JP2011170486A - Direction inclination detecting device and conveying system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem that a conventional automatic conveying vehicle which controls a travel direction by detecting a tape stuck on a floor surface fails in detection of the tape in some cases. <P>SOLUTION: A direction inclination detecting device is provided with: an optical sensor section having an optical sensor unit 12 which includes a first optical sensor 30, a second optical sensors 31 and 32, and a third optical sensor 33 arranged at different heights and is attached to a side surface of the vehicle; and a plurality of solid markers 20 which have a plurality of first linear grooves 21 irradiated with light of the first optical sensor and arranged at equal intervals, second linear grooves 22 and 23 irradiated with light of the second optical sensors and arranged at positions on an extension of at least one first groove, and reflective surfaces 24 irradiated with light of the third optical sensor and are arranged at predetermined intervals along a conveyance path. The second grooves represent positions of the solid markers in the conveyance path. The optical sensor section has a position detecting section for detecting a position of the vehicle in the conveyance path and an inclination detecting section for detecting an inclination of the vehicle with respect to the reflective surface. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a direction inclination detection device and a conveyance system in a conveyance system using an automatic conveyance vehicle.

  In factories and warehouses, automatic guided vehicles (AGV) that automatically run unattended are used in order to remove parts and articles from a predetermined shelf and move them or store them in a predetermined shelf.

  Such an automatic transport vehicle is provided with a travel line for running the automatic transport vehicle by applying a reflective tape of a predetermined width on the floor surface, for example, and the automatic travel device detects the travel line by a detection means such as a photoelectric sensor. The vehicle travels while driving (see, for example, Patent Document 1).

  In FIG. 17, the schematic block diagram which looked at the conventional automatic conveyance vehicle from the upper surface is shown.

  The automated guided vehicle 100 includes drive wheels 104 disposed on both the left and right sides of the traveling body of the vehicle body, and two drive motors 103 for independently driving the drive wheels 104. And on the rear side of the vehicle body, driven wheels 105 are provided on the left and right sides of the vehicle body.

  In addition, travel sensors 102 are provided at two positions apart from the front and rear of the center position on the left and right of the automatic transport vehicle 100. Each traveling sensor 102 includes a plurality of photoelectric sensors, and detects the reflective tape 106 attached to the floor surface.

  In addition, a wireless receiving unit 107 that receives a wireless signal for instructing a travel route or a stop position of the automatic guided vehicle 100 is provided.

  And the drive control part 101 which controls the two drive motors 103 according to the instruction | indication by the radio signal which the radio | wireless receiving part 107 received is provided. Further, the drive control unit 101 controls the two drive motors 103 so that the automatic guided vehicle 100 travels along the reflective tape 106 attached to the floor surface based on the detection results of the two travel sensors 102.

  The drive control unit 101 performs control so that all the photoelectric sensors constituting the two travel sensors 102 detect the reflective tape 106. For example, when the leftmost photoelectric sensor among the traveling sensors 102 arranged in the front is in a non-detection state of the reflective tape 106, the drive control unit 101 causes the drive motor 103 to decelerate the right drive wheel 104. By controlling this, the traveling direction of the automatic guided vehicle 100 is adjusted.

  Here, the example in which the reflective tape 106 is affixed and the photoelectric sensor is used as the travel sensor 102 has been described. However, a configuration in which a magnetic tape having a predetermined width is affixed to the floor and the magnetic sensor is used as the travel sensor 102 is often used. It is done.

  As described above, conventionally, by applying a reflective tape, a magnetic tape, or the like to the floor surface on the path along which the automatic conveyance vehicle 100 travels, and detecting it, the automatic conveyance vehicle is on the track indicated by these tapes. 100 was controlled to run.

  In addition, an automatic transport vehicle that travels while detecting a marker sensor by using a magnet sensor that combines N and S poles on the floor, detecting the marker sensor, and checking the current location according to the type of magnet combination of each marker sensor. There is also.

  In addition, recently, even if there is no MAP information in the maze, a technique for avoiding an obstacle while searching for a path by a 360-degree laser sensor, so-called SLAM (Simultaneously Localization and Mapping: information acquired from various sensors, Development of a transport vehicle using a method of self-position estimation and map creation at the same time is also underway.

Japanese Patent Laid-Open No. 9-305225

  However, the conventional automated guided vehicle as shown in FIG. 17 cannot coexist with a forklift in a warehouse or the like. In addition, a transport vehicle using SLAM has a weak point that it is slow to travel while searching.

  That is, in the conventional traveling control method for an automatic guided vehicle as shown in FIG. 17, reflective tape, marker sensors, and the like are installed on the floor. Since the tape and marker sensor would be soiled or destroyed, it could not coexist with a forklift.

  This problem is caused by a traveling control method of traveling on a track indicated by a tape or the like affixed to the floor surface. For example, the problem can be solved by performing control so as to travel in parallel with a reference that is trackless. However, there has been nothing that can control the automatic guided vehicle so far.

  In addition, since the transport vehicle using SLAM has a weakness that it is slow, after all, there is no conventional means for traveling in a coexistence with a forklift in a relatively simple path rather than a maze crossing a cross like a warehouse. I can say.

  In addition, in the conveyance vehicle using SLAM, there exists a problem that an apparatus and a sensor are still expensive besides the weak point that driving | running | working is slow.

  In consideration of the above-described conventional problems, the present invention provides a direction inclination detection device and a conveyance system that can run an automatic conveyance vehicle in parallel with a trackless reference, can be easily installed and changed, and are low in cost. The purpose is to do.

In order to solve the above-described problem, the first aspect of the present invention provides:
A direction inclination detection device including an optical sensor unit and a plurality of three-dimensional markers,
The optical sensor unit includes an optical sensor unit, a position calculation unit, and an inclination calculation unit.
The optical sensor unit is arranged at a position where the height of the first optical sensor that irradiates light and detects the reflected light is different from that of the first optical sensor, irradiates the light, and reflects the reflected light. A second photosensor for detection, a third photosensor for irradiating light and detecting the reflected light, arranged at a position where the first photosensor and the second photosensor have different heights; Have
The three-dimensional marker has a first surface formed with a plurality of linear first grooves arranged at equal intervals and irradiated with light emitted from the first optical sensor, and the second light. A second surface formed with a linear second groove having a predetermined positional relationship with at least one of the first grooves to which light emitted from the sensor is irradiated; and the third photosensor A reflecting surface to which the emitted light is irradiated;
The optical sensor unit is attached to a side surface of the transport vehicle,
A plurality of the three-dimensional markers are arranged at predetermined intervals along a conveyance path through which the conveyance vehicle passes,
The second groove represents the position of the three-dimensional marker in the conveyance path,
The position calculation unit calculates the position of the transport vehicle in the transport path using reflected light detected by the first optical sensor and the second optical sensor,
The inclination calculation unit is a direction inclination detection device that calculates an inclination of the transport vehicle with respect to the reflection surface using reflected light detected by the third optical sensor.

The second aspect of the present invention
The third optical sensor is a distance detection sensor that detects a distance to the reflection surface, and when the transport vehicle is moving, to a plurality of portions on the reflection surface of one of the three-dimensional markers. Detect each distance of
The inclination calculator is moved based on the detected distances and the distances between the plurality of parts, or the distances moved to detect the detected distances and the distances to the respective parts. The direction inclination detecting device of the first aspect of the present invention that calculates the inclination of the transport vehicle based on the above.

The third aspect of the present invention
The third optical sensor is a distance detection sensor that detects a distance to the reflecting surface, and detects the distances of the plurality of three-dimensional markers to the reflecting surface when the transport vehicle is moving. ,
In order to detect the distances to the respective reflecting surfaces and the plurality of detected distances based on the plurality of detected distances and the distances between the plurality of three-dimensional markers. It is a direction inclination detection apparatus of the 1st present invention which computes the inclination of the above-mentioned conveyance vehicle based on the distance moved.

The fourth aspect of the present invention is
In the state where the optical sensor unit is attached to the side surface of the transport vehicle, the third optical sensor is disposed below the first optical sensor and the second optical sensor,
In the state where the three-dimensional marker is arranged along the conveyance path, the reflection surface is arranged below the first surface and the second surface, and any one of the first to third It is a direction inclination detection apparatus of the present invention.

The fifth aspect of the present invention provides
The reflection surface is provided at a position protruding from the first surface and the second surface with respect to the optical sensor unit, and the direction inclination detection according to any one of the first to fourth aspects of the present invention. Device.

The sixth aspect of the present invention provides
The first surface and the second surface are formed on the same member,
The reflective surface is formed on a member different from the member,
The another member is the direction inclination detecting device according to the fifth aspect of the present invention, which is connected to the extended portion of the member.

The seventh aspect of the present invention
The first photosensor and the second photosensor are directional inclination detection devices according to the first aspect of the present invention, which are arranged stepwise.

In addition, the eighth aspect of the present invention
In the three-dimensional marker, instead of the first groove, a linear slit or ridge is formed, and instead of the second groove, a linear slit or ridge is formed, It is a direction inclination detection apparatus of the 1st present invention.

The ninth aspect of the present invention provides
A direction inclination detecting device of the first aspect of the present invention;
A transport system including a transport vehicle having the optical sensor unit attached to a side surface,
The transport vehicle includes a plurality of forward and backward wheels for moving forward and backward, and a plurality of lateral wheels for traveling in the left or right direction attached in a direction orthogonal to the forward and backward wheels. When moving forward or backward, the transverse wheel is floated and the plurality of forward and backward wheels are rotated in the same direction, and when moving in the left direction or the right direction, When the front and rear wheels are floated and the lateral wheels are rotated in the same direction to change the traveling direction, the lateral wheels are floated and the forward and backward wheels are moved. It is a conveyance system which rotates so that each method of rotation differs.

  According to the present invention, it is possible to provide an automatic conveyance vehicle that can run in parallel with a reference that is trackless, can be easily installed and changed, and can provide a low-cost direction inclination detection device and conveyance system.

Schematic configuration diagram seen from the top surface of the automatic guided vehicle according to Embodiment 1 of the present invention The figure which showed the positional relationship of the solid marker and the optical sensor unit of an automatic conveyance vehicle of Embodiment 1 of this invention. (A) Front view of the three-dimensional marker according to the first embodiment of the present invention, (b) Side view of the three-dimensional marker according to the first embodiment of the present invention. The figure for demonstrating the positional relationship of the solid marker and optical sensor unit of Embodiment 1 of this invention. The front view seen from the side which opposes the solid marker of the optical sensor unit of Embodiment 1 of this invention (A) The figure which shows arrangement | positioning of the slit of the solid marker in the case of address = "1" of Embodiment 1 of this invention, (b) In the case of address = "2" of Embodiment 1 of this invention The figure which shows arrangement | positioning of the slit of a three-dimensional marker, (c) The figure which shows arrangement | positioning of the slit of a three-dimensional marker in the case of address = "3" of Embodiment 1 of this invention, (d) Embodiment 1 of this invention The arrangement of the slits of the three-dimensional marker when address = “4” (A) The figure which showed the detection result detected with the sensor 30 for address detection of Embodiment 1 of this invention, (b) The detection result detected with the sensor 31 for address detection of Embodiment 1 of this invention The figure which showed, (c) The figure which showed the detection result detected by the address detection sensor 32 of Embodiment 1 of this invention, (d) The position calculating part of the drive control part of Embodiment 1 of this invention The figure which shows the address information acquired from the detection result of each address detection sensor (A) The figure which shows the example of the other slit shape of the solid marker of Embodiment 1 of this invention, (b) The figure which shows the example of the other slit shape of the solid marker of Embodiment 1 of this invention (A) A side view of a three-dimensional marker having another configuration according to the first embodiment of the present invention, (b) a side view of a three-dimensional marker having another configuration according to the first embodiment of the present invention, and (c) of the present invention. The side view of the solid marker of other composition of Embodiment 1 (A) The figure for demonstrating the point where the sensor for distance detection of Embodiment 1 of this invention detects the distance to a solid marker, (b) Travel of the automatic conveyance vehicle of Embodiment 1 of this invention The figure for explaining the calculation method of the inclination to the route The figure for demonstrating the point where the sensor for distance detection of Embodiment 1 of this invention detects the distance to a solid marker. (A) Front view of optical sensor unit having a plurality of distance detection sensors according to Embodiment 1 of the present invention, (b) Optical sensor unit having a plurality of distance detection sensors according to Embodiment 1 of the present invention. The figure which shows the position of 2 points | pieces where the sensor for distance detection at the time of using Detects the distance to a solid marker (A) The front view of the optical sensor unit which has the sensor for distance detection of another structure of Embodiment 1 of this invention, (b) The sensor for distance detection of another structure of Embodiment 1 of this invention is shown. The figure which shows the positional relationship of the sensor for distance detection at the time of using the optical sensor unit which has, and a solid marker The figure for demonstrating the installation method of the solid marker of Embodiment 1 of this invention The figure explaining the route change of the automatic conveyance vehicle of Embodiment 1 of this invention The schematic block diagram seen from the upper surface of the automatic conveyance vehicle of other structures of Embodiment 1 of this invention Schematic configuration diagram of a conventional automated guided vehicle viewed from above

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Embodiment 1)
FIG. 1 shows a schematic configuration diagram of the first embodiment of the present invention as seen from the upper surface of an automatic guided vehicle that detects a detected object and controls the traveling direction.

  The automatic guided vehicle 10 according to the first embodiment includes drive wheels 14 disposed on both the left and right sides of the vehicle body traveling side, and two drive motors 13 for independently driving the drive wheels 14. Yes. And on the rear side of the vehicle body, driven wheels 15 are provided on the left and right sides of the vehicle body.

  In addition, a wireless receiving unit 16 that receives a wireless signal for instructing a travel route or a stop position of the automatic transport vehicle 10 is provided.

  And the drive control part 11 which controls the two drive motors 13 according to the instruction | indication by the radio signal which the radio | wireless receiving part 16 received is provided. In addition, an optical sensor unit 12 is attached to the left side surface in front of the automatic conveyance vehicle 10, emits laser light toward the left side of the automatic conveyance vehicle 10, and detects reflected light from the three-dimensional marker 20. The drive control unit 11 controls the two drive motors 13 based on the detection result of the optical sensor unit 12 so that the automatic guided vehicle 10 travels on a predetermined travel route.

  Based on the detection result of the optical sensor unit 12, the drive control unit 11 calculates the address information of the detected three-dimensional marker 20, and the direction in which the automatic conveyance vehicle 10 is traveling with respect to the traveling direction to be traveled. And an inclination calculating unit 18 for calculating the inclination of. Based on the address information calculated by the position calculation unit 17 and the inclination information calculated by the inclination calculation unit 18, the drive motor 13 is controlled so as to travel correctly on the route to be traveled.

  A plurality of three-dimensional markers 20 are arranged on a line that is a fixed distance away from the travel route on which the automatic guided vehicle 10 travels, and a surface that reflects light emitted from the optical sensor unit 12 faces the side surface of the automatic guided vehicle 10. It is installed on the floor at a predetermined interval.

  The portion surrounded by the alternate long and short dash line in FIG. 1, that is, the configuration including the optical sensor unit 12, the position calculation unit 17, and the tilt calculation unit 18 corresponds to an example of the optical sensor unit of the present invention. Further, a configuration surrounded by a two-dot chain line in FIG. 1, that is, a configuration in which a plurality of three-dimensional markers 20 arranged along the conveyance path of the automatic conveyance vehicle 10 is added to the optical sensor unit of the present invention is a direction inclination of the present invention. This is an example of a detection device.

  FIG. 2 is a diagram illustrating a positional relationship between the three-dimensional marker 20 and the optical sensor unit 12 attached to the left side surface of the automatic conveyance vehicle 10 when the automatic conveyance vehicle 10 is travel-controlled by reflected light from the three-dimensional marker 20. It is.

  The optical sensor unit 12 is composed of four optical sensors arranged so as to overlap one above the other, and the laser light emitted from each optical sensor is reflected by the three-dimensional marker 20 to detect the reflected light.

  The automatic transport vehicle 10 is provided with a transport bag on the top thereof, or an article storage / removal mechanism 70 as shown in FIG.

  For example, a lifter mechanism or the like is mounted as the article storage / removal mechanism 70, and the automatic transport vehicle 10 as a cart is automatically controlled to take out a container at a designated place by the lifter mechanism and move it to another predetermined place. To do. Further, as the article storage / removal mechanism 70, a mechanism for taking out a product on a predetermined shelf or storing it in a predetermined shelf may be mounted.

  FIG. 3A shows a front view of the three-dimensional marker 20, and FIG. 3B shows a side view.

  A reference slit 21, upper address slit 22, and lower address slit 23 are formed in a metal slit substrate 25, and the reflector is formed on the surface opposite to the surface facing the automatic transport vehicle 10. 27 is bonded, and grooves are formed by the reflecting plate 27, the reference slit 21, the upper address slit 22, and the lower address slit 23, respectively.

  The grooves formed on the surface of the slit substrate 25 by the reference slit 21 and the reflection plate 27 are an example of the first groove of the present invention, and the grooves and the lower address slits formed by the upper address slit 22 and the reflection plate 27. The groove formed by 23 and the reflecting plate 27 corresponds to an example of the second groove of the present invention. Of the surface of the slit substrate 25 facing the automatic transport vehicle 10, the portion where the reference slit 21 is formed is an example of the first surface of the present invention, and the upper address slit 22 and the lower address slit 23 are The formed part is an example of the second aspect of the present invention.

  Further, a metal distance detection block 26 is bonded to the surface of the metal slit substrate 25 facing the automatic transport vehicle 10, and the surface of the distance detection block 26 facing the automatic transport vehicle 10. Is the reflecting surface 24.

  Note that the slit substrate 25 on which the reference slit 21, the upper address slit 22, and the lower address slit 23 are formed is an example of the same member on which the first surface and the second surface are formed. The detection block 26 corresponds to an example of another member of the present invention.

  FIG. 4 is a diagram for explaining the positional relationship between the three-dimensional marker 20 and the optical sensor unit 12.

  The three-dimensional marker 20 is installed on the floor so that the front side faces the left side surface of the automated guided vehicle 10 in the order of the reference slit 21, the upper address slit 22, the lower address slit 23, and the reflecting surface 24 from the top. The

  The optical sensor unit 12 includes four optical sensors, that is, an address detection sensor 30, an address detection sensor 31, an address detection sensor 32, and a distance detection sensor 33. The reference slit 21 of the three-dimensional marker 20, the upper address From the top, the address detection sensor 30, the address detection sensor 31, the address detection sensor 32, and the distance detection sensor 33 are arranged in this order so as to face the slit 22, the lower address slit 23, and the reflection surface 24, respectively. .

  The address detection sensor 30 corresponds to an example of the first optical sensor of the present invention, and the address detection sensor 31 and the address detection sensor 32 correspond to an example of the second optical sensor of the present invention. 33 is an example of the third photosensor of the present invention.

  As shown in FIG. 4, the address detection sensors 30, 31, and 32 of the optical sensor unit 12 are arranged so that the three-dimensional marker 20 side is stepped. This is because when the optical sensor unit 12 is assembled by the address detection sensors 30, 31, and 32, it is easy to assemble by screwing or the like. Therefore, the surface of the address detection sensors 30, 31 and 32 on the side of the three-dimensional marker 20 does not necessarily have a stepped shape as shown in FIG. 4, for example, the three-dimensional of each address detection sensor 30, 31 and 32 You may comprise so that the surface by the side of the marker 20 may become the same surface.

  FIG. 5 shows a front view of the optical sensor unit 12 as viewed from the side facing the three-dimensional marker 20.

  The light emitting portions and the light receiving portions of the address detection sensors 30, 31 and 32 are at the same position, and the light receiving and emitting portions 34, 35 and 36 of the respective laser beams are arranged so as to be aligned on a vertical line when viewed from the front. Has been. The light emitting part and the light receiving part of the distance detecting sensor 33 are also at the same position, and the light receiving / emitting part 37 of the distance detecting sensor 33 is also arranged on the vertical line of the light receiving / emitting parts of the address detecting sensors 30, 31 and 32. Has been.

  As shown in FIG. 3, the reference slits 21 are 10 slits arranged at equal intervals, only the slit at the right end when viewed from the front side is twice as wide as the other slits, and the other 9 slits are , Slits of the same width.

  The arrangement of the slits in which the upper address slit 22 and the lower address slit 23 are formed is information indicating the position (address) of the solid marker 20, and the arrangement in which these slits are formed for each solid marker 20. Is different.

  As shown in FIG. 3A, the upper address slit 22 and the lower address slit 23 are formed at the same position as the reference slit 21 at a position below one of the slits of the reference slit 21.

  The positional relationship between the upper address slit 22 and the lower address slit 23 formed corresponding to the reference slit 21 and the reference slit 21 corresponds to an example of the predetermined positional relationship of the present invention.

  6A to 6D respectively show the arrangement of the slits of the three-dimensional marker 20 having different positions (addresses) to be installed. FIGS. 6A to 6D show the arrangement of slits when the address = “1”, “2”, “3”, and “4”, respectively.

  In the upper address slit 22 and the lower address slit 23, eight slits at positions corresponding to the second slit to the ninth slit from the left end of the reference slit 21 are used as address information, and the left end slit is not used. The rightmost slit is used as the check digit slit 28. Here, as an example, the case of odd parity (a method of adjusting with check digit slits so that the number of slits is always odd) is shown. The leftmost slit of the reference slit 21 is used as a start bit.

  In FIG. 6, information is used as information “1”, “2”, “4”, “8”,... Sequentially from the second slit from the left end of the upper address slit 22 and the lower address slit 23. In the case of “,” “2”, “3”, “4”, the slits are arranged at the positions shown in FIGS. Since the upper address slit 22 is a slit formed when the address is “256” or more, in the case of FIGS. 6A to 6D, a slit is formed only in the check digit slit 28. Since the check digit slit 28 has odd parity, the lower address slit 23 is formed only in the case of FIG. 6C.

  Next, a position detection method for the automatic guided vehicle 10 in the position calculation unit 17 of the drive control unit 11 will be described.

  FIGS. 7A to 7D show detection results detected by the address detection sensors 30 to 32 of the optical sensor unit 12 while the automatic guided vehicle 10 advances in the traveling direction. Here, it is assumed that the automatic transport vehicle 10 is moving at a constant speed.

  When the automated guided vehicle 10 moves from the left to the right of the front of the three-dimensional marker 20 shown in FIG. 3A, the laser light emitted from the address detection sensor 30 is emitted from the left slit of the reference slit 21. The light is sequentially irradiated to the slit on the right side. The laser beam reflected by the surface portion of the slit substrate 25 where no slit is formed is stronger than the laser beam that passes through the slit and is reflected by the reflecting plate 27 disposed on the back side of the slit substrate 25. Reflected light is detected. Accordingly, the intensity of the reflected light detected by the address detection sensor 30 when the front of the three-dimensional marker 20 is moved from left to right at a constant speed changes with time as shown in FIG. To do.

  As shown in FIG. 7A, the threshold value is set to a value that can distinguish the difference between the intensity of the reflected light reflected by the surface of the slit substrate 25 and the intensity of the reflected light reflected by the reflecting plate 27. In this way, it is possible to specify the time point of passing through each slit of the reference slit 21.

  As shown in FIG. 3A, the upper address slit 22 and the lower address slit 23 are formed so that the slit width is positioned at the same position as any slit width of the reference slit 21. As shown in FIG. 5, the laser light emission positions of the address detection sensors 31 and 32 are positions on the vertical line of the light emission positions of the address detection sensors 30 and are emitted from the address detection sensors 31 and 32. Laser light is emitted so as to pass through the same vertical plane as the laser light emitted from the address detection sensor 30. Therefore, when the upper address slit 22 and the lower address slit 23 are formed at positions corresponding to any of the slits of the reference slit 21, at the same time as when the address detection sensor 30 detects the slit. The intensity of the reflected light detected by the address detection sensor 31 or 32 changes.

  Therefore, the time point when the reflected light detected by the address detection sensors 31 and 32 changes is collated with each time point when the address detection sensor 30 detects the position of each slit of the reference slit 21, thereby It can be detected whether the upper address slit 22 and the lower address slit 23 are formed at a position corresponding to which slit.

  FIG. 7 shows a detection result when the address = “3” shown in FIG.

  In this case, since only the rightmost check digit slit 28 is formed for the upper address slit 22 of the three-dimensional marker 20, depending on the position of the check digit slit 28, the reflected light is reflected as shown in FIG. The strength changes.

  Further, in the address detection sensor 32, the intensity of the reflected light changes as shown in FIG. 7C in accordance with the position of the slit formed in the lower address slit 23 shown in FIG. To do.

  As shown in FIG. 7 (d), the position calculation unit 17 of the drive control unit 11 detects the detection result of the address detection sensors 30 and 32 as shown in FIG. 7 (a) and FIG. 7 (c). It is determined that the arrangement of the lower address slit 23 of the three-dimensional marker 20 that has passed through is an arrangement indicating information that “11000000B” and the check digit bit is “1”. At this time, the detection result by the address detection sensor 31 is detected by the address detection sensor 30 in FIG. 7A because a change in the intensity of the reflected light is detected as shown in FIG. 7B. In comparison with the result, it is determined that the arrangement of the upper address slit 22 indicates information indicating that the arrangement of the upper address slit 22 is “00000000B” and the check digit bit is “1”. As a result, the position calculation unit 17 calculates that the automated guided vehicle 10 is at the position of the three-dimensional marker 20 specified by the address = “3”.

  Each of the reference slit 21, the upper address slit 22, and the lower address slit 23 has a vertically long shape having a predetermined length in the vertical direction, and as shown in FIG. Since the laser light emitted from 32 is irradiated so as to cross these vertically long slits as the automatic transport vehicle 10 moves, the position of the laser light irradiated on the three-dimensional marker 20 is slightly shifted up and down. Can accurately detect the address information.

  As shown in FIG. 3A, the width of the slit at the right end of the reference slit 21 is twice the width of the other slits. Therefore, as shown in FIG. In the detection result, the slit is detected to be wider than the other slits and can be distinguished from the other slits. That is, by detecting that “the width of the tenth slit among the continuously detected slits is larger than the width of the other slits”, erroneous detection of the slit can be prevented. For example, in the case where one of the ten slits cannot be detected, the position calculation unit 17 indicates that “the width of the ninth slit among the continuously detected slits is larger than the width of the other slits”. It will be recognized, and it can recognize that it was detected erroneously.

  Further, in the upper address slit 22 and the lower address slit 23, the slit at the position corresponding to the leftmost slit of the reference slit 21 is not used, but this can also recognize erroneous detection. That is, when the upper address slit 22 or the lower address slit 23 is detected at the time corresponding to the first slit from the left end of the reference slit 21, the false detection is recognized as “a slit that does not exist originally” has been detected. be able to.

  The number of reference slits 21 and address information assigned to each of the upper address slit 22 and the lower address slit 23 are not limited to the configuration of the first embodiment described above, and may be set according to the system. .

  For example, as an example of the second groove of the present invention, an example using upper and lower two-stage slits of the upper address slit 22 and the lower address slit 23 has been shown, but a structure using only one-stage slit may be used. It is good also as a structure using the slit of 3 steps | paragraphs or more on the upper and lower sides.

  Further, the number of slits of the reference slit 21 may be less than 10 or more than 10. The width of the right end slit of the reference slit 21 may be the same as that of the other slits, or the left end slit and the right end slit may be wider than the width of the other slits.

  Moreover, although the above demonstrated the case where the automatic conveyance vehicle 10 moved at constant speed, also when the automatic conveyance vehicle 10 detects the solid marker 20 changing a speed, the address information of the solid marker 20 is correctly acquired. Can be detected. Each of the address detection sensors 30 to 32 detects the position information of the slit based on the change point of the intensity of the reflected light. If the upper address slit 22 and the lower address slit 23 exist, the corresponding slit of the reference slit 21 is detected. Since the intensity of the reflected light changes at the same change time, the address information of the three-dimensional marker 20 can be accurately detected even if the automatic guided vehicle 10 is not moving at a constant speed.

  Here, the upper address slit 22 and the lower address slit 23 are formed at the lower position where any of the slits of the reference slit 21 is extended with the same width as the reference slit 21. The upper address slit 22 and the lower address slit 23 are not limited to the configuration, and may be formed at positions where the position of each slit can be specified with reference to the position of the reference slit 21. For example, the positions of the upper address slit 22 and the lower address slit 23 are made to correspond to the positions between the slits of the reference slit 21, and the upper address slit 22 and the lower address slit are positioned below the slots of the reference slit 21. You may make it form 23 slits.

  FIG. 8A and FIG. 8B show other slit shape examples of the three-dimensional marker.

  Each of the three-dimensional marker 40 in FIG. 8A and the three-dimensional marker 41 in FIG. 8B is an example showing the same position information (address) as the three-dimensional marker 20 shown in FIG.

  The reference slit 21, the upper address slit 22, and the lower address slit 23 do not necessarily have to be formed separately as shown in FIG. 3A, but like the three-dimensional marker 40 in FIG. 8A. In addition, the upper address slit 22 and the lower address slit 23 corresponding to the reference slit 21 may be connected to the reference slit 21 to form one long slit.

  Further, if the vertical length of the reference slit 21 is long enough to allow the vertical deviation of the laser beam by the address detection sensor 30, the reference slit is as shown in the three-dimensional marker 41 of FIG. The shape which the one end side of 21 is open | released may be sufficient.

  A slit shape such as that shown in FIGS. 3 (a), 8 (a), and 8 (b) may be used depending on the manufacturing cost, the environment to be used, and the like. For example, when emphasizing ease of manufacture and material cost, the slit shape shown in FIGS. 8A and 8B is used, and when emphasizing the strength of the three-dimensional marker, the slit shown in FIG. Shape.

  9A to 9C are side views of other configurations of the three-dimensional marker.

  In FIG. 3A, the reflection plate 27 is bonded to the back surface of the slit substrate 25 to form a groove on the surface of the slit substrate 25. However, each address detection sensor 30 to 32 is slit depending on the difference in reflected light. If the position can be detected, the groove shape may be used instead of the slit shape.

  For example, as shown in FIG. 9A, the reflective substrate 42 may be disposed at a position separated by a predetermined distance on the back side of the slit substrate 25 on which the slit is formed. In the configuration of FIG. 9A, the reflective substrate 42 is assembled to the slit substrate 25 with the mounting bolt 45, and the distance between the slit substrate 25 and the reflective substrate 42 is adjusted with the jack bolt 46, so that the reflective surface 24 is automatically conveyed. It can be parallel to the direction of travel of the car and perpendicular to the floor. Further, the jack bolts 46 may be provided at the four corners of the slit substrate 25, or the mounting column surface may be pushed.

  Moreover, as long as each address detection sensor 30 to 32 can detect the same position as the slit formed in the three-dimensional marker 20 due to the difference in the intensity of reflected light, a three-dimensional shape other than using the slit may be used.

  FIG. 9B shows a side view of a three-dimensional marker in which grooves are formed instead of slits.

  In the configuration of FIG. 9B, the reference groove 51, the upper address groove 52, and the lower address groove 53 are formed on the surface of the groove forming substrate 50. The shapes of the reference groove 51, the upper address groove 52, and the lower address groove 53 viewed from the front side of the three-dimensional marker are the same as the shapes of the reference slit 21, the upper address slit 22, and the lower address slit 23 in FIG. Thereby, the detection result similar to the solid marker 20 shown to Fig.3 (a) can be obtained.

  FIG.9 (c) has shown the side view of the solid marker which formed the convex part instead of the slit.

  In the configuration of FIG. 9C, the reference protrusion 56, the upper address protrusion 57, and the lower address protrusion 58 are formed on the surface of the protrusion forming substrate 55. Further, instead of forming these convex portions, a thick substrate may be processed by cutting or the like, so that a convex line forming substrate 55 having the shape of FIG.

  The shapes of the reference convex portion 56, the upper address convex portion 57, and the lower address convex portion 58 viewed from the front side of the three-dimensional marker are the same as those of the reference slit 21, the upper address slit 22, and the lower address slit 23 in FIG. By adopting the shape, the same detection result as that of the three-dimensional marker 20 shown in FIG. However, in this case, since the reflected light from the convex portion is stronger than the reflected light from the surface portion of the ridge-forming substrate 55, the intensity of the reflected light is reversed from FIGS. 7 (a) to (c). Changes.

  Next, a method for detecting the tilt of the automatic guided vehicle 10 in the tilt calculation unit 18 of the drive control unit 11 will be described.

  As shown in FIG. 4, the distance detection sensor 33 arranged at the lowermost part of the optical sensor unit 12 is a sensor using an optical triangulation method, and is separated from the travel route of the automatic transport vehicle 10 by a certain distance. By detecting the reflected light from the reflecting surface 24 of the three-dimensional marker 20 arranged on the line, the distance between the automated guided vehicle 10 and the three-dimensional marker 20 is calculated.

  The inclination calculating unit 18 automatically detects the two distance information to the three-dimensional marker 20 detected at two different points by the distance detection sensor 33 of the optical sensor unit 12 when the automatic guided vehicle 10 is traveling. The inclination of the transport vehicle 10 with respect to the travel route to be traveled is calculated.

  FIG. 10A is a diagram for explaining a point where the distance detection sensor 33 detects the distance to the three-dimensional marker 20, and FIG. 10B is a method for calculating the inclination of the automatic guided vehicle 10 with respect to the route to be traveled. FIG.

  FIG. 10A shows the position of the optical sensor unit 12 at two points where the distance detection sensor 33 detects the distance to the three-dimensional marker 20 when the automatic transport vehicle 10 is moving.

  The optical sensor unit 12 indicated by a solid line in FIG. 10A indicates the position of the optical sensor unit 12 at the first detection point detected by the distance detection sensor 33. And the optical sensor unit 12 shown with a broken line has shown the position of the optical sensor unit 12 in the 2nd detection point which the automatic conveyance vehicle 10 moves from a 1st detection point, and the sensor 33 for distance detection detects. In the case of FIG. 10A, two distances are detected by reflecting laser light to two different parts of the reflection surface 24 of one solid marker 20.

  The inclination calculation unit 18 calculates the inclination of the automatic guided vehicle 10 with respect to the traveling route on which the automatic guided vehicle 10 should travel from the two pieces of distance information detected at the first detection point and the second detection point.

  For example, if the “distance between two parts on the reflecting surface 24 from which the distance is detected” is known, the distance detected at the first detection point and the second detection point as shown in FIG. From the difference from the detected distance, the inclination θ of the traveling direction of the automatic guided vehicle 10 relative to the reflecting surface 24 can be calculated using a trigonometric function. For example, if the distance detection sensor 33 detects the distance to the three-dimensional marker 20 at the timing when the first slit is detected from the left end of the reference slit 21 and the timing when the tenth slit is detected, “distance” The distance between the first slit and the tenth slit of the reference slit 21 can be used as the “distance between the two parts on the reflecting surface 24 that has detected”.

  In addition, when the distance detection sensor 33 is constantly detected, the same distance is continuously detected while one reflecting surface 24 is being detected. Can be identified. The distance first detected with respect to the reflecting surface 24 when one reflecting surface 24 is identified is the distance detected at the first point, and the last detected distance with respect to the reflecting surface 24 is the second distance. By using the distance detected at the point, as the “distance between two parts on the reflection surface 24 where the distance is detected”, the left and right widths of the reflection surface 24, that is, the reflection surface along the traveling direction of the automatic transport vehicle 10 A length of 24 can be used.

  Moreover, even if it uses the movement distance from a 1st detection point to a 2nd detection point instead of between two site | parts of the reflective surface 24, inclination (theta) of the automatic conveyance vehicle 10 is calculated using a trigonometric function. be able to.

  In the above, the inclination with respect to the route on which the automatic guided vehicle 10 should travel is calculated using the distance information detected for the two parts on the reflection surface 24 of the one three-dimensional marker 20. It is also possible to calculate using distance information to the three-dimensional marker 20.

  FIG. 11 shows the position of the optical sensor unit 12 at two points where the distance detection sensor 33 detects the distance to the three-dimensional marker 20 when the automatic transport vehicle 10 is moving.

  In the case of FIG. 11, the distance to two different three-dimensional markers 20 installed along the conveyance path is detected. A point at which a distance to a certain three-dimensional marker 20 is detected is set as a first detection point, and when the automated guided vehicle 10 moves and passes in front of another three-dimensional marker 20, the second detection point is set to the three-dimensional marker 20. Detect the distance.

  Also in this case, as in the case of FIG. 10, if the “distance between two positions where the distance to the two three-dimensional markers 20 is detected” is known, the distance detected at the first detection point and the second From the difference from the distance detected at the detection point, using a trigonometric function, the line in which the three-dimensional marker 20 is installed, that is, the direction in which the automated guided vehicle 10 is traveling with respect to the direction in which the automated guided vehicle 10 should travel Can be calculated.

  For example, if the distance detection sensor 33 detects the distance to the three-dimensional marker 20 at a timing at which a slit at a predetermined position (for example, the fifth from the left) of the reference slit 21 of the three-dimensional marker is detected, “two The distance between the two three-dimensional markers 20 can be used as the “distance between two positions where the distance to the three-dimensional marker 20 is detected”.

  Also, instead of “distance between two positions where the distances to the two three-dimensional markers 20 are detected”, the trigonometric function can be calculated using the moving distance from the first detection point to the second detection point. It is possible to calculate the inclination θ with respect to the route on which the automatic guided vehicle 10 should travel.

  As shown in FIG. 11, when distance information to two different three-dimensional markers is used, the distance between the first detection point and the second detection point is larger than in the case of FIG. The slope θ can be calculated. However, in the case of FIG. 10, the inclination θ can be calculated when passing in front of one three-dimensional marker 20, whereas in the case of FIG. 11, the inclination θ is at least until it passes in front of the next three-dimensional marker 20. Is not calculated, it takes a longer time to calculate the slope θ than in the case of FIG.

FIG. 12A shows a front view of an optical sensor unit having a plurality of distance detection sensors, and FIG. 12B shows a distance detection sensor 33 up to the three-dimensional marker 20 when the optical sensor unit is used. The positions of two points for detecting the distance are shown.
The figure for demonstrating the calculation method of the inclination with respect to the path | route which an automatic conveyance vehicle should drive is shown.

  As shown in FIG. 12 (a), the distance detection sensor of this optical sensor unit has two light emitting / receiving sections 38 and 39 that can independently detect the distance to the detection body, and the traveling direction of the automatic transport vehicle 10 is as follows. It is provided in the position separated along.

  As shown in FIG. 12B, this optical sensor unit emits laser light from both the light emitting / receiving sections 38 and 39 at the same time, and the distance to two different parts of the reflecting surface 24 of one solid marker 20 is different. It is detected at the same timing.

  The inclination calculation unit 18 uses the distance detected by the light emitting / receiving unit 38 as the distance detected at the first detection point, and the distance detected by the light receiving / emitting unit 39 as the distance detected at the second detection point. The inclination θ of the automatic transport vehicle 10 is calculated. In this case, the inclination θ of the automatic guided vehicle 10 is calculated from the difference between the two detected distances and the distance between the two light emitting / receiving units 38 and 39.

  FIG. 13A is a front view of an optical sensor unit having a distance detection sensor of another configuration, and FIG. 13B is a distance detection sensor 33 and a three-dimensional marker 20 when the optical sensor unit is used. The positional relationship is shown.

  As shown in FIG. 13A, in the distance detection sensor 33, the light emitting unit 47 and the light receiving unit 48 are disposed at positions separated from each other in the front-rear direction of the automatic transport vehicle 10, and laser light is emitted from the light emitting unit 47. The light receiving unit 48 detects the reflected light that is emitted and reflected by the reflecting surface 24 of the three-dimensional marker 20.

  The inclination with respect to the three-dimensional marker 20 is calculated based on the position of the reflected light detected by the light receiving unit 48. The three-dimensional marker 20 is installed so that the reflecting surface 24 is a vertical surface along a line that is a predetermined distance away from the travel route of the automatic transport vehicle 10, that is, the reflected light detected by the light receiving unit 48. Depending on the position, the inclination (deviation) of the automatic transport vehicle 10 with respect to the travel route on which the automatic transport vehicle 10 should travel is calculated.

  For example, when the position where the reflected light is detected by the light receiving unit 48 is shifted forward from a predetermined position, it is determined that the automatic guided vehicle 10 is tilted to the right of the travel route, and the light receiving unit 48 reflects the light. When the position where the light is detected is shifted rearward from the predetermined position, it is determined that the automatic guided vehicle 10 is tilted to the left of the travel route. Further, the angle of inclination with respect to the travel route is calculated based on the amount of deviation from the predetermined position of the position where the reflected light is detected by the light receiving unit 48.

  Here, the predetermined position is a position where the reflected light is incident on the light receiving unit 48 when the traveling direction of the automated guided vehicle 10 is parallel to the reflecting surface 24 of the three-dimensional marker 20. The position is uniquely determined according to the distance.

  In any of the inclination detection methods shown in FIGS. 11 to 13, if the distance from the line parallel to the travel route of the automatic guided vehicle 10 on which the three-dimensional marker 20 is installed can be accurately detected, the automatic guided vehicle 10 The inclination angle θ with respect to the travel route can be accurately calculated.

  Therefore, by making the reflecting surface 24 of the three-dimensional marker 20 a vertical plane that is exactly along a line that is a fixed distance away from the travel route of the automatic conveyance vehicle 10, the distance to the three-dimensional marker 20 is accurately detected, and automatic conveyance is performed. The inclination angle θ with respect to the travel route of the vehicle 10 is accurately calculated. In order to obtain accurate reflected light from the reflecting surface 24, it is desirable that the surface of the reflecting surface 24 be textured.

  In FIG. 3B, the distance detection block 26 is bonded to the slit substrate 25. However, as shown in FIG. 9A, the distance detection block 43 is attached to the slit substrate 25 by the mounting screw 44. You may make it fix from the back side.

  In FIG. 3, the reflection surface 24 for irradiating the laser beam of the distance detection sensor 33 is formed by adhering the distance detection block 26 to the slit substrate 25. However, as shown in FIG. The surface portion of the formation substrate 50 where no groove is formed may be used as the reflection surface portion 54 as a portion to which the distance detection sensor 33 is irradiated with laser light. Similarly, in the case of the slit substrate 25, a surface portion on which no slit is formed may be used as a portion for irradiating the distance detection sensor 33 with laser light. Further, a portion of the surface of the groove forming substrate 50 or the slit substrate 25 where the grooves or slits are not formed may be used as a portion for irradiating the laser beam of the distance detection sensor 33 by cutting or surface finishing. Good.

  Further, as long as the reflecting surface 24 can be installed to be an accurate vertical surface, the reflecting surface 24 may be disposed at a position deeper than the surface of the slit substrate 25 forming the slit.

  In the case where the reflecting surface 24 is an accurate vertical surface, as shown in FIG. 3B, the position of the reflecting surface 24 protrudes from the position of the surface of the slit substrate 25 where the slit is formed. It is easy to process the reflecting surface 24 into an accurate vertical surface after the three-dimensional marker 20 is installed.

  Further, in FIG. 3 and the like, the reflecting surface 24 is arranged below the reference slit 21, the upper address slit 22 and the lower address slit 23, but it is not necessarily arranged at the lowermost part of the three-dimensional marker 20. .

  However, when the automated guided vehicle 10 is tilted toward the three-dimensional marker 20, the higher the position of the distance detection sensor 33, the greater the influence of the tilt, and the larger the detection result error. In order to calculate the inclination angle of the automated guided vehicle 10 with respect to the travel route more accurately, the distance from the three-dimensional marker 20 is required to be detected more accurately. It is desirable to arrange the distance detection sensor 33 and the reflecting surface 24 as the detected body as close to the floor as possible. That is, it is desirable that the three-dimensional marker 20 be installed so that the reflecting surface 24 is disposed at the lowermost part.

  The drive control unit 11 calculates the position information of the automated guided vehicle 10 calculated from the detection results of the address detection sensors 30, 31 and 32 by the position calculation unit 17 and the detection result of the distance detection sensor 33 by the inclination calculation unit 18. By controlling the two drive motors 13 based on the position information and the inclination information for the route to be traveled, the automatic guided vehicle 10 is controlled to travel on the route to be traveled accurately. For example, when it is determined that the automated guided vehicle 10 is tilted to the left with respect to the route to be traveled, the drive control unit 11 controls the drive motor 13 to decelerate the right drive wheel 14.

  Next, a method for installing the three-dimensional marker 20 will be described.

  FIG. 14 is a diagram for explaining a method of installing the three-dimensional marker 20.

  A plurality of three-dimensional markers 20 are fixed on the floor with bolts or the like at predetermined intervals on parallel lines that are separated from the routes 71 and 72 by which the automatic guided vehicle 10 should travel. At this time, the surface 24 of the slit substrate 25 is perpendicular to the floor surface and is constant from the paths 71 and 72 of the automatic transport vehicle so that the reflecting surface 24 of the three-dimensional marker 20 faces the paths 71 and 72 of the automatic transport vehicle. Each solid marker 20 is fixed on the floor so as to be along parallel lines separated by a distance of.

  The positions of the lower address slits 23 of the three-dimensional markers 20 placed on the floor are different from each other and indicate different position information (address).

  When automatic traveling is started after the automatic guided vehicle 10 is arranged on the path 71, the position and inclination of the automatic guided vehicle 10 at that time is the position of the drive control unit 11 when passing through the front of each three-dimensional marker 20. It is calculated by the calculation part 17 and the inclination calculation part 18, and is controlled so as to accurately travel on the route 71 of the automatic guided vehicle.

  Since the current position of the automated guided vehicle 10 can be calculated by the position calculation unit 17, it can be controlled to change the direction at a predetermined position. For example, the vehicle can travel on the cross-direction route 72 by changing the direction by 90 °. Can be made. Even after the direction has been changed to the cross direction, the three-dimensional marker 20 installed along a parallel line that is a predetermined distance away from the route 72 can be detected and accurately traveled on the route 72 after the direction change. it can.

  What is necessary is just to determine the space | interval which installs each three-dimensional marker 20 according to the environment etc. which use the automatic conveyance vehicle 10. FIG. By narrowing the interval at which the three-dimensional marker 20 is installed, the automatic guided vehicle 10 can be controlled to travel on the routes 71 and 72 more accurately. In a use environment where the allowance of deviation of the travel path may be large, the interval at which the three-dimensional marker 20 is installed may be set wider according to the allowance.

  In the above description, the three-dimensional marker 20 is fixed on the floor. However, as long as the three-dimensional marker 20 is on a parallel line that is a fixed distance away from the routes 71 and 72 of the automated guided vehicle, the wall and shelf pillars erected on the floor. You may make it fix to.

  By installing the three-dimensional marker 20 of the first embodiment at an appropriate position, it is possible to control the automatic guided vehicle 10 so as to change the route at a predetermined position.

  FIG. 15 is a diagram for explaining a route change of the automatic guided vehicle 10 according to the first embodiment.

  FIG. 15 shows a top view of a warehouse in which shelves are arranged. In order to move articles on the shelves 88, a three-dimensional marker is used so that the automatic guided vehicle 10 travels between the shelves 88 that are arranged in plural. A plurality of 20 are installed for each position of the column of the shelf. In FIG. 15, an arrow superimposed on each automatic transport vehicle 10 indicates the traveling direction 80 of the automatic transport vehicle 10 at that position.

  As shown in the route change 81, the automatic guided vehicle 10 can travel to another orthogonal route, turn 90 °, and move on the orthogonal route. Moreover, as shown in the route change 82, after the automatic conveyance vehicle 10 changes the direction by 90 °, the route can be changed so as to travel along a route orthogonal to the route that has been traveled so far. Further, as shown in a route change 83, it is possible to move on a route having the same direction. Further, as shown in a route change 84, the route can be changed at a predetermined position so as to go backward in the traveling direction so far. Further, as shown in a route change 85, the route can be changed to a parallel route on the opposite side of the shelf 88. Further, as shown in the route change 86, the route can be changed so as to move to a parallel route opposite to the shelf 88 and reverse the traveling direction. Further, as shown in the route change 87, the route can be changed to another route that is parallel and separated in the region between the shelves 88.

  In this way, by installing the three-dimensional marker 20 of the first embodiment at an appropriate position, a path that is relatively simpler than a maze that intersects the cross like a warehouse is speedily prevented from colliding with the shelf 88. The automatic transport vehicle 10 can be run on the vehicle.

  FIG. 16 is a schematic configuration diagram as viewed from the upper surface of an automatic guided vehicle of another configuration that detects the detected object and controls the traveling direction according to the first embodiment.

  In the automatic transport vehicle 10 shown in FIG. 1, the drive wheels are only the forward and backward drive wheels 14. However, the automatic transport vehicle 61 shown in FIG. 16 also includes lateral drive wheels that run in the left-right direction. ing.

  The automatic transport vehicle 61 is configured to independently drive four forward / reverse drive wheels 66 disposed on both the left and right sides of the traveling side of the vehicle body and the left and right wheels of the forward / reverse drive wheels 66 independently. Two forward / reverse drive motors 64 are provided. In addition, four lateral drive wheels 68 arranged in a direction perpendicular to the traveling direction on both the front and rear sides of the vehicle body, and the two front and rear wheels of the lateral drive wheels 68 are independently provided. Two lateral drive motors 65 are provided.

  Also, a forward / reverse drive wheel vertical mechanism 67 that lifts the four forward drive wheels 66 away from the floor, and a lateral drive wheel vertical that raises the four lateral drive wheels 68 away from the floor. A mechanism 69 is provided.

  In addition, a wireless receiving unit 75 that receives a wireless signal for instructing a travel route, a stop position, and the like of the automatic transport vehicle 61 is provided.

  Then, in accordance with the instruction by the wireless signal received by the wireless receiver 75, the two forward drive motors 64, the two lateral drive motors 65, the forward drive wheel vertical mechanism 67 and the horizontal drive wheel vertical mechanism 69 are provided. A drive control unit 62 for controlling is provided.

  In addition, an optical sensor unit 63 is attached to the left side surface in front of the automatic conveyance vehicle 61, emits laser light toward the left side of the automatic conveyance vehicle 61, and detects reflected light from the three-dimensional marker 20. Based on the detection result of the optical sensor unit 63, the drive control unit 62 has two forward drive motors 64 and two lateral drive motors 65 so that the automatic guided vehicle 61 travels on a predetermined travel route. The forward / reverse drive wheel vertical mechanism 67 and the lateral drive wheel vertical mechanism 69 are controlled.

  When the automatic conveyance vehicle 61 moves forward or backward, the drive control unit 62 lifts the four lateral drive wheels 68 away from the floor surface by the lateral drive wheel lifting mechanism 69 to move forward and backward. The drive motor 64 is controlled to rotate the forward / reverse drive wheel 66.

  Further, when the automatic transport vehicle 61 is advanced in the left-right direction, the drive control unit 62 lowers the four lateral drive wheels 68 so as to contact the floor surface by the lateral drive wheel vertical mechanism 69. Then, the four forward / reverse drive wheels 66 are lifted away from the floor surface by the forward / reverse drive wheel vertical mechanism 67, and the lateral drive motor 65 is controlled to rotate the lateral drive wheel 68.

  Further, when it is detected that the automatic transport vehicle 61 is directed in a direction inclined with respect to the travel route, the drive control unit 62 raises the four lateral drive wheels 68 while raising the left and right driving wheels 68. Control is performed so that the forward and backward drive wheels 66 are rotated differently, and the direction of the automatic conveyance vehicle 61 is adjusted along the travel route.

  Since the automatic transport vehicle 61 includes the lateral drive wheels 68, the automatic transport vehicle 61 can travel in the left-right direction. Even when the automatic transport vehicle 61 greatly deviates left and right from the travel route, Can be moved to.

  The three-dimensional marker of the present invention, which is a detected object, is not attached to the floor, but is fixed upright, so that the detected object is not soiled or destroyed by the forklift traveling, such as in a warehouse. The automated guided vehicle of the present invention can be used in combination with a forklift.

  In addition, it is difficult to attach dirt due to standing and fixing, but since it is a method that detects changes in the intensity of reflected light using a three-dimensional shape, it does not become impossible to detect even if dirt is attached. .

  In addition, since the three-dimensional marker of the present invention can be easily installed, the installation position of the three-dimensional marker can be changed even when the route of the automated guided vehicle is changed.

  Moreover, since the direction inclination detection apparatus of this invention does not use an expensive sensor etc., it can implement | achieve the automatic conveyance vehicle which can coexist with a forklift at low cost.

  The direction inclination detection component and the conveyance system according to the present invention have the effect that the automatic conveyance vehicle can be driven in parallel with a reference that is trackless, can be easily installed and changed, and can be realized at low cost. It is useful as a direction inclination detection device, a transport system, an automatic transport vehicle, and the like in a transport system that uses a transport vehicle.

DESCRIPTION OF SYMBOLS 10 Automatic conveyance vehicle 11 Drive control part 12 Optical sensor unit 13 Drive motor 14 Drive wheel 15 Drive wheel 16 Wireless receiving part 17 Position calculating part 18 Inclination calculating part 20 Three-dimensional marker 21 Reference slit 22 Upper address slit 23 Lower address slit 24 Reflecting surface 25 Slit substrate 26 Distance detection block 27 Reflector 28 Check digit slit 30, 31, 32 Address detection sensor 33 Distance detection sensor 34, 35, 36, 37, 38, 39 Light emitting / receiving section 40 Stereo marker 41 Stereo marker 42 Reflecting substrate 43 Distance detection block 44 Mounting screw 45 Mounting bolt 46 Jack bolt 47 Light emitting portion 48 Light receiving portion 50 Groove forming substrate 51 Reference groove 52 Upper address groove 53 Lower address groove 54 Reflecting surface portion 55 Projection forming substrate 56 Base Semi-convex part 57 Upper address convex part 58 Lower address convex part 59 Reflecting surface 61 Automatic conveyance vehicle 62 Drive control part 63 Travel sensor 64 Drive motor for forward / rearward travel 65 Drive motor for forward / rearward travel 66 Drive wheel for forward / rearward travel 67 Forward / reverse drive wheel Vertical drive mechanism 68 Lateral drive wheel 69 Horizontal drive wheel vertical mechanism 70 Article storage / removal mechanism 71, 72 Route of automatic transport vehicle 75 Wireless receiver 80 Travel direction 81-87 Route change 88 Shelf 100 Automatic transport vehicle 101 Drive control Unit 102 travel sensor 103 drive motor 104 drive wheel 105 driven wheel 106 reflective tape 107 wireless receiving unit

Claims (9)

A direction inclination detection device including an optical sensor unit and a plurality of three-dimensional markers,
The optical sensor unit includes an optical sensor unit, a position calculation unit, and an inclination calculation unit.
The optical sensor unit is arranged at a position where the height of the first optical sensor that irradiates light and detects the reflected light is different from that of the first optical sensor, irradiates the light, and reflects the reflected light. A second photosensor for detection, a third photosensor for irradiating light and detecting the reflected light, arranged at a position where the first photosensor and the second photosensor have different heights; Have
The three-dimensional marker has a first surface formed with a plurality of linear first grooves arranged at equal intervals and irradiated with light emitted from the first optical sensor, and the second light. A second surface formed with a linear second groove having a predetermined positional relationship with at least one of the first grooves to which light emitted from the sensor is irradiated; and the third photosensor A reflecting surface to which the emitted light is irradiated;
The optical sensor unit is attached to a side surface of the transport vehicle,
A plurality of the three-dimensional markers are arranged at predetermined intervals along a conveyance path through which the conveyance vehicle passes,
The second groove represents the position of the three-dimensional marker in the conveyance path,
The position calculation unit calculates the position of the transport vehicle in the transport path using reflected light detected by the first optical sensor and the second optical sensor,
The inclination calculation unit is a direction inclination detection device that calculates an inclination of the transport vehicle with respect to the reflection surface using reflected light detected by the third optical sensor. The third optical sensor is a distance detection sensor that detects a distance to the reflection surface, and when the transport vehicle is moving, to a plurality of portions on the reflection surface of one of the three-dimensional markers. Detect each distance of
The inclination calculator is moved based on the detected distances and the distances between the plurality of parts, or the distances moved to detect the detected distances and the distances to the respective parts. The direction inclination detection apparatus according to claim 1, wherein the inclination of the transport vehicle is calculated based on: The third optical sensor is a distance detection sensor that detects a distance to the reflecting surface, and detects the distances of the plurality of three-dimensional markers to the reflecting surface when the transport vehicle is moving. ,
In order to detect the distances to the respective reflecting surfaces and the plurality of detected distances based on the plurality of detected distances and the distances between the plurality of three-dimensional markers. The direction inclination detection apparatus according to claim 1, wherein the inclination of the transport vehicle is calculated based on the distance moved. In the state where the optical sensor unit is attached to the side surface of the transport vehicle, the third optical sensor is disposed below the first optical sensor and the second optical sensor,
4. The solid marker according to claim 1, wherein the reflective surface is disposed below the first surface and the second surface in a state where the three-dimensional marker is disposed along the conveyance path. 5. The direction inclination detection apparatus of description.   The direction inclination detection device according to any one of claims 1 to 4, wherein the reflection surface is provided at a position protruding from the first surface and the second surface with respect to the optical sensor unit. . The first surface and the second surface are formed on the same member,
The reflective surface is formed on a member different from the member,
The direction inclination detection apparatus according to claim 5, wherein the another member is connected to an extended portion of the member.   The direction inclination detection apparatus according to claim 1, wherein the first optical sensor and the second optical sensor are arranged in a step shape.   In the three-dimensional marker, instead of the first groove, a linear slit or ridge is formed, and instead of the second groove, a linear slit or ridge is formed, The direction inclination detection apparatus according to claim 1. A direction inclination detecting device according to claim 1;
A transport system including a transport vehicle having the optical sensor unit attached to a side surface,
The transport vehicle includes a plurality of forward and backward wheels for moving forward and backward, and a plurality of lateral wheels for traveling in the left or right direction attached in a direction orthogonal to the forward and backward wheels. When moving forward or backward, the transverse wheel is floated and the plurality of forward and backward wheels are rotated in the same direction, and when moving in the left direction or the right direction, When the front and rear wheels are floated and the lateral wheels are rotated in the same direction to change the traveling direction, the lateral wheels are floated and the forward and backward wheels are moved. The conveyance system that rotates the different ways of rotation.