JP2009287268A - Vehicle moving method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable the stable movement of a vehicle brought to a stop in an arbitrary position and an arbitrary attitude. <P>SOLUTION: A control unit 32 measures vehicle data indicating the position, attitude and size of the vehicle 4 on the basis of data detected by a vehicle detection sensor 31, and computes and transmits a leader receiving orbit and a follower receiving one. A leader truck A and a follower truck B are guided to different side sections of the vehicle 4 along the leader receiving orbit and the follower receiving one, respectively. After the performance of fine positioning based on data detected by position detection sensors 33' and 34' for detecting tires, the trucks A and B move for the insertion of a lift bar 27 into the lower portion of the tire, and lift up the vehicle 4 by means of the lift bar 27. The trucks A and B make the vehicle 4 installed in a target position 105, after being guided to the target position 105 along a target orbit. The trucks A and B return to a starting position along a leader return orbit and a follower return one, after moving to pull out the lift bar 27 from a lower portion of the tire. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle moving method in which a vehicle stopped at an arbitrary position in an arbitrary posture (orientation) can be stably moved to a target position.

  Conventionally, for example, Patent Document 1 shows a general technical level of an entry / exit device in which a stopped vehicle is loaded and unloaded by cooperation of two transport carts.

  The apparatus shown in Patent Document 1 includes a left conveyance carriage and a right conveyance carriage each having a vehicle support mechanism and a traveling mechanism, and the left conveyance carriage and the right conveyance carriage cooperate with each other while moving independently. The vehicle is supported and transported. The left transport cart and the right transport cart cooperate by exchanging information in real time by wireless communication.

  However, as described above, if the left transport cart and the right transport cart cooperate based on real-time information exchange between the carts by wireless communication, information may be interrupted or delayed due to communication failure. It is difficult to stably obtain information necessary for cooperating the left and right transport carts in real time. In addition, when information cannot be obtained stably, an internal force more than necessary is applied to the transported vehicle or the like, and in the worst case, an object may be dropped or damaged.

In order to solve the above problem, the present applicant has a leader carriage and a follower carriage, and performs coordinated control to move the follower carriage while following the movement of the leader carriage while estimating the movement of the object such as a vehicle. A patent application has already been filed for an object moving device that can move reliably and stably (Japanese Patent Application No. 2007-280288).
JP 2004-169451 A

  However, both the above-mentioned Patent Document 1 and the object moving device (Japanese Patent Application No. 2007-280288) described above describe a moving method related to how to move one vehicle using two carriages. It is possible to access each truck separately to both sides of the vehicle stopped at an arbitrary position and posture (orientation), lift the vehicle, move to the target position and stop it with high accuracy. There wasn't.

  The present invention has been made in view of such circumstances, and intends to provide a vehicle moving method that can stably move a vehicle stopped at an arbitrary position and posture (orientation) to a target position. It is.

The present invention relates to a bogie main body that can be self-propelled in all directions by a traveling drive device, and a lift bar that is attached to the bogie main body through a coupling mechanism and includes a pair of front and rear portions. And a lifter that is inserted into a lower position sandwiching the rear tire and shortens the distance between the pair of lift bars to lift the vehicle and lift the vehicle, and is movable along a given target track, ,
A bogie body capable of self-propelled in all directions, and a lift bar attached to the bogie body via a coupling mechanism and paired with a front portion and a rear portion are arranged at a lower position between the front tire and the rear tire of the vehicle. A lifter that pushes up the tire by inserting and reducing the distance between the lift bars to lift the vehicle, and follows the movement while estimating the movement of the leader carriage. A follower cart that moves
A receiving space where the vehicles to be moved are placed;
A target position to move the vehicle;
A vehicle detection sensor for detecting the position, posture and size of the vehicle in the receiving space;
A position detection sensor for detecting a position of the leader carriage and the follower carriage by detecting a marker and / or a tire in preparation for the leader carriage and the follower carriage;
Fine adjustment means for finely adjusting the position of the leader carriage and the follower carriage according to the detection value of the position detection sensor;
The vehicle data of the position, posture and size of the vehicle is calculated from the detection data detected by the vehicle detection sensor, and the leader receiving carriage for moving the leader carriage to one side of the vehicle using the vehicle data, and the follower carriage of the vehicle Tire the follower receiving track to be moved to the other side, the insertion track to insert the lift bar of the leader cart and the follower cart into the lower part of the tire, the target track to move the vehicle in the receiving space to the target position, and the lift bar of the leader cart and the follower cart A pulling track that is pulled out from the lower part, a leader return track that returns the leader carriage and the follower carriage to the starting position and a follower return path, and a control device that guides and controls the leader carriage and the follower carriage by wireless means,
The leader carriage is guided to one side of the vehicle along the leader receiving track emitted from the control device based on the vehicle data of the position, posture and size of the vehicle, and the follower carriage at the starting position is guided along the follower receiving path of the vehicle. After finely adjusting the position of the leader carriage and the follower carriage by fine adjustment means based on the detection data obtained by guiding to the other side and detecting the tire by the position detection sensor, the lift bar is inserted along the insertion track so as to be inserted into the lower part sandwiching the tire. The leader carriage and the follower carriage are guided, the distance between the lift bars is reduced and the tires are pushed up to lift the vehicle, and then the leader carriage and the follower carriage are guided to the target position along the target track, and the lift bar is reached at the target position. After the vehicle is installed at the target position with a wider distance, the pull-out rail is pulled out from the bottom of the tire. In which induce reader carriage and follower carriages, the vehicle moving method characterized by the leader carriage and follower carriages along the reader return track and follower return track to guide to return to the starting position according to, along.

  In the above means, the control device creates a leader receiving track and a follower receiving track, and a leader returning track and a follower returning track in which the leader carriage and the follower carriage do not contact obstacles and the leader carriage and the follower carriage do not contact each other. preferable.

  Further, in the above means, the vehicle detection sensor is a three-dimensional laser radar, and the control device converts the detection data of the three-dimensional laser radar from polar coordinates to orthogonal coordinates, and further converts the orthogonal coordinates to absolute coordinates; Means for obtaining vehicle data by separating the background from coordinates, means for accumulating vehicle data, and means for obtaining vehicle data indicating the position, posture, and size of the vehicle by eliminating noise components from the vehicle data Is preferred.

  Further, in the above means, the control device specifies a movable area of the leader carriage and the follower carriage that does not contact an obstacle when the position of the leader carriage and the follower carriage is changed to move in the space, and Laplace Means for generating path information for a ball to roll from a start having a high potential to a goal having a low potential in a movable region using the potential method, and a leader receiving track and follower receiving track, a target track, a leader returning track and a follower from the path information. It is preferable to have a means for creating a return trajectory.

  In the above-mentioned means, it is preferable that the position detection sensor detects the marker and / or tire and finely adjusts the positions of the leader carriage and the follower carriage at the position where the leader carriage and the follower carriage stop.

  According to the above means, the following operation can be obtained.

  When configured as described above, the vehicle in the receiving space detects the position, posture and size of the vehicle by the vehicle detection sensor, and the control device calculates the reader receiving track and the follower receiving track based on the detection data from the vehicle detecting sensor. Then, the leader cart at the departure position is guided to one side of the vehicle along the leader receiving track, and the follower cart at the departure position is guided to the other side of the vehicle along the follower receiving track. Subsequently, the position detection sensor provided in the leader carriage and the follower carriage detects the tire, and the fine adjustment means finely adjusts the positions of the leader carriage and the follower carriage based on the detection data of the position detection sensor. The control device guides the leader carriage and the follower carriage along the insertion track so as to insert the lift bar into the lower part sandwiching the tire, and then lifts the vehicle by reducing the distance between the lift bars and pushing up the tire. Subsequently, the control device guides the leader carriage to the target position along the target trajectory. At this time, the follower carriage is cooperatively controlled to follow and move while estimating the movement of the leader carriage, and the leader carriage moved to the target position. The distance between the lift bars of the follower carriage is increased and the vehicle is set at the target position. Subsequently, the control device guides the leader carriage and the follower carriage along the extraction track so as to extract the lift bar from the lower part of the tire. Subsequently, the leader carriage and the follower carriage are guided to return to the starting position along the leader return track and the follower return track.

  Therefore, with respect to a vehicle stopped at an arbitrary position and posture in the receiving space, the leader carriage and the follower carriage at the starting position go to the stop position of the vehicle along the leader receiving trajectory and the follower receiving trajectory. Lift up, then move the vehicle along the target track to the target position, lower the vehicle to the target position, and further guide the leader cart and follower cart back to the starting position along the leader return track and follower return track Therefore, a vehicle that is stopped at an arbitrary position in an arbitrary position such as abandonment can be easily and stably moved to a target position such as a parking device.

  According to the vehicle movement method of the present invention, it is possible to easily and stably move a vehicle stopped in an arbitrary position to an arbitrary position such as abandonment to a target position such as a parking device. obtain.

  Embodiments of the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 shows an example of an embodiment of the present invention applied to a drop-off type parking device, in which 100 is a building of a parking device, 101 is a storage space for a vehicle, 102 is a space between the storage space 101 and the door 103. Installed receiving space (discarding space), 104 is an entrance where the vehicle 4 enters the receiving space 102, 102 'is a stop circle indicating the position where the entering vehicle 4 stops, 105 is installed a vehicle moved to the storage space 101 This is a target position indicating the position to be played.

  In the receiving space 102, a leader carriage A and a follower carriage B for moving the vehicle 4 are arranged. As shown in FIGS. 2 to 6, the leader carriage A is a carriage main body 2 that can be self-propelled in all directions by the traveling drive device 1, and is attached to the carriage main body 2 via a coupling mechanism 3 and is also in the width direction of the vehicle 4. The lifter 5 is located on one side and lifts up the vehicle 4 and is movable along a given track. The follower carriage B is attached to the carriage body 2 via the coupling mechanism 3 and is located on the other side in the width direction of the vehicle 4 and lifts up the vehicle 4. A lifter 5 is provided, and the vehicle 4 is moved in cooperation with the leader carriage A by following the movement while estimating the movement of the leader carriage A.

  As shown in FIGS. 7 to 9, the carriage body 2 has a running motor 6 as a running drive device 1 at both ends of a carriage frame 2 a assembled in an elongated rectangular parallelepiped shape as shown in FIGS. 2 to 6. 7 (traveling actuator) is configured to be rotatable about a horizontal axle 8 and operated by a steering motor 9 (traveling actuator) to be pivotable about a vertical shaft 10. The traveling motor 7 is provided with a traveling encoder 11 as a track sensor, and the steering motor 9 is integrally incorporated with a steering encoder 12 as a track sensor to detect actual track information of the cart body 2. I can do it.

  As shown in FIGS. 2 and 10, the connecting mechanism 3 includes a connecting member 15 having rods 14 attached to both ends of a tension / compression load cell 13 as a force sensor, one end of which is connected to the cart body 2 by a universal joint 16. A plurality of (three in the example shown in FIG. 2) parallel link mechanisms 17 are arranged in the same horizontal plane so that the other ends are connected to the lifter 5 side by the universal joint 16. In this case, the lifter 5 with respect to the cart body 2 has two degrees of freedom in the direction of movement in the XY direction in the horizontal plane and the Z axis orthogonal to the XY direction, as shown in FIG. 3 degrees of freedom in the plane plus one degree of freedom in the direction of rotation, and one degree of freedom in the direction of rotation around the X axis, one degree of freedom in the direction of rotation around the Y axis, and Z It is arranged via the parallel link mechanism 17 (see FIGS. 2 and 10) so that three degrees of freedom including one degree of freedom in the direction of movement in the axial direction is free.

  As shown in FIGS. 2 to 6 and 11, the lifter 5 is equipped with a wheel levitation support device 18 for supporting each tire 4 a of the vehicle 4, and the wheel levitation support device 18 is equipped with the cart body 2. A pair of rack guide rails 19 are fixedly disposed in the lifter frame 5 a attached to the rack via the coupling mechanism 3 so as to extend in parallel with each other, and the drive unit guide rails extend in parallel with the rack guide rail 19. 20 is fixedly arranged, and a pair of rack members 21 are slidably disposed along the rack guide rail 19 so that the forming surfaces of the rack portions face each other vertically, and a lift bar opening / closing sensor 22 such as an encoder is integrated. A lift bar opening / closing actuator 23 such as a motor provided on the drive unit is slidable along the drive unit guide rail 20. A drive pinion 24 that is rotationally driven by the lift bar opening / closing actuator 23 is engaged with both of the opposing rack portions of the pair of rack members 21, and a wheel support roller 25 is rotatably fitted on the outer periphery. The lift bar 27 having the grounding support ring 26 attached to the front end portion and the base end portion is connected to one end of the one rack member 21 and the other end of the other rack member 21 of the pair of rack members 21 respectively. And a self-alignment position holding fixing device 28 for extending the lift bar opening / closing actuator 23 at a desired position on the drive unit guide rail 20. 13, a pair of lift bars 27 in the wheel suspension support device 18 of the lifter 5 are attached to the vehicle 4. By close to each other and arranged around the tire 4a, it is configured to lift up the vehicle 4.

  The surface of the wheel support roller 25 of the lift bar 27 is subjected to anti-slip processing such as knurling or anti-slip coating.

  As shown in FIG. 12, an omni wheel 30 such as an omni wheel (registered trademark) as an omnidirectional moving wheel 29 that does not require steering is used for the grounding support wheel 26, and the omni wheel 30 corresponds to the wheel body 30a. A plurality of (three in the example of FIG. 12) roller shafts 30c extending in a tangential direction perpendicular to the wheel shaft 30b are disposed on the outer peripheral portion, and a barrel-shaped roller 30d is rotatable on the roller shaft 30c. The attached wheel unit 30e has a configuration in which a plurality of rows (two rows in the example of FIG. 12) are juxtaposed in the direction of the wheel shaft 30b. Note that the three rollers 30d in the first row and the three rollers 30d in the second row are arranged with a phase shifted by 60 degrees, so that when viewed from the entire wheel shaft 30b direction, six rollers 30d are arranged. The three rollers 30d appear to be disposed, and when the outer circumferences of these six rollers 30d are connected, a substantially circumference is formed. The installation support wheel 26 can be substituted by a general caster.

  As shown in FIG. 2, the automatic alignment position holding fixing device 28 fixes a brake plate 28a provided integrally with a lift bar opening / closing actuator 23 so as to extend in parallel with the drive unit guide rail 20 in the lifter frame 5a. The lift bar opening / closing actuator 23 can be held at a desired position on the drive unit guide rail 20 by being sandwiched between the disposed brake electromagnetic units 28b.

  As for the system related to the cooperative control of the leader carriage A and the follower carriage B, a load cell as a force sensor of the leader carriage A is used as an interaction force between the leader carriage A and the follower carriage B via the vehicle 4. 13 is detected as force information, the actual track information of the cart body 2 of the leader cart A is detected by a track sensor (not shown), the target track information inputted in advance, and the load cell 13 as the force sensor of the leader cart A Based on the force information detected by the track sensor and the actual track information detected by the track sensor, the current command value is output to the travel actuator of the cart body 2 of the leader cart A and the control information to the follower cart B And the carriage body 2 of the leader carriage A is moved along the target track, while the follower carriage B The interaction force that interacts with the follower carriage B via the vehicle 4 is detected as force information by the load cell 13 as a force sensor of the follower carriage B, and actual track information of the carriage body 2 of the follower carriage B is detected. Is detected by a track sensor (not shown), transmitted from the leader carriage A, detected by the load cell 13 as a force sensor of the follower carriage B, and detected by the track sensor of the follower carriage B. Based on the actual track information, a current command value is output to the traveling actuator of the carriage body 2 of the follower carriage B, and the carriage body 2 of the follower carriage B is moved following the movement of the leader carriage A. It is.

  Here, when three connecting members 15 having tension / compression type load cells 13 as force sensors are attached as parallel link mechanisms 17 for restraining three degrees of freedom in a plane, the load cells are arranged as shown in FIG. When the detected value obtained by 13 is coordinate-converted with a Jacobian matrix, a force applied to the lifter 5 as an external force can be obtained as force information of three degrees of freedom in the plane. As for the basic concept of cooperative control of leader carriage A and follower carriage B, “Distributed cooperative control of multiple mobile robots that manipulate a single object” by Kazuhiro Komine, Tomohiro Ozumi, and Yasuhiko Chiba, Journal of the Robotics Society of Japan 16 vol.1, pp. 87-95, and Japanese Patent Application No. 2007-280288.

  A vehicle detection sensor 31 composed of a three-dimensional laser radar is installed at a diagonal position of the receiving space 102 in the building 100 of FIG. 1, and the vehicle 4 is detected by the vehicle detection sensor 31. The detection data detected by the vehicle detection sensor 31 is input to the control device 32, and vehicle data indicating the position, posture, and size of the vehicle 4 is calculated.

  On the other hand, position detection sensors 33 and 34 comprising two-dimensional laser radars are provided at longitudinal center positions (upper and lower centers in FIG. 1) of the reader carriage A and the follower carriage B, and the position detection sensors 33 and 34 are rotated. A mirror is used to irradiate an infrared pulse laser horizontally at a wide angle of 180 °, and measure the distance of each detected point from the reflected laser. Markers 35 a and 35 b detected by the position detection sensor 33 of the leader carriage A and markers 36 a and 36 b detected by the position detection sensor 34 of the follower carriage B are provided on the front and rear walls of the receiving space 102. Markers 37a and 37b that are detected by the position detection sensor 33 of the leader carriage A and the position detection sensor 34 of the follower carriage B are provided on the front and rear walls. The markers 35a, 35b to 37a, 37b need only be able to specify the installation of the leader carriage A and the follower carriage B, so that the number of installations can be arbitrarily set. In addition to the wall of the building 100, the floor surface It may be installed on a ceiling surface or the like.

  Further, the leader carriage A and the follower carriage B are provided with tires 4a before and after the vehicle 4 at a height of about 10 cm from the floor surface when moved to the side of the vehicle 4 as shown in FIGS. Position detection sensors 33 'and 34' for detection are provided. A tire distance image as shown in FIG. 16 is obtained by the detection of the position detection sensors 33 ′ and 34 ′ for detecting the tire. Here, the position detection sensors 33 ′ and 34 ′ for detecting tires may also be used as the position detection sensors 33 and 34 for detecting the markers to detect the front and rear tires 4 a.

  FIG. 17 is a control block diagram for controlling the movement of the leader carriage A and the follower carriage B.

  The control device 32 includes a main controller 38 composed of a personal computer (PC), a three-dimensional sensor controller 39 to which detection data detected by the vehicle detection sensor 31 is input, a path planning / trajectory generation controller 40 and information. A terminal controller 41 and the like are provided, and these controllers 38 to 41 are connected to wireless means including the wireless LAN base unit 42, respectively.

  The reader carriage A includes a two-dimensional sensor controller 43 to which detection data from the position detection sensor 33 and detection data from the position detection sensor 33 ′ for detecting tires are input, and a leader carriage controller 44. These controllers 43 and 44 are connected to wireless means including wireless LAN slave units 45, respectively. The follower carriage B includes a two-dimensional sensor controller 46 to which detection data from the position detection sensor 34 and detection data from the position detection sensor 34 'for detecting tires are input, and a follower carriage controller 47. These controllers 46 and 47 are connected to wireless means including a wireless LAN slave device 48, respectively.

  The wireless LAN slave units 45 and 48 provided in the reader carriage A and the follower carriage B can wirelessly transmit to and from the wireless LAN master unit 42 of the control device 32 (the wireless LAN slave units 45 and 48 are wireless LANs). At the same time, transmission is performed between the wireless LAN slave units 45 and 48.

  The leader trolley controller 44 and the follower trolley controller 47 provided in the leader trolley A and the follower trolley B indicate the tire distance images shown in FIG. 16 detected by the position detection sensors 33 ′ and 34 ′ for detecting the tire. Based on this, fine adjustment for bringing the leader carriage A and the follower carriage B closer to the side of the vehicle 4 so that the distance between the leader carriage A and the follower carriage B and the vehicle 4 becomes a set distance (for example, 150 mm), and the leader carriage A If there is a displacement width M between the center O (the position of the detection sensors 33 ′ and 34 ′ for detecting the tires) of the follower carriage B and the center O ′ of the front and rear tires 4a, the leader Fine adjustment means is provided for finely adjusting the center O of the carriage A and the follower carriage B with the center O ′ of the front and rear tires 4a.

  On the other hand, the control device 32 obtains vehicle data indicating the position, posture, and size of the vehicle from the detection data of the vehicle detection sensor 31 by the three-dimensional laser radar.

  As shown in FIG. 18, the vehicle detection sensor 31 by the three-dimensional laser radar irradiates a laser in the three-dimensional direction from the coordinate origin to detect an object, and the control device 32 changes the detection data from polar coordinates to orthogonal coordinates. Means for converting and further converting orthogonal coordinates to absolute coordinates are provided.

First, conversion is performed from the laser radar raw data (spherical coordinates) length (measurement distance), scan (lateral angle), and swigg (vertical angle), and the laser radar coordinate system (orthogonal coordinates = unit meter [m]). ) Xs, Ys, Zs.
here,
Xs = conversion rate × length × sin (scan)
Ys = conversion rate × length × cos (scan) × sin (swivg)
Xs = conversion rate × length × cos (scan) × cos (swivg)
And the conversion rate is a conversion rate for converting to a meter [m] unit.

ここで、ｔはレーザレーダ座標系（直交座標）を絶対座標に変換する４×４同時変換行列である。 In order to convert the laser radar coordinate system (orthogonal coordinates) to absolute coordinates, conversion according to the following conversion formula 1 is performed.

Here, t is a 4 × 4 simultaneous conversion matrix for converting the laser radar coordinate system (orthogonal coordinates) into absolute coordinates.

ここで、イは計測範囲内に配置した３点のマーカーを予め計測しておいた絶対座標である。ロは計測範囲内に配置した３点のマーカーをレーザレーダで計測したレーザレーダ座標である。 In order to obtain the simultaneous conversion matrix, the following equation 2 is calculated.

Here, a is an absolute coordinate obtained by measuring three markers arranged in the measurement range in advance. B is the laser radar coordinates obtained by measuring the three markers arranged in the measurement range with the laser radar.

The following formula 3 is calculated from the above two formulas.

Then, vectors a, b, and c are obtained by the following equation 4.

  FIG. 19 shows an example of a result obtained by detecting the vehicle 4 in the receiving space 102 by the vehicle detection sensor 31 using the three-dimensional laser radar and converting the laser radar coordinate system (orthogonal coordinates) to absolute coordinates. Note that FIG. 19 shows a case where detection is performed by one vehicle detection sensor 31, but detection by the vehicle detection sensor 31 provided diagonally as shown in FIG. Coordinates can be obtained.

  Further, since the measurement data obtained by the three-dimensional laser radar includes background data such as the floor surface and the surrounding environment, the control device 32 separates the background data from the data of FIG. 19 converted into the absolute coordinate system. (Erase) means. In order to separate the background data, processing is performed to remove data other than the distance ranges on the X, Y, and Z axes that can supplement the vehicle 4 that stops in the stop circle 102 ′ of FIG. An example of the result of separating the background data from the data is shown in FIG.

  Further, the control device 32 has means for obtaining the position, posture (orientation), and size of the vehicle from the data of FIG. 20 obtained by separating the background data. In order to obtain the position, orientation (orientation), and size of the vehicle, the data shown in FIG. 20 is subjected to a rectangle fitting process (a method for calculating a minimum rectangle including a region in the two-dimensional image process). The data shown in FIG. 21 is obtained. The position and size of the vehicle are detected from the calculated vertex coordinates of the rectangle as shown in FIG. 21, and the height of the vehicle is detected from the height of the rectangular coordinates and the data existing in the rectangle. To do. Thereby, vehicle data indicating the position, posture, and size of the vehicle 4 is obtained. 19 to 21 show the case where the vehicle detection sensor 31 is detected by one three-dimensional laser radar, but more reliable vehicle data can be detected by the vehicle detection sensor 31 provided on the diagonal as described above. Can be obtained. Further, instead of the vehicle detection sensor 31 using the three-dimensional laser radar, vehicle data indicating the position, posture, and size of the vehicle can be obtained by performing image processing on an image captured by the camera.

  Furthermore, the control device 32 generates and outputs route information and trajectory data by performing the data processing shown in FIG.

  As shown in FIG. 22, when the start / goal position (X, Y) and attitude (θ) (orientation) information of the leader carriage A and the follower carriage B are input to the control device 32, a known data file is read. Leader for generating the coordination information of the outer wall of the building 100 and other obstacles and guiding the leader carriage A and the follower carriage B not to contact the obstacle and the leader carriage A and the follower carriage B not to contact each other. A receiving trajectory and a follower receiving trajectory are created.

  Therefore, for example, when the leader carriage A and the follower carriage B arranged in the receiving space 102 change their postures and move in the receiving space 102, the leader carriage A and the follower carriage B are shown in FIG. As shown in FIG. 4, there is provided means for specifying a movable region 49 (a configuration space shown in white) that can move without contacting the building 100 and an obstacle such as the vehicle 4 detected as described above. Regarding the configuration space, “Optimization of robot operation planning in unknown space” [Toyama Industry, Sato Laboratory Web page] (July 26, 1997) (Reference Material 1), Item 5 Is shown in

  Further, the control device 32 includes means for generating route information for the movable region 49 using the Laplace potential method. That is, in the movable region 49 shown in FIG. 23, the potential of the region where the leader carriage A and the follower carriage B contact the obstacle is a constant high value, and as shown in FIG. 24, the potential is in contact with the obstacle. Although it is lower than the area, the potential at the start (starting position) is the highest and the potential at the goal (vehicle receiving position) is the lowest, so the ball rolls along a smooth curved surface from the start to the goal Route information by the steepest descent method is generated. The Laplace potential method and the steepest descent method are shown in Section 4 of the reference material.

  Further, as shown in FIG. 25, representative points are extracted from the route information at regular intervals, and mathematical expressions (spline interpolation) are made so as to form a smooth interpolation curve passing through the representative points. Furthermore, as shown in FIGS. 26 and 27, the position of the leader carriage A and the follower carriage B is calculated after the predetermined time has elapsed, and the goal (vehicle side position) is the shortest distance from the start (departure position). The leader receiving trajectory and the follower receiving trajectory that can reach the head are calculated. The spline interpolation is described in the fourth item of “C-line spline function” by Tokyo Denki University Press [Supervised by Akira Sakurai / Keisuke Kanno (Reference Material 2).

  The start (reception position) of the leader carriage A and the follower carriage B is known in advance, and the goal (vehicle side position) is the position and posture of the vehicle 4 obtained from the detection data detected by the vehicle detection sensor 31. Since the vehicle data indicating the size is known in advance, the control device 32 calculates and outputs different shortest routes that do not contact the leader carriage A and the follower carriage B.

  Further, the control device 32 calculates the leader receiving track and the follower receiving track as described above, and moves the lift bars 27 of the leader carriage A and the follower carriage B closer to each other so as to be inserted under the front and rear tires 4a. An insertion track, a target track for moving the vehicle 4 in the receiving space 102 to the target position 105, and a pulling track for moving the lift bars 27 of the leader carriage A and the follower carriage B away from each other so as to pull out from the lower portions of the front and rear tires 4a, A leader return trajectory and follower return trajectory for moving the leader carriage A and the follower carriage B to return to the starting position are calculated, a signal is sent to the leader carriage A and the follower carriage B by wireless means, and guidance control is performed. The operation of lifting the vehicle 4 by reducing the distance 27 and the distance between the lift bars 27 are increased. And controls the operation of installing the vehicle 4 on the floor Te.

  Next, the operation of the illustrated example will be described.

  FIG. 1 shows a simple case in which the leader carriage A and the follower carriage B are waiting at the left and right starting positions sandwiching the entrance 104 in the receiving space 102. Here, as shown in FIG. 28, the vehicles are installed at the start positions a1 and b1 (standby positions) in the receiving space 102 of the leader carriage A and the follower carriage B, and the leader carriage A and the follower carriage B are at the target positions in the storage space. After that, the extraction positions a2 and b2 when the lift bar is extracted are set in advance, the leader carriage A is placed at the departure position a1 and waits, and the follower carriage B is placed at the departure position b1 and waits.

  In the drop-off type parking apparatus of FIG. 1, the vehicle 4 to be parked enters the receiving space 102 from the entrance 104 and stops in the stop circle 102 ′. The driver applies the side brake, gets off the vehicle and exits from the receiving space 102. That is, the vehicle 4 is thrown away.

  The operation when the vehicle parked in the receiving space 102 is stored will be described with reference to FIGS.

  The vehicle 4 abandoned in the receiving space 102 is detected by the vehicle detection sensor 31 (S1), and the control device 32 calculates vehicle data indicating the position, posture and size of the vehicle 4 by means shown in FIGS. To do.

  Furthermore, using the vehicle data indicating the position, posture, and size of the vehicle 4, a reader receiving trajectory for moving the leader carriage A at the departure position a1 to one side of the vehicle 4 by means shown in FIGS. A follower receiving trajectory for moving the follower carriage B at the departure position b1 to the other side of the vehicle 4 is calculated (S2).

  The leader receiving track and the follower receiving track of the control device are transmitted to the leader carriage A and the follower carriage B by wireless means, and as shown in FIG. 30, the leader carriage A does not contact the obstacle along the leader receiving path. 4, the follower carriage B is moved to the other side of the vehicle 4 without contacting the obstacle along the follower receiving track and stops (S <b> 3). At this time, the stop positions of the leader carriage A and the follower carriage B with respect to the vehicle 4 are stopped at a position away from the vehicle by a safe distance so as not to contact the vehicle 4 in consideration of measurement errors.

  Next, tires are detected by the position detection sensors 33 ′ and 34 ′ for detecting the tires shown in FIGS. 14 to 16 (S4), and the leader carriage is based on the detected tire distance image shown in FIG. A fine adjustment track approaching the vehicle so that the distance between A and follower carriage B and vehicle 4 is a set distance (for example, 150 mm), and center O (for detecting tires) of leader carriage A and follower carriage B, respectively. When there is a deviation width M between the position detection sensors 33 ′ and 34 ′) and the center O ′ of the front and rear tires 4a, the center O of the leader carriage A and the follower carriage B is set to the center of the front and rear tires 4a. A fine adjustment trajectory that matches the center O ′ is generated (S5), and a movement for fine adjustment of the positions of the leader carriage A and the follower carriage B is performed (S6).

  Subsequently, the leader carriage A and the follower carriage B are moved closer to each other along the insertion path generated by the control device 32 based on the relative distance between the leader carriage A and the follower carriage B and the vehicle 4, The lift bar 27 is inserted into the lower part of the front and rear tires 4a (S7), and then the vehicle 4 is lifted up by reducing the distance between the lift bars 27 and pushing up the front and rear tires 4a (S8). Thereby, the vehicle 4 is supported by the leader carriage A and the follower carriage B.

  Since the vehicle data indicating the position, posture and size of the vehicle and the target position 105 are input to the control device 32, the control device 32 generates a target track (S9) and opens the door 103. (S10), the leader carriage A is moved along the target trajectory, and the follower carriage B performs coordinated transport following the leader carriage A while estimating the movement of the leader carriage A to move the vehicle 4 to the target position 105. Transport toward.

  Further, the position detection sensors 33 and 34 provided in the leader carriage A and the follower carriage B detect the positions of the markers 37a and 37b (S11), and the track correction information is obtained by detecting the center positions of the two markers 37a and 37b. Obtaining (S12), carrying out cooperative conveyance while correcting the trajectory (S13), and accurately stopping the vehicle 4 at the target position 105 (S14).

  Subsequently, the distance between the lift bars 27 provided in the leader carriage A and the follower carriage B is increased to install the vehicle 4 at the target position 105 (S15). Subsequently, the lift bar 27 is pulled out from the lower portions of the front and rear tires 4a by moving the leader carriage A and the follower carriage B in directions away from each other along the extraction track (S16), and further by the position detection sensors 33 and 34. By detecting the markers 37a and 37b (S17) and correcting the track (S18), the leader carriage A and the follower carriage B are accurately stopped at the extraction positions a2 and b2 (see FIG. 28) (S19).

  Since the control device 32 is previously input with the extraction positions a2 and b2 of the leader carriage A and the follower carriage B and the departure positions a1 and b1, the control apparatus 32 generates a leader return trajectory and a follower return trajectory. Then, the leader carriage A and the follower carriage B move toward the departure positions a1 and b1 along the leader return trajectory and the follower return trajectory, respectively (S20). At this time, as shown in FIG. 31, the leader carriage A moves along a leader return path that bypasses the vehicle 4 so as not to contact the vehicle 4 that has entered the target position 105.

  Further, the position detection sensor 33 provided on the leader carriage A detects the positions of the markers 35a and 35b, and the position detection sensor 34 provided on the follower carriage B detects the positions of the markers 36a and 36b (S21), thereby correcting the trajectory. Information is obtained (S22), the trajectory is corrected, and the leader carriage A and the follower carriage B are accurately stopped at the starting positions a1 and b1 (S23). Thereby, the warehousing operation of the vehicle 4 is completed.

  In the form of FIG. 1, the case where the leader carriage A and the follower carriage B are arranged at the left and right starting positions a1 and b1 sandwiching the stop circle 102 ′ is illustrated, but the arrangement positions of the leader carriage A and the follower carriage B are as follows. For example, as shown in FIG. 32, the leader carriage A and the follower carriage B are moved separately and stopped even when they are linearly arranged on the front and back sides of the stop circle 102 ′. 4 to the left and right sides.

  In the above embodiment, the case where the vehicle 4 that has been abandoned in the receiving space 102 is applied to the warehousing to move to the target position 105 of the parking facility has been described. However, the parked vehicle at the receiving position is set to the target position that is the unloading position. Applicable in the case of moving goods, and in cases such as moving to a required target position for a flatly parked vehicle such as a hotel, a vehicle exhibition hall, various event venues, a parking violation vehicle, a car ferry, etc. Can also be applied effectively.

  It should be noted that the vehicle moving method of the present invention is not limited to the illustrated examples described above, and it is needless to say that various changes can be made without departing from the scope of the present invention.

It is a top view which shows an example which applied this invention to parking equipment. It is a top view of a leader trolley and a follower trolley that implement the present invention. It is a perspective view of a leader trolley and a follower trolley that implement the present invention. It is an IV-IV arrow line view of the leader trolley | bogie and follower trolley | bogie of FIG. FIG. 5 is a VV arrow view of the leader carriage and the follower carriage of FIG. 4. FIG. 6 is a view taken along arrow VI-VI of the leader carriage and the follower carriage of FIG. 2. It is a perspective view which shows the traveling drive apparatus of a leader trolley | bogie and a follower trolley | bogie. It is a front view which shows the traveling drive apparatus of a leader trolley | bogie and a follower trolley | bogie. It is the IX-IX arrow directional view of FIG. It is a perspective view which shows the connection mechanism of a leader trolley | bogie and a follower trolley | bogie. It is a perspective view which shows the wheel floating support apparatus of the lifter in a leader trolley | bogie and a follower trolley | bogie, Comprising: (a) is a front perspective view, (b) is a rear perspective view. It is a perspective view which shows the omni wheel applicable as a grounding support wheel of the wheel levitation support apparatus of the lifter in a leader trolley | bogie and a follower trolley | bogie. It is an operation state explanatory view showing a wheel levitation support device of a lifter of a leader carriage and a follower carriage, (a) is a state diagram before supporting the vehicle, (a1) is a state diagram in which the lift bar is opened to the maximum, (b) is a diagram (B1) is a state diagram in which the lift bar is closed to the minimum, (b2) is a state diagram in which the lift bar is closed and closes to the left side of the device (b3) is a state diagram in which the lift bar is closed and closes to the right side of the device It is. It is a top view which shows the state which detects the tire of the vehicle stopped by the position detection sensor for detecting a tire. It is a side view of the vehicle shown in FIG. It is a top view which shows an example of the distance image of the tire detected by the position detection sensor for detecting a tire. It is a control block diagram for controlling movement of a leader carriage and a follower carriage. It is explanatory drawing which shows the basic concept which detects an object with a three-dimensional laser radar. It is an image example figure which shows the result of carrying out the coordinate conversion of the laser radar coordinate system (orthogonal coordinate) to an absolute coordinate. It is an example image which shows the result of having isolate | separated background data from the data of FIG. FIG. 21 is an image example diagram showing a result of applying a rectangular fitting process to the data of FIG. 20. It is a flowchart which performs a data process with a control apparatus and produces route information and orbit data. It is explanatory drawing which shows the concept of the means to identify the movable area | region (configuration space) which a leader trolley and a follower trolley can move without contacting an obstruction. It is explanatory drawing which shows the concept which acquires route information by the Laplace potential method. It is explanatory drawing which extracts a representative point for every fixed interval from path | route information. It is explanatory drawing which shows the example which carries out the spline interpolation of the position after predetermined time progress so that it may become the smooth interpolation curve which passes a representative point. It is explanatory drawing which shows the state which changes the position and attitude | position after progress for predetermined time. It is a top view which shows the state which set the starting position in the receiving space of a leader trolley and a follower trolley, and the extraction position when a leader trolley and a follower trolley install a vehicle in the target position of a storage space, and pulls out a lift bar. It is a flowchart which shows the operation | movement at the time of warehousing the vehicle stopped in the receiving space. It is a top view for demonstrating the fine adjustment of the position performed when a leader trolley and a follower trolley receive vehicles. It is a top view which shows the state which the leader trolley | bogie of a storage space moves along the leader return path | route which detours this vehicle so that it may not contact the vehicle which entered the target position. It is a top view which shows the operation | movement when the starting positions of a leader trolley | bogie and a follower trolley differ from FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Travel drive device 2 Bogie body 3 Connection mechanism 4 Vehicle 4a Tire 5 Lifter 27 Lift bar 31 Vehicle detection sensor (three-dimensional laser radar)
32 Control device 33, 34 Position detection sensor 33 ', 34' Position detection sensor for detecting tire 35a, 35b Marker 36a, 36b Marker 37a, 37b Marker 42 Wireless LAN base unit (wireless means)
45 Wireless LAN handset (wireless means)
48 Wireless LAN handset (wireless means)
49 Moveable area 101 Storage space 102 Receiving space 105 Target position A Leader carriage B Follower carriage a1, b1 Departure position a2, b2 Pull-out position

Claims (5)

A carriage main body capable of self-propelling in all directions by a traveling drive device, and a lift bar attached to the carriage main body through a coupling mechanism and having a pair formed at the front and rear portions of the front tire and the rear tire of the vehicle. A lifter that has a lifter that is inserted into a lower position sandwiched between the lift bars to reduce the distance between the lift bars of the pair and pushes up the tire to lift up the vehicle, and is movable along a given target track;
A bogie body capable of self-propelled in all directions, and a lift bar attached to the bogie body via a coupling mechanism and paired with a front portion and a rear portion are arranged at a lower position between the front tire and the rear tire of the vehicle. A lifter that pushes up the tire by inserting and reducing the distance between the lift bars to lift the vehicle, and follows the movement while estimating the movement of the leader carriage. A follower cart that moves
A receiving space where the vehicles to be moved are placed;
A target position to move the vehicle;
A vehicle detection sensor for detecting the position, posture and size of the vehicle in the receiving space;
A position detection sensor for detecting a position of the leader carriage and the follower carriage by detecting a marker and / or a tire in preparation for the leader carriage and the follower carriage;
Fine adjustment means for finely adjusting the position of the leader carriage and the follower carriage according to the detection value of the position detection sensor;
The vehicle data of the position, posture and size of the vehicle is calculated from the detection data detected by the vehicle detection sensor, and the leader receiving carriage for moving the leader carriage to one side of the vehicle using the vehicle data, and the follower carriage of the vehicle Tire the follower receiving track to be moved to the other side, the insertion track to insert the leader and follower cart lift bars into the lower part of the tire, the target track to move the vehicle in the receiving space to the target position, and the lift bar of the leader and follower carts A pulling track that is pulled out from the lower part, a leader return track that returns the leader carriage and the follower carriage to the starting position and a follower return path, and a control device that guides and controls the leader carriage and the follower carriage by wireless means,
The leader carriage is guided to one side of the vehicle along the leader receiving track emitted from the control device based on the vehicle data of the position, posture and size of the vehicle, and the follower carriage at the starting position is guided along the follower receiving path of the vehicle. After finely adjusting the position of the leader carriage and the follower carriage by fine adjustment means based on the detection data obtained by guiding to the other side and detecting the tire by the position detection sensor, the lift bar is inserted along the insertion track so as to be inserted into the lower part sandwiching the tire. The leader carriage and the follower carriage are guided, the distance between the lift bars is reduced and the tires are pushed up to lift the vehicle, and then the leader carriage and the follower carriage are guided to the target position along the target trajectory, and the lift bar is moved to the target position. After the vehicle is installed at the target position with a wider distance, the pull-out rail is pulled out from the bottom of the tire. Vehicle movement method characterized by inducing the leader carriage and follower carriages, induced to return to the starting position the leader carriage and follower carriages along the reader return track and follower return track along.   The control device creates a leader receiving track and a follower receiving track, and a leader return track and a follower return track in which the leader carriage and the follower carriage do not contact an obstacle and the leader carriage and the follower carriage do not contact each other. Vehicle movement method.   The vehicle detection sensor is a three-dimensional laser radar, and the control device converts the detection data of the three-dimensional laser radar from polar coordinates to orthogonal coordinates, further converts the orthogonal coordinates to absolute coordinates, and separates the background from the absolute coordinates. 3. The vehicle data acquisition unit according to claim 1, further comprising: vehicle data acquisition unit; vehicle data storage unit; and vehicle data indicating vehicle position, posture, and size by deleting noise components from the vehicle data. Vehicle movement method.   The control device can move using the Laplace potential method and means for identifying the movable area of the leader carriage and follower carriage that do not come in contact with obstacles when the position of the leader carriage and follower carriage is changed and moved in the space. Means for generating path information for a ball to roll from a start having a high potential to a goal having a low potential in a region, and means for generating a leader receiving track and follower receiving track, a target track, a leader returning track and a follower returning track from the path information The vehicle moving method according to any one of claims 1 to 3, further comprising:   The position detection sensor detects a marker and / or a tire and finely adjusts the position of the leader carriage and the follower carriage at a position where the leader carriage and the follower carriage stop. The vehicle movement method as described.

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