JP6910661B2 - Autonomous mobile system - Google Patents

Description

The present invention relates to an autonomous movement system using an autonomous traveling robot, and more particularly to a technique for simplifying setting work and improving collision prevention performance.

As a means of transporting goods in factories, warehouses, etc., autonomous traveling robots such as self-propelled trolleys are often adopted instead of human-powered or electrically assisted trolleys. As an autonomous traveling robot, a robot that travels along a predetermined traveling route by using a magnetic tape attached to a road surface and a magnetic sensor attached to the lower surface of a vehicle body is known (Patent Document 1).

In addition, a retroreflective member is attached to the rear of the transport vehicle (autonomous traveling robot) that travels along the track, and the reflected light from the retroreflective member of the autonomous traveling robot traveling in front is a laser type that is an active light wave sensor. It is known that the robot detects by a distance measuring device, calculates the distance between the robot and the autonomous traveling robot in front of the robot, and controls the vehicle speed in order to prevent a collision or the like (Patent Document 2).

Japanese Unexamined Patent Publication No. 2004-86453 Japanese Patent No. 4461199

In the goods transportation system using an autonomous traveling robot, a traveling route and various work equipment (processing equipment, assembly equipment, carry-in equipment, etc.) are installed on the floor of a factory or warehouse, and the autonomous traveling robot performs each work via the traveling route. Move between facilities. In this case, it is necessary to prevent a collision between autonomous traveling robots traveling on a traveling route and congestion due to a stop of the autonomous traveling robot in a work facility, and it is inevitable that the transport efficiency is lowered.

Therefore, the present inventors have established a traveling route (priority route) that covers the entire floor surface of the facility and a traveling route (non-priority route) that branches from the priority route to each work facility, and the priority route and the non-priority route. We considered connecting the priority route with a branch point and a merge point. If this method is adopted, the autonomous traveling robot traveling on the priority route and the autonomous traveling robot stopped at the work facility are separated from each other, and the decrease in transportation efficiency due to collision or traffic jam can be effectively suppressed. However, in this case, it is necessary to store a large number of branch points and merging points in the autonomous traveling robot, which causes a problem that the setting work becomes complicated. In addition, when entering the priority route from the non-priority route, it is necessary to prevent collision with other autonomous traveling robots, but detecting the autonomous traveling robot traveling on the priority route is a normal detection system. Then it was difficult.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an autonomous mobile system that facilitates setting work and improves collision prevention performance.

Autonomous mobile system of the present invention, autonomous mobile including a travel route having a plurality of branches, the autonomous mobile robot to autonomously travel along the travel route, and a route setting means for setting a travel route of the autonomous mobile robot In the system, at least one branch point and one merging point are provided on the traveling route, and the traveling route has a branch sign corresponding to the branch point or a merging sign corresponding to the merging point. The autonomous traveling robot is provided with a guideline indicating the traveling route and a laser sensor for detecting the sign, and when the branch sign is detected during traveling, the detection result and a branch selection command input from the route setting means are provided. Based on the above, when the vehicle enters any of the branched traveling routes and the merging sign is detected during traveling, it is determined whether or not there is another moving body approaching on the merging destination traveling route. Based on the determination result, it is determined whether or not to enter the traveling route of the merging destination, the deceleration stop determination area for avoiding collision with the autonomous traveling robot in front is provided, and after the merging sign is detected, the deceleration stop determination area is provided. The deceleration stop determination area is expanded toward the upstream side of the travel route at the merging destination .

Preferably, the laser sensor further detects an obstacle, and when the autonomous traveling robot detects the obstacle during traveling, the speed is reduced or the traveling is stopped.

Preferably, the travel route is further provided with at least one of a stop sign indicating a guideline for the stop position and a speed setting sign which is a sign for changing the speed setting, and the laser sensor further comprises. When the stop sign and the speed setting sign are detected and the autonomous traveling robot detects the stop sign during traveling, the traveling is stopped, and when the speed setting sign is detected during traveling, the speed setting is set to the speed setting. Change based on the sign.

Preferably, the guideline and the label are made of retroreflective material.

According to the present invention, the autonomous traveling robot can smoothly enter the non-priority route from the priority route by detecting the branch sign, while the other autonomous traveling robot on the priority route by detecting the merging sign. Can be detected to effectively prevent collisions.

It is a schematic block diagram of the article transport system which concerns on embodiment. It is a top view of the branch sign which concerns on embodiment. It is a perspective view of the autonomous traveling robot which concerns on embodiment. It is a front view of the autonomous traveling robot which concerns on embodiment. It is a side view of the autonomous traveling robot which concerns on embodiment. It is a top view which shows the display set to the sending mode. It is a flowchart which shows the procedure of the merging process. It is a figure which shows the deceleration stop determination area in a normal time and a merging time. It is a top view which shows the state of the autonomous traveling robot at the time of a merging process. It is a flowchart which shows the procedure of a branch entry process. It is a top view which shows the state of the autonomous traveling robot at the time of a branch approach process. It is a front view which shows the tablet terminal set in a call mode. It is a flowchart which shows the procedure of a call answer processing.

Hereinafter, an embodiment in which the autonomous mobile system of the present invention is applied to an article transport system in a processing factory will be described in detail with reference to FIGS. 1 to 12.

[Structure of Embodiment]
FIG. 1 is a schematic configuration diagram of an article transport system according to an embodiment.
FIG. 2 is a plan view of the branch sign according to the embodiment.

As shown in FIG. 1, in the processing factory 1, the first to fifth work facilities (equipment in which work is performed by workers and work robots) 2a to 2e for carrying in, processing, assembling, and carrying out workpieces, loops, etc. One-way (in this embodiment, counterclockwise) circuit route 3 (priority route), branch route 4 (4a to 4e: non-priority route) provided for each work equipment 2a to 2e, circuit route 3 Branch point 5 (5a to 5e) for entering the branch route 4 from, merging point 6 for entering the circuit route 3 from the branch route 4, first and second standby areas 7 (7a, 7b), management device. 8. An article transfer system 9 including a large number of autonomous traveling robots 20 and the like is installed.

The orbital route 3 is provided with the orbital route side guideline 11, while the branch route 4 is provided with the branch route side guideline 12, and the autonomous traveling robot 20 travels while tracing these guidelines 11 and 12. Both guidelines 11 and 12 are formed by attaching a retroreflective material (retroreflective tape) that reflects light such as laser light in the projected direction to the floor surface. In the present embodiment, the circuit route side guideline 11 and the branch route side guideline 12 are continuous, but the end portion of the branch route side guideline 12 may be separated from the circuit route side guideline 11 by a predetermined amount (that is,). It does not have to be continuous with the circuit route side guideline 11).

The circuit route 3 is provided with a branch sign 13 (13a to 13e: only 13a is shown in FIG. 1) on the upstream side of a predetermined distance from the branch point 5 (5a to 5e) which is the connection point of the branch route 4. Is provided with a merging sign 14 on the upstream side of a predetermined distance from the merging point 6, which is a connection point to the circuit route 3. As shown in FIG. 2A, both the branching sign 13 and the merging sign 14 (the branching sign 13 is exemplified in FIG. 2A) are provided with a retroreflective material (retroreflective tape). It is a bar code-like pattern attached to the floor surface, and at the attachment site, the circuit route side guideline 11 and the branch route side guideline 12 are provided separately on the left and right sides (indicated by reference numerals 11a and 11b). Has been done. As shown in FIG. 2B, the branch sign 13 and the merging sign 14 may be arranged on the side (left and right) of the circuit route side guideline 11 and the branch route side guideline 12.

Branch label 13 while having a unique pattern (branches ID) corresponding to each branch route 4 a to 4 e, merging label 14 merging destination indicates a circular route 3 (preferred route) der Turkey. Further, the branch route 4 is provided with a stop sign 15 at a portion facing the work equipment 2 as a guideline for the stop position of the autonomous traveling robot 20. The stop sign 15 is also a retroreflective material (retroreflective tape) attached in a predetermined pattern. In addition to these signs 13 to 15, signs for changing the speed setting of the autonomous traveling robot 20 may be adopted. For example to set the high-speed traveling section in a linear portion of the circular route 3 or branch route 4, by adjusting the speed of the autonomous mobile robot 20 by providing a label indicating the start and end between high Hayahashi row ku, efficient Operation can be realized.

The standby area 7 is an area for evacuating the autonomous traveling robot 20 that is not in operation from the circuit route 3, and is provided with a charging facility for charging the battery mounted on the autonomous traveling robot 20.

The management device 8 receives position information and status information from each autonomous traveling robot 20 via the Internet via a wireless LAN or a 3G line, and the operator holds these mobile terminals (for example, a tablet terminal or a smartphone). Etc.). In the present embodiment, when the worker calls the autonomous traveling robot 20 using the mobile terminal, the position information and the state information from the management device 8 are required, but the worker who sends out the autonomous traveling robot 20 is in the standby area. If it is arranged at 7 or the like, the management device 8 may not be provided.

(Autonomous traveling robot)
FIG. 3 is a perspective view of the autonomous traveling robot according to the embodiment.
FIG. 4 is a front view of the autonomous traveling robot according to the embodiment.
FIG. 5 is a side view of the autonomous traveling robot according to the embodiment.

As shown in FIGS. 3 to 5, the autonomous traveling robot 20 includes a vehicle body 21 composed of steel plates, steel pipes, FRP, and the like, and a rear overhang portion 21a extending from the rear end. The vehicle body 21 has a pair of left and right drive wheels 22 connected to an electric motor (not shown) in the lower rear portion, a pair of left and right caster wheels 23 in the lower front portion, and a pair of left and right interference prevention wheels 24 in the rear overhang portion 21a. It has at the rear end. A relatively large-diameter center column 25 is erected on the upper part of the vehicle body 21, while a pair of left and right rear pillars 26 are erected at the rear end of the rear overhang portion 21a. At the upper ends of the center column 25 and the rear pillar 26, long rectangular decks 27 are supported before and after being used for loading articles.

A bracket 31 made of a square pipe or a plate material is attached to the central portion of the front end of the deck 27, and the controller 32 is fixed to the upper portion of the bracket 31. The controller 32 is provided with a joy tech type control stick (hereinafter referred to as joy tech) 33 and a display 34 (touch panel) as an input interface at the upper part. The Joyce Tech 33 tilts the autonomous traveling robot 20 back and forth and left and right to move the autonomous traveling robot 20 in that direction. For example, by connecting a lead (rope) to the Joyce Tech 33 and pulling it, an operator moves (follows) the autonomous traveling robot 20. ) Can be made. Further, the display 34 displays the identification code of the branch route 4, and the operator can set the destination of the autonomous traveling robot 20 (that is, the controller 32 has the function of the route setting means, and at a predetermined branch point 5. Generate a branch selection command to branch to the branch route 4). It is also possible to omit the display 34 by setting the destination of the autonomous traveling robot 20 only by communicating with the management device 8 described above and the mobile terminal. In this case, the function of the route setting means is carried out by the management device 8 and the mobile terminal (tablet terminal 40 described later).

A scanner-type laser distance sensor (hereinafter, simply referred to as a laser sensor) 35, which is an active light wave sensor, is attached to the front portion of the center column 25. The laser sensor 35 projects a laser beam diagonally downward from the horizontal at a predetermined circumferential angle (for example, 270 degrees forward), receives the reflected laser beam, and receives the reflected laser beam to be received by another autonomous traveling robot 20 or the guideline 11. , 12, branch sign 13, and merge sign 14 are detected.

[Action of Embodiment]
Hereinafter, the operation of the present embodiment will be described with reference to FIGS. 6 to 13 with reference to two operation examples.
FIG. 6 is a plan view showing a display set to the delivery mode.
FIG. 7 is a flowchart showing the procedure of the merging process.
FIG. 8 is a diagram showing a deceleration / stop determination region at the time of normal operation and the time of merging. FIG. 9 is a plan view showing a state of the autonomous traveling robot at the time of merging processing.
FIG. 10 is a flowchart showing the procedure of the branch entry process.
FIG. 11 is a plan view showing a state of the autonomous traveling robot at the time of branch approach processing.
FIG. 12 is a front view showing a tablet terminal set in the call mode.
FIG. 13 is a flowchart showing the procedure of the call response processing.

<First operation example>
In the first operation example, the operator sets the destination from the controller 32 and sends out the autonomous traveling robot 20 without relying on the communication between the management device 8 and the mobile terminal.

When the autonomous traveling robot 20 is sent out to another work equipment 2, the worker in the standby area 7 or the work equipment 2 sets the controller 32 (display 34) of the autonomous traveling robot 20 to the sending mode. In the controller 32 set to the delivery mode, as shown in FIG. 6, the symbol buttons 61a to 61e corresponding to the first to fifth work facilities 2a to 2e and the decision button 62 are displayed.

(Merge processing)
When sending the autonomous traveling robot 20 equipped with the work to the other work equipment 2, the worker touches the symbol buttons 61a to 61e and then touches the enter button 62. Then, the controller 32 executes the merging process whose procedure is shown in the flowchart of FIG. 7.

The controller 32, which has started the merging process, causes the autonomous traveling robot 20 on the branch route 4 to start traveling in step S1 of FIG. 7, and advances on the branch route 4 toward the merging point 6. Next, the controller 32 determines whether or not the laser sensor 35 has detected the merge sign 14 in step S2.

When the determination in step S2 is Yes, the controller 32 causes the autonomous traveling robot 20 to drive slowly in step S3, and changes the deceleration / stop determination area as described below in step S4. In the normal state, as shown in FIG. 8A, the controller 32 has a fan-shaped detection range S1 having a relatively long distance and a wide angle around the laser sensor 35, and a rectangular deceleration stop determination area extending forward. It has S2 and determines whether or not there is an obstacle in the traveling direction. Then, when the merging sign 14 is detected, the controller 32 changes the deceleration stop determination area S2 to the deceleration stop determination area S2'in which the left side is enlarged, as shown in FIG. 8B, and another lap route 3 is used. Determine if there is an obstacle.

Next, in step S5, the controller 32 determines whether or not another moving body (another autonomous traveling robot 20, a hand truck, etc.) is approaching on the circuit route 3 (the other moving body in the deceleration stop determination area S2'). Whether or not exists) is determined. The approach of another moving body may be determined by detecting its direction or speed. If the determination in step S5 is Yes, the controller 32 stops (stands by) the autonomous traveling robot 20 immediately before the orbital route 3 in step S6 as shown in FIG.

If there is no other autonomous traveling robot 20 and the determination in step S5 is No (or if it passes in front of the junction 6 and becomes No), the controller 32 starts the autonomous traveling robot 20 in step S7. It is made to enter the circuit route 3 from the combined flow path 6.

(Branch entry processing)
When the autonomous traveling robot 20 enters the orbital route 3, the controller 32 executes a branch approach process whose procedure is shown in the flowchart of FIG. The controller 32 that has started the branch approach process determines whether or not the laser sensor 35 has detected the branch sign 13 on the circuit route 3 in step S11 of FIG. When the determination in step S11 is Yes, the controller 32 determines in step S12 whether or not the branch sign 13 is related to the branch selection command (corresponding to the branch route 4 attached to the work equipment 2 at the delivery destination). If this determination is No, the autonomous traveling robot 20 is allowed to travel on the circuit route 3 as it is. The controller 32 identifies each branch sign 13a to 13e (that is, each work equipment 2a to 2e) based on the identification information input in advance.

The autonomous traveling robot 20 travels on the orbiting route 3 at a predetermined speed while tracing the orbiting route side guideline 11, but when another autonomous traveling robot 20 is present in front, the controller 32 keeps a constant inter-vehicle distance. Decelerate or stop to keep.

When the laser sensor 35 detects the branch sign 13 related to the destination and the determination in step S12 is Yes, the controller 32 decelerates the autonomous traveling robot 20 in step S13 (after slowing down), and then in step S14. It is determined whether or not the branch route side guideline 12 is detected. When the branch route side guideline 12 is detected and the determination in step S4 is Yes, the controller 32 causes the autonomous traveling robot 20 to enter the branch route 4 in step S15, and sets the branch route side guideline 12 as shown in FIG. Run along.

When the autonomous traveling robot 20 enters the branch route 4, the controller 32 determines whether or not the laser sensor 35 has detected the above-mentioned stop sign 15 (see FIG. 1) in step S16, and if this determination is Yes. In step S17, the autonomous traveling robot 20 is stopped.

<Second operation example>
The second operation example has substantially the same configuration as the first operation example described above, except that the worker of the work equipment 2 calls the autonomous traveling robot 20 using the tablet terminal 40.

When it becomes necessary for the workers of the work equipments 2a to 2e to transport the articles in the processing factory 1, the tablet terminal 40 is set to the call mode as shown in FIG. 12, and the autonomous traveling robot 20 is called. In the tablet terminal 40 set to the call mode, the first to fifth work facilities 2a to 2e and each autonomous traveling robot 20 are schematically arranged in FIG. 51, “Touch the robot in the standby area and then touch the call destination. , Please touch the enter button. ”The operation procedure 52 and the enter button 53 are displayed on the display 40a (touch panel).

In the layout drawing 51, the position display of the autonomous traveling robot 20 is performed based on the position information transmitted from the management device 8. When the work equipment 2 and the autonomous traveling robot 20 on the layout drawing 51 are touched, the display colors change (reverse), but the operating autonomous traveling robot 20 (of the lap route 3 and the branch route 4) is touched. But it doesn't react.

(Call response processing)
The operator calls the autonomous traveling robot 20 waiting in the nearby standby area 7 (7a, 7b) to his / her work equipment 2 according to the operation procedure 52 displayed on the display 40a. Then, a call command is transmitted from the tablet terminal 40 to the controller 32 of the autonomous traveling robot 20, and the controller 32 executes a call response process showing the procedure in the flowchart of FIG.

The controller 32, which has started the call response processing, changes the deceleration stop determination area S2 to the deceleration stop determination area S2'in which the left side is enlarged in step S21 of FIG. Next, in step S22, the controller 32 determines whether or not another autonomous traveling robot 20 exists on the circuit route 3 (whether or not another autonomous traveling robot 20 exists in the deceleration stop determination area S2'). do. If the determination in step S22 is Yes, the controller 32 keeps the autonomous traveling robot 20 stopped (standby) in the standby area 7 in step S23.

If there is no other autonomous traveling robot 20 and the determination in step S22 is No (or if it passes in front of the junction 6 and becomes No), the controller 32 starts the autonomous traveling robot 20 in step S24. Let's enter the circuit route 3 from the waiting area 7.

When the autonomous traveling robot 20 enters the orbital route 3, the controller 32 executes the branch approach processing (FIG. 10) described above, moves the autonomous traveling robot 20 to the designated call destination, and ends the call response processing.

When the remaining amount of the on-board battery becomes equal to or less than the specified value, the controller 32 causes the autonomous traveling robot 20 to enter the standby area 7 from the lap route 3 and charge the battery during standby by the charging equipment.

Although the description of the specific embodiment is completed above, the aspect of the present invention is not limited to these. For example, although the above embodiment applies the present invention to an article transport system in a processing factory, it can naturally be applied to an article transport system such as a warehouse or an operation system of a movement support robot on which a human rides. Further, in the above embodiment, the priority route is a circuit route and the non-priority route is a branch route, but the priority route may be a form other than the circuit route, and the traveling route is branched in multiple stages (that is, the priority is set). It may be provided in three or more stages). Further, in the above embodiment, the traveling route is branched in two directions at the branching point, but the traveling route may be branched in three or more directions. Further, although the laser sensor is used as the active light wave sensor in the above embodiment, a photoelectric sensor or the like may be adopted. Further, the shape and arrangement of the orbital route, the branching route, and the like, as well as the specific procedure of the configuration and processing of the autonomous traveling robot can be appropriately changed as long as the gist of the present invention is not deviated.

The autonomous movement system of the present invention can be effectively used for the transportation of goods in a processing factory or a warehouse and the operation system of a movement support robot.

1 Processing factory 2 Work equipment 3 Circular route (priority route)
4 Branch route (non-priority route)
7 Standby area 8 Management device 9 Goods transport system 11 Circular route side guideline 12 Branch route side guideline 13 Branch sign 14 Confluence sign 15 Stop sign 20 Autonomous traveling robot 32 Controller 35 Laser sensor

Claims (4)

An autonomous movement system including a traveling route having a plurality of branches, an autonomous traveling robot that autonomously travels along the traveling route, and a route setting means for setting a traveling route of the autonomous traveling robot.
At least one branch point and one merging point are provided on the traveling route.
The traveling route is provided with a branch sign corresponding to the branch point or a merge sign corresponding to the merge point.
The autonomous traveling robot
It is equipped with a guideline indicating the traveling route and a laser sensor for detecting the sign.
When the branch sign is detected during traveling, the vehicle enters one of the branched traveling routes based on the detection result and the branch selection command input from the route setting means.
When the merging sign is detected during traveling, it is determined whether or not there is another moving object approaching on the merging destination traveling route, and based on the determination result, whether or not to enter the merging destination traveling route. or to determine,
It has a deceleration stop determination area for avoiding collision with the autonomous traveling robot in front, and after detecting the merging sign, the deceleration stop determination area is expanded toward the upstream side of the traveling route of the merging destination.
Autonomous mobile system. The laser sensor further detects obstacles and
The autonomous traveling robot
When the obstacle is detected during traveling, the speed is reduced or the traveling is stopped.
The autonomous mobile system according to claim 1. The traveling route is further provided with at least one of a stop sign indicating a guideline for the stop position and a speed setting sign which is a sign for changing the speed setting.
The laser sensor further detects the stop sign and the speed setting sign.
The autonomous traveling robot
When the stop sign is detected during running, the running is stopped and the running is stopped.
When the speed setting sign is detected during traveling, the speed setting is changed based on the speed setting sign.
The autonomous mobile system according to claim 1 or 2. The guideline and the label are made of retroreflective material.
The autonomous mobile system according to any one of claims 1 to 3.

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