 mainly forms a main part of the present invention. However, since the mark detection sensor 41, the mark position calculator 42 and the steering controller 48 are also provided in the conventional automatic guided vehicle, except for these, the electric wire 35 and the signal generator 36, the reference mark detection sensor 43, 44, a reference mark position calculator 45, and a correction table creator 46 are configured to be detachable from an automatic guided vehicle that does not have these components. The generator 36, the reference mark detection sensors 43 and 44, the reference mark position calculator 45, and the correction table generator 46 may be reused.

Then, the electric wire 35, the signal generator 36,
Since the reference mark detection sensors 43 and 44, the reference mark position calculator 45, and the correction table generator 46 can be effectively used, the cost of parts can be reduced, and the cost can be prevented from rising. In this case, the memory for storing the correction table 100 needs to be provided in the automatic guided vehicle separately from the correction table generator 46.

After the end of the teaching mode, if necessary,
5 and the signal generator 36 are removed. In actual operation, the reference mark detection sensors 43 and 44 (electromagnetic sensors 33 and 44)
34) becomes unnecessary, the sensors 43 and 44 may be removed after the end of the teaching mode. Thereafter, the operation mode is shifted to the traveling mode in which the automatic guided vehicle 31 is actually operated.

FIG. 8 shows the automatic guided vehicle 3 in the running mode.
1 is shown. In the traveling mode, the automatic guided vehicle 3
1 travels while detecting the optical marks 13 and 14 by the mark detection sensor 41 (TV camera 32), and performs a mark position calculator 42 on the detected optical marks 13 and 14.
Is obtained by calculating the position X and the direction θ of the optical mark image 19. Then, the transport vehicle displacement calculator 47 reads out the correction data Xt and θt corresponding to the detected optical marks 13 and 14 from the correction table 100, and obtains the above (4)
The positional deviation amount ΔX and the inclination angle Δθ of the automatic guided vehicle 31 with respect to the original traveling course are obtained according to the equations (5) and (5). Then, the steering controller 48 determines ΔX and Δ
The steering of the automatic guided vehicle 31 is controlled so that both the values of θ become zero, and the steering of the automatic guided vehicle 31 is corrected.

According to the first embodiment, the automatic guided vehicle 3
1 is traveled along the original traveling course with high accuracy, and correction data indicating how much of the optical marks 13 and 14 already attached are recognized by the TV camera 32 is written to all the optical marks 13 and 14. 14 and stored as the correction table 100, the correction data is used even when the optical marks 13 and 14 are not correctly attached and the floor is inclined. Correcting the actual positions of the marks 13 and 14 in the manner described above is equivalent to accurately attaching the marks 13 and 14 to the original mark positions, so that the mounting positions of the optical marks 13 and 14 are finely adjusted. Eliminates the need. Therefore, the mounting of the optical marks 13 and 14 is facilitated, and the increase in the construction cost can be suppressed as much as possible, and the automatic guided vehicle 31 can be run while being accurately steered.

(Embodiment 2) FIG. 9 is an external view showing Embodiment 2 of the present invention. Embodiment 2 differs from Embodiment 1 in that an AC signal is applied as a reference mark. An optical reflective tape 39 is used in place of the provided electric wire 35, and TV cameras 37 and 38 for detecting the reflective tape 39 are used in place of the electromagnetic sensors 33 and 34 as the reference mark detection sensors 43 and 44. The point and the reference mark position calculator 45 determine the position and direction of the reflective tape 39 as described later. Other configurations are the same as those of the first embodiment, and thus the same configurations are denoted by the same reference numerals, and description thereof will be omitted. Only different points will be described below. The reflection tape 39 is used for the automatic guided vehicle 31.
Along the original traveling course, for example, on the floor.

In the second embodiment, since the reference mark detection sensors 43 and 44 are constituted by the TV cameras 37 and 38,
As shown in FIG. 10, the center point of the image 18 obtained by the TV camera 32 is set as the origin Oc of the XcYc coordinates, and the image 5 obtained by the two TV cameras 37 and 38, respectively.
When the axis passing through the center points Of and Ob of Nos. 1 and 52 is defined as the Yc axis, the reference mark position calculator 45 is obtained by using the positional relationship (known by actual measurement or the like) of these three points Oc, Of and Ob. Calculates the coordinates (Xq, 0) of the intersection Q between the reflection tape 39 and the Xc axis and the direction θs thereof by image processing.
Using the obtained Xq and θs, the correction table 100 is generated by the correction table generator 46 in the same manner as in the first embodiment.
Is created.

Next, the operation of the second embodiment will be described. First, after the optical marks 13 and 14 are attached, before the automatic operation of the automatic guided vehicle 31, the reflective tape 39 as a reference mark is attached to the floor surface based on a design drawing or the like, and the teaching mode is executed. In the teaching mode, the automatic guided vehicle 31 travels along the reflective tape 39. At this time, the reference mark position calculator 45 always calculates and obtains the position Xq of the automatic guided vehicle 31 with respect to the reflective tape 39 and the direction θs.

Then, the steering controller 48 calculates Xq
Automatic guided vehicle 31 so that the values of
, And the steering correction of the automatic guided vehicle 31 is performed. At that time, since the reflection tape 39 is continuous along the original traveling course, the automatic guided vehicle 31 can travel within an error of about ± several mm with respect to the original traveling course.

As described above, when the automatic guided vehicle 31 is traveling with high accuracy on the original traveling course, the mark detection sensor 41 (TV camera 32) outputs the optical marks 13 and 1.
4 and the mark position calculator 42 calculates the position Xp and the direction θc of the optical mark image 19 in the captured image.
Is calculated. The correction table creator 46 calculates the correction data Xt and θt for the optical mark being detected based on the values of Xp and θc and the values of Xq and θs obtained by the reference mark position calculator 45. (Refer to FIG. 10), and the correction table 100
To be stored. Correction data is collected for all the optical marks 13 and 14, and when the correction table 100 is completed, the teaching mode ends.

After the end of the teaching mode, the reflection tape 39 is removed if necessary. Since the reference mark detection sensors 43 and 44 (TV cameras 37 and 38) are not required during actual operation, the sensors 43 and 44 may be removed.
Thereafter, the operation mode is shifted to the traveling mode in which the automatic guided vehicle 31 is actually operated.
The running mode is the same as in the first embodiment, and a description thereof will be omitted.

According to the second embodiment, similarly to the first embodiment, even if the optical marks 13 and 14 are not correctly attached and the floor is inclined, the correction data By correcting the actual positions of the marks 13 and 14 using the same, it is the same as accurately attaching the marks 13 and 14 to the original mark positions, so that the mounting positions of the optical marks 13 and 14 can be finely adjusted. No need to adjust. Therefore, the mounting of the optical marks 13 and 14 is facilitated, and the increase in the construction cost can be suppressed as much as possible, and the automatic guided vehicle 31 can be run while being accurately steered.

(Embodiment 3) FIG. 11 and FIG.
FIG. 3 is an external view of Embodiment 3 of the present invention and a block diagram of main parts thereof. Embodiment 3 differs from Embodiment 1 in that an electric wire 35 to which an AC signal is applied by a signal generator 36 is shown. Are electromagnetically detected by reference mark detection sensors 43 and 44 composed of electromagnetic sensors 33 and 34, and TV cameras 37 and 38 are provided as other reference mark detection sensors 61 and 62 to optically detect the electric wire 35. However, the correction table 100 is created using the average of the magnetic detection result and the optical detection result.

Therefore, the reference mark detection sensors 61 and 62
Also constitutes the travel position correction device according to the present invention. Other configurations are the same as those of the first embodiment, and the same configurations are denoted by the same reference numerals and description thereof will be omitted. Optical detection of the electrical wires 35 by the TV cameras 37 and 38 will be described with reference to the electrical wires. Although there is a difference between the reflection tape and the reflection tape, the description is basically the same as the description for the detection of the reflection tape 39 in the second embodiment, and thus the description thereof is omitted.

In the third embodiment, it is preferable that the electric wire 35 be colored so as to cause a contrast with the floor as a background in the images obtained by the TV cameras 37 and 38.

According to the third embodiment, the position and the direction of the electric wire 35 as the reference mark are determined by the electromagnetic sensors 33 and 3.
And the TV camera 37, 38
Since the optical detection result obtained by the above is averaged, the position Xq and the direction θs of the electric wire 35 can be obtained more accurately than in the first and second embodiments, so that more accurate correction can be performed. The table 100 can be created, and the traveling error of the automatic guided vehicle 31 during actual operation can be further reduced.

(Fourth Embodiment) FIG. 13 is an external view showing a fourth embodiment of the present invention. Embodiment 4 is different from Embodiment 1 in that magnetic marks 23 and 24 such as magnetic tapes and magnetic bars are provided on the floor in place of the optical marks 13 and 14, and two magnetic sensors are used as mark detection sensors 41. 72 and 73 are provided before and after the automatic guided vehicle 71.
Other configurations are the same as those of the first embodiment, and therefore, the same components are denoted by the same reference numerals, and description thereof will be omitted.
The detection of 3 and 24 is the same as the corresponding description of the prior art shown in FIGS.

According to the fourth embodiment, the automatic guided vehicle 7
While traveling along the original traveling course with high accuracy, the correction data indicating how much the already installed magnetic marks 23 and 24 are recognized by the magnetic sensors 72 and 73 are output to all the magnetic marks 23. , 24, and store them as the correction table 100. Therefore, even if each of the magnetic marks 23 and 24 is not accurately attached, there is also a reinforcing bar or the like near the magnetic marks 23 and 24, whereby the magnetic marks 23 and 24
Even if the magnetic field formed by the turbulence is disturbed, the actual positions of the marks 23 and 24 are corrected using the correction data, so that the marks 23 and 24 are accurately attached to the original mark positions, and the influence of the reinforcing bars and the like. This is the same as the case where there is no need to finely adjust the mounting position of the magnetic marks 23 and 24. For this reason, the installation of the magnetic marks 23 and 24 becomes easy, and an increase in the construction cost can be suppressed as much as possible, and the automatic guided vehicle 71 can be run with high accuracy.

In FIG. 13, the magnetic sensor 72,
The sensor 73 and the electromagnetic sensors 33 and 34 are set apart in parallel in order to prevent mutual interference between the two sensors. However, when there is no mutual interference between the two, the magnetic sensors 72 and 73 and the electromagnetic sensors 33 and 34 are not provided. 34 and the electric wire 35
May be laid on the magnetic marks 23 and 24.

(Fifth Embodiment) FIG. 14 is an external view showing a fifth embodiment of the present invention. The fifth embodiment is a modification of the second embodiment. The fifth embodiment is different from the second embodiment in that the optical marks 13 and 14 are replaced with magnetic marks 23 such as a magnetic tape or a magnetic bar. , 24 are provided on the floor, and two magnetic sensors 72, 73 are provided before and after the automatic guided vehicle 71 as the mark detection sensor 41. The other configuration is the same as that of the second embodiment. Therefore, the same components are denoted by the same reference numerals, and description thereof will be omitted.
The detection of 3 and 24 is the same as the corresponding description of the prior art shown in FIGS.

According to the fifth embodiment, similarly to the fourth embodiment, even if each of the magnetic marks 23 and 24 is not accurately attached, a reinforcing bar or the like is provided near the magnetic marks 23 and 24. Yes, so that the magnetic marks 23, 24
Even if the magnetic field formed by the turbulence is disturbed, the actual positions of the marks 23 and 24 are corrected using the correction data, so that the marks 23 and 24 are accurately attached to the original mark positions, and the influence of the reinforcing bars and the like. This is the same as the case where there is no need to finely adjust the mounting position of the magnetic marks 23 and 24. Therefore, the mounting of the magnetic marks 23 and 24 is facilitated, and an increase in the construction cost is suppressed as much as possible, and the automatic guided vehicle 71 can be run while being accurately steered.

In FIG. 14, the magnetic sensors 72,
73 and the TV cameras 37 and 38 are arranged a little apart to avoid complicating the drawing, but they are installed coaxially and the reflection tape 39 is attached to the magnetic marks 23 and 24.
It may be laid on top.

[0074]

As described above, according to the automatic steering moving body, the moving body steering correction apparatus, and the moving body steering correction method of the present invention, the relative positional relationship between the reference mark and the permanent mark is provided. By correcting the steering of the moving body using the data of the above, it is the same as the case where the permanent mark is accurately attached to the same position as the reference mark, that is, the original mark position, so the fine adjustment of the attaching position of the permanent mark Becomes unnecessary. Therefore, the installation of the permanent mark is facilitated, the increase in the construction cost can be suppressed as much as possible, and the automatic steering vehicle can be run while being accurately steered. In addition, if the reference mark is removed after the detection of the reference mark, the moving area can be organized and does not hinder the work.

According to the automatic steering moving body of the present invention,
After acquiring the data of the relative positional relationship between the reference mark and the permanent mark by the correction data acquiring means, the reference mark detecting means is removed, and thereafter, in order to steer the moving body in accordance with the permanent mark, a reference mark detecting sensor is provided. It can be repeatedly used for a plurality of automatic steering moving bodies, and the increase in construction cost can be further suppressed.

Further, according to the automatic steering moving body and the steering correction device for the moving body of the present invention, the reference mark includes the electric wire and the signal generating means for supplying an AC signal to the electric wire. Since the electromagnetic sensors are provided before and after the moving body as reference mark detecting means, data of the relative positional relationship between the reference mark and the permanent mark can be created with a simple configuration, and the automatic steering moving body can be created. It is possible to further suppress an increase in the construction cost for moving the work.

Further, according to the automatic steering moving body and the steering correction device for the moving body of the present invention, the reference mark is constituted by an optical reflection tape, and the reference mark is detected before and after the moving body to detect the reference mark. Since a camera is provided as a means, it is possible to create data of the relative positional relationship between the permanent mark and the reference mark with a simple configuration,
It is possible to further suppress an increase in construction cost for moving the automatic steering moving body.

[Brief description of the drawings]

FIG. 1 is an external view showing a first embodiment according to the present invention.

FIG. 2 is a block diagram illustrating a configuration of a main part according to the first embodiment;

FIG. 3 is a schematic diagram of a reference mark detection sensor and a graph for explaining a method of obtaining a reference mark position by the sensor.

FIG. 4 is a schematic diagram for explaining a method of calculating and obtaining a position of a reference mark by a reference mark position calculator.

FIG. 5 is a schematic diagram for explaining a method of calculating and obtaining correction data by a correction table creator.

FIG. 6 is a chart showing an example of a correction table.

FIG. 7 is a block diagram illustrating a configuration of a main part of the automatic guided vehicle when the teaching mode is executed.

FIG. 8 is a block diagram illustrating a configuration of a main part of the automatic guided vehicle when the traveling mode is executed.

FIG. 9 is an external view showing a second embodiment according to the present invention.

FIG. 10 is a schematic diagram for explaining a method of calculating and obtaining correction data by a correction table creator.

FIG. 11 is an external view showing a third embodiment according to the present invention.

FIG. 12 is a block diagram illustrating a configuration of a main part according to the third embodiment;

FIG. 13 is an external view showing a fourth embodiment according to the present invention.

FIG. 14 is an external view showing a fifth embodiment according to the present invention.

FIG. 15 is an external view showing a conventional optical mark type automatic guided vehicle.

FIG. 16 is a block diagram showing a configuration of a main part of a conventional optical mark type automatic guided vehicle.

FIG. 17 is a schematic diagram illustrating an example of an image captured by a mark detection sensor of an optical mark type automatic guided vehicle.

FIG. 18 is an external view showing a conventional magnetic mark type automatic guided vehicle.

FIG. 19 is a block diagram showing a configuration of a main part of a conventional magnetic mark type automatic guided vehicle.

FIG. 20 is a schematic diagram for explaining how to determine the position and direction of a magnetic mark.

FIG. 21 is a schematic diagram for explaining a problem due to a mark mounting error.

FIG. 22 is a schematic diagram for explaining a problem when the floor is inclined.

FIG. 23 is a schematic diagram showing an image obtained when the floor is inclined.

FIG. 24 is a schematic diagram for describing a problem when a reinforcing bar is arranged near a mark.

[Explanation of symbols]

13, 14 Optical mark 18 Image captured by a TV camera as a mark detection sensor 19 Optical mark image 23, 24 Magnetic mark 31, 71 Automated guided vehicle 32 TV camera 33, 34 Electromagnetic sensor 35 Electric wire 36 Signal generator 37, 38 TV camera 39 Reflective tape 41 Mark detection sensor 42 Mark position calculator 43,44,61,62 Reference mark detection sensor 431,432 Pickup coil 45 Reference mark position calculator 46 Correction table creator 47 Carrier position shift calculator 48 Steering Controllers 51, 52 Images captured by a TV camera as a reference mark detection sensor 72, 73 Magnetic sensor 100 Correction table

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3D032 CC20 CC21 CC48 DA88 DC04 EB04 GG07 5H301 AA02 AA09 BB05 CC06 EE05 EE06 EE08 EE13 EE23 EE24 GG28 HH01 HH02 MM07 MM09

Claims (9)

[Claims] 1. A permanent mark detecting means for detecting a plurality of permanent marks provided in advance while moving a moving body, and a relative positional relationship between the permanent mark and the moving body based on a detection result of the permanent mark. Permanent mark position calculating means for determining the reference mark, moving along with the moving body, detecting the reference mark laid along the original course to be moved by the moving body, and detecting the reference mark by the reference mark detecting means Reference mark position calculating means for calculating the relative positional relationship between the reference mark and the moving body based on the reference mark, and the relative positional relationship between the reference mark and the moving body determined by the reference mark position calculating means and the movement of the permanent mark. Correction data acquisition means for acquiring data on the relative positional relationship between the reference mark and the permanent mark based on the relative positional relationship with the body; When moving the moving body based on the result, using a data of a relative positional relationship between the reference mark and the permanent mark, a steering control means for steering the moving body; body. 2. An automatic apparatus according to claim 1, wherein any or all of said reference mark detection means, reference mark position calculation means and correction data acquisition means are detachably attached to a moving body. Steering moving body. 3. The reference mark comprises an electric wire and signal generating means for supplying an AC signal to the electric wire, and the reference mark detecting means is an electromagnetic sensor provided before and after a moving body. The automatic steering vehicle according to claim 1. 4. The automatic reference mark according to claim 1, wherein the reference mark is formed of an optical reflective tape, and the reference mark detection unit is a camera provided before and after a moving body. Steering moving body. 5. A method of detecting a plurality of permanent marks provided in advance and detecting a reference mark laid along an original course on which the moving body is to move along with a moving body traveling based on the detection result. Fiducial mark detecting means, fiducial mark position calculating means for obtaining a relative positional relationship between the fiducial mark and the moving object based on the fiducial mark detection result by the fiducial mark detecting means, and a fiducial mark calculated by the fiducial mark position calculating means. Correction data acquiring means for acquiring data of a relative positional relationship between the reference mark and the permanent mark based on a relative positional relationship between the mark and the movable body and a relative positional relationship between the permanent mark and the movable body; And a correction data storage means for storing data on a relative positional relationship between the reference mark and the permanent mark. 6. The reference mark comprises an electric wire and signal generating means for supplying an AC signal to the electric wire, and the reference mark detecting means is an electromagnetic sensor which can be attached to each of the front and rear of the moving body. The mobile body steering correction device according to claim 5. 7. The moving body according to claim 5, wherein the reference mark is formed of an optical reflective tape, and the reference mark detecting unit is a camera that can be attached to each of the front and rear of the moving body. Steering correction device. 8. A permanent mark detecting step of detecting a plurality of permanent marks provided in advance while moving the movable body, and a relative positional relationship between the permanent mark and the movable body based on a detection result of the permanent mark. And a reference mark laying step for laying fiducial marks along the original course where the moving object should move, and a fiducial mark detection for detecting the laid fiducial marks while moving the moving object A reference mark position calculating step for obtaining a relative positional relationship between the reference mark and the moving body based on a detection result of the reference mark; and a relative positional relationship between the reference mark and the moving body and a permanent mark and moving. A correction data acquiring step of acquiring data on a relative positional relationship between the reference mark and the permanent mark based on the relative positional relationship with the body; and A steering correction step of correcting the steering of the moving body by using relative positional relationship data between the reference mark and the permanent mark when the moving body is steered by using the steering mark. 9. The method according to claim 8, further comprising the step of removing a reference mark after detecting the reference mark.