JP2020126495A - Method and device for creating arrangement position information - Google Patents

Abstract

To provide a method of creating arrangement position information that allows an automatic carrier to accurately grasp a current position even if a guidance spot is displaced from a reference position.SOLUTION: A method for creating arrangement position information is a method of creating arrangement information with a creation device 10 comprising: a moving carriage 30 that moves on a rail 20; a reading device 40 provided on the moving carriage 30, that reads a guidance spot 100 arranged based on a first reference line y1 along a first direction; and a controller 50 that creates arrangement position information of the guidance spot 100 based on the arrangement position of the guidance spot 100 read by the reading device 40. The method includes: a rail placement step of placing the rail 20 with the first reference line y1 as a reference; and a creation step of creating arrangement position information of the guidance spot 100 in a second direction orthogonal to the X-axis direction on the horizontal plane based on the reading result read by the reading device 40 by moving the moving carriage 30 on the rail 20.SELECTED DRAWING: Figure 3

Description

The present invention relates to a method and apparatus for creating placement position information.

Conventionally, in order to guide an automated guided vehicle, a technique has been disclosed in which a plurality of marks are arranged on the ceiling surface and the automated guided vehicle reads the marks by image recognition to grasp the current position, direction, etc. (for example, See Patent Document 1).

Japanese Patent Laid-Open No. 01-243104

By the way, there are cases where a reference mark (guide spot) is installed on the floor surface, but the mark may be displaced from the reference position due to the unevenness of the floor surface, the difficulty of installation work, and the like. Specifically, since the installation work is basically performed manually, there is a possibility that the mark may deviate from the reference position due to the unevenness of the floor surface. This deviation includes positional deviation and angular deviation.

Therefore, an object of the present invention is to provide a method and a device for creating placement position information that allows an automated guided vehicle to accurately grasp the current position even if the guiding spot is displaced from the reference position.

In order to achieve the above object, the method for creating the arrangement position information according to an aspect of the present invention is such that a floor for which a guiding spot for guiding a guided vehicle traveling without a track is installed temporarily. A rail that is provided, a moving carriage that moves on the rail, a reading device that is provided on the moving carriage, and that reads a guiding spot that is arranged based on a first reference line along the first direction, and that is read by the reading device. A method of creating placement position information by a creating device including a controller that creates placement position information of the guidance spot based on the placement position of the guidance spot, wherein the rail is placed based on the first reference line. A rail arranging step and a creating step of creating guide spot arrangement position information in a second direction orthogonal to the first direction on the horizontal plane based on the reading result read by the reading device by moving the moving carriage on the rail. Have and.

According to this, in the moving carriage equipped with the reading device, the reading device reads the guiding spot by traveling on the rail. Since the rails are arranged parallel to the horizontal plane without being affected by the unevenness of the floor surface, the moving carriage is not easily affected by the unevenness of the floor surface when moving. Therefore, the reading device can accurately read the guiding spot.

Further, the arrangement position information of the guide spot is created for the second direction orthogonal to the first direction on the horizontal plane based on the reading result read by the reading device. Therefore, it is possible to create the arrangement position information including the deviation (positional deviation and angular deviation) of the guiding spot in the second direction from the reference position. By reflecting the created placement position information on the transport vehicle, the transport vehicle can accurately grasp the current position even if the guiding spot is displaced from the reference position.

The rail disposing step disposes the first reference member supporting the rail so as to be aligned with the first reference line, and then installs the rail on the first reference member, or a part of the rail. Install the rails so that is aligned with the first reference line.

According to this, after disposing the first reference member supporting the rail so as to be aligned with respect to the first reference line, the rail is installed on the first reference member, or a part of the rail is Since the rail is installed so as to be aligned with respect to one reference line, the rail can be arranged parallel to the first reference line. Therefore, since the distance between the rail and the first reference line is constant, it is possible to simplify the creation of the arrangement position information in the second direction.

Further, the guiding spot is arranged based on the second reference line along the second direction, the moving carriage has a second reference member aligned with the second reference line, and the creating step is When the second carriage is moved and the second reference member is aligned with the second reference line, the reading device executes the reading, and the placement of the guiding spot in the first direction based on the reading result. Create location information.

According to this, the arrangement position information of the guiding spot is created in the first direction based on the reading result read by the reading device. Therefore, it is possible to create the arrangement position information including the deviation (positional deviation and angular deviation) of the guiding spot in the first direction from the reference position.

Further, the guide spot is arranged with a predetermined distance from the first guide spot, which is arranged based on the first reference line and the second reference line, and the first guide spot along the first direction. A second guiding spot, and the creating step is to move the moving carriage to read the first guiding spot by the reading device when the second reference member is aligned with the second reference line. Performing the, based on the deviation amount of the first guide spot with respect to the first reference line and the second reference line obtained as a reading result, a first creating step of creating the arrangement position information of the first guiding spot, After the first creating step, the reading result for the second guiding spot by the reading device obtained by moving the moving carriage, and the detection result of the moving distance detecting unit of the moving carriage based on the first guiding spot And a second creating step for creating the arrangement position information of the second guiding spot based on the above.

The placement position information for the second guidance spot is created based on the reading result for the second guidance spot by the reading device obtained by moving the moving carriage and the detection result of the moving distance detection unit of the moving carriage. ing. That is, when creating the arrangement position information of the second guidance spot, the second reference member does not have to be aligned with the second reference line of the second guidance spot. Therefore, it is possible to automatically acquire the arrangement position information of the second guiding spot.

Further, in the creating step, the second reference member is aligned with the second reference line based on the distance measurement result of the distance measuring unit that measures the distance from the first reference member to the second reference line.

According to this, the second reference member is aligned with the second reference line based on the distance measurement result of the distance measuring unit that measures the distance from the first reference member to the second reference line. The certainty can be increased.

An arrangement position information creating apparatus according to an aspect of the present invention includes a rail temporarily provided on a floor surface on which a guiding spot for guiding a guided vehicle traveling without a track is installed, and a rail on the rail. And a reading device that is provided on the moving carriage and that reads the guiding spots that are arranged based on the first reference line along the first direction, and the placement position of the guiding spot that is read by the reading device. Based on the reading result read by the reading device by moving the moving carriage on the rail, the controller is orthogonal to the first direction on the horizontal plane. The placement position information of the guiding spot for the second direction is created.

According to this, in the moving carriage equipped with the reading device, the reading device reads the guiding spot by traveling on the rail. Since the rails are arranged parallel to the horizontal plane without being affected by the unevenness of the floor surface, the moving carriage is not easily affected by the unevenness of the floor surface when moving. Therefore, the reading device can accurately read the guiding spot.

Further, the arrangement position information of the guide spot is created for the second direction orthogonal to the first direction on the horizontal plane based on the reading result read by the reading device. Therefore, it is possible to create the arrangement position information including the deviation (positional deviation and angular deviation) of the guiding spot in the second direction from the reference position. By reflecting the created arrangement position information on the automatic guided vehicle, the automatic guided vehicle can accurately grasp the current position even if the guiding spot deviates from the reference position.

Further, the reading device is installed at the same height as the reading device for the guided vehicle, which is provided in the guided vehicle and reads the guiding spot.

According to this, since the reading device is installed at the same height as the reading device for the guided vehicle provided in the guided vehicle, it is possible to reproduce the situation in which the reading device for the guided vehicle reads the guiding spot. .. Therefore, the arrangement position information can be created in a form close to the traveling condition of the transport vehicle.

According to the present invention, it is possible to provide a placement position information creating method and a placement position information creating device that enable an automated guided vehicle to accurately grasp a current position even if a guiding spot is displaced from a reference position.

FIG. 1 is a plan view showing a floor surface on which a guiding spot according to an embodiment is installed. FIG. 2 is a plan view showing a schematic configuration of the creating apparatus according to the embodiment. FIG. 3 is a perspective view showing a schematic configuration of the creating apparatus according to the embodiment. FIG. 4 is a block diagram showing a control configuration of the creating apparatus according to the embodiment. FIG. 5 is a plan view showing one step of the rail arranging step according to the embodiment. FIG. 6 is a plan view showing one step of the rail arranging step according to the embodiment. FIG. 7 is a plan view showing one step of the rail arranging step according to the embodiment. FIG. 8 is a plan view showing one process of the creating step according to the embodiment. FIG. 9 is an explanatory diagram showing a shooting range of the reading device according to the embodiment. FIG. 10 is a block diagram showing a control configuration of the creation apparatus according to the modified embodiment. FIG. 11 is an explanatory diagram for explaining the creating step according to the modification.

Hereinafter, a method and apparatus for creating arrangement position information according to an embodiment of the present invention will be described with reference to the drawings. It should be noted that each drawing is a schematic diagram and is not necessarily an exact illustration. In the following description, the first direction is the X-axis direction in the horizontal plane, the second direction in the horizontal plane orthogonal to the first direction is the Y-axis direction, and the direction orthogonal to the X-axis direction and the Y-axis direction is the Z-axis direction ( (Vertical direction).

Further, the embodiment described below shows one specific example of the present invention. Numerical values, shapes, materials, constituent elements, arrangement positions of constituent elements, connection forms, steps, order of steps, and the like shown in the following embodiments are examples, and are not intended to limit the present invention. Further, among the constituent elements in the following embodiments, the constituent elements that are not described in the independent claims showing the highest concept are described as arbitrary constituent elements.

[Application examples of guidance spots]
First, an application example of the guiding spot according to the embodiment will be described. FIG. 1 is a plan view showing a floor surface on which a guiding spot according to an embodiment is installed. As shown in FIG. 1, a plurality of guiding spots 100 are arranged in a matrix on the floor surface F. The guiding spot 100 is a mark for guiding the guided vehicle 200 such as an AGV (Automated guided vehicle). Specifically, the guiding spot 100 is a two-dimensional barcode, a magnetic mark, or the like. In this embodiment, the case where the guiding spot 100 is a two-dimensional bar code is illustrated. The transport vehicle 200 is provided with a transport vehicle reading device 210 that reads the guide spot 100. The transport vehicle 200 is configured to acquire the current position of the transport vehicle 200 when the transport vehicle reading device 210 reads the guidance spot 100. Specifically, the control unit (not shown) of the transport vehicle 200 records the identification information and the reference position of each guiding spot 100 in advance. The control unit of the transport vehicle 200 acquires the current position of the transport vehicle 200 by recognizing the reference position corresponding to the identification information based on the identification information of the guiding spot 100 read by the transport vehicle reading device 210. To do.

[Arrangement location information creation device]
Next, the arrangement position information creating apparatus 10 according to the exemplary embodiment will be described. The creation device 10 is a device that detects a positional deviation of the guiding spot 100 with respect to the reference position and creates placement position information of the guiding spot 100. FIG. 2 is a plan view showing a schematic configuration of the creating apparatus 10 according to the embodiment. FIG. 3 is a perspective view showing a schematic configuration of the creating apparatus 10 according to the embodiment.

As shown in FIGS. 2 and 3, the creation device 10 includes a rail 20, a plurality of support blocks 22, a plurality of support blocks 23, a moving carriage 30, and a reading device 40.

The rail 20 is arranged such that its longitudinal direction is parallel to the X-axis direction on the horizontal plane. The rail 20 may be a single rail body as a whole, or may be formed by connecting a plurality of rail bodies.

The plurality of support blocks 22 are arranged at predetermined intervals along the X-axis direction. The support block 22 is a long block body, and the longitudinal direction of each is parallel to the Y-axis direction. A recess 221 into which the rail 20 is fitted is formed on the upper surface of the support block 22. By fitting the rail 20 into the recess 221, the rail 20 is supported at a position apart from the floor surface F in the Z-axis direction.

One end surface of the support block 22 in the longitudinal direction is aligned with the first reference line y1. The first reference line y1 is a reference line indicating the reference position in the Y-axis direction of the plurality of guiding spots 100 for one row. As described above, since the one end faces of the plurality of support blocks 22 are aligned with the first reference line y1, the rail 20 is also arranged with the first reference line y1 as a reference. That is, the support block 22 is a first reference member that supports the rail 20. The first reference member may have any shape as long as it supports the rail 20 and is aligned with the first reference line y1. The support block 22 and the rail 20 may be integrated.

The plurality of support blocks 23 are arranged at predetermined intervals along the X-axis direction so as to be arranged between the pair of support blocks 22. The support block 23 is a long block body whose longitudinal direction is parallel to the Y-axis direction. The length of the support block 23 in the longitudinal direction is shorter than the length of the support block 22 in the longitudinal direction. A recess 231 into which the rail 20 is fitted is formed on the upper surface of the support block 23. By fitting the rail 20 into the recess 231, the rail 20 is supported at a position apart from the floor surface F in the Z-axis direction. As described above, the rail 20 is installed at a position apart from the floor surface F by the support block 22 and the support block 23, and thus is arranged parallel to the horizontal plane without being affected by the unevenness on the floor surface F. Has been done.

The moving carriage 30 is a device for reading the guiding spot 100 and does not have a carrying function. The moving carriage 30 includes a carriage portion 31 and a support portion 32.

The dolly portion 31 is a dolly that can be linearly moved back and forth by the rail 20. The carriage unit 31 may be a manual type or an automatic type, but here, a case where it is a manual type will be exemplified. A support portion 32 is provided upright on the upper surface of the carriage portion 31. The support portion 32 has a columnar shape, and the reading device 40 is fixed to the upper end portion thereof. A pair of side surfaces 33 of the support portion 32 that face each other in the X-axis direction are provided in parallel with the YZ plane.

The reader 40 is a reader that reads the guide spot 100. Specifically, the reading device 40 is a two-dimensional barcode reader. The reading device 40 detects the arrangement position of the reading device 40 in the reading range by reading the guiding spot 100. The reader 40 is installed at the same height as the carrier reading device 210 of the carrier 200. The reading device 40 and the carriage reading device 210 are different devices, but functionally equivalent devices can be adopted.

FIG. 4 is a block diagram showing a control configuration of the creating apparatus 10 according to the embodiment. As shown in FIG. 4, the creation device 10 includes a controller 50 that is communicable with the reading device 40. The controller 50 may be installed in the carriage unit 31 or may be provided outside the moving carriage 30 as long as it is wirelessly communicable with the reading device 40. The controller 50 includes, for example, a processor that executes a predetermined program, a memory that stores the predetermined program, and the like. Moreover, the controller 50 may be configured by a dedicated circuit.

The controller 50 creates the arrangement position information of the guide spot 100 based on the arrangement position of the guide spot 100 read by the reading device 40. A method of creating the arrangement position information will be described later.

Next, a method of creating the arrangement position information according to the present embodiment will be described. The creation method includes a rail placement step and a creation step. The rail arranging step is a step of arranging the rail 20 on the floor surface F. The creating step is a step of creating placement position information of the guiding spot.

The rail placement step will be described. FIG. 5 is a plan view showing one step of the rail arranging step according to the embodiment. First, the operator draws a first reference line y1 and a second reference line x2 on the floor surface F on which the plurality of guiding spots 100 are installed, as shown in FIG. The first reference line y1 is a line indicating the reference position of each guiding spot 100 in the Y-axis direction, and the second reference line x2 is a line indicating the reference position of each guiding spot 100 in the X-axis direction. is there. In this way, the second reference line x2 is a straight line along the second direction (Y-axis direction). The reference position of each guiding spot 100 is the intersection of the first reference line y1 and the second reference line x2. Although FIG. 5 shows the first reference line y1 for only one line, the first reference line y1 may be drawn for all lines. After drawing the first reference line y1 and the second reference line x2, the worker installs each guiding spot 100 on the floor F based on the reference position of each guiding spot 100.

FIG. 6 is a plan view showing one step of the rail arranging step according to the embodiment. As shown in FIG. 6, the worker installs the rail 20 with the first reference line y1 as a reference. Specifically, the worker installs each support block 22 at a predetermined position on the floor surface F while aligning one end surface of the support block 22 in the longitudinal direction with the first reference line y1. As a result, the position of the rail 20 supported by each support block 22 with respect to the first reference line y1 is determined. As a result, the position of the reading device 40 with respect to the first reference line y1 is also determined, so that it is possible to measure the positional deviation of the guiding spot 100 with respect to the first reference line y1.

Further, the worker installs each support block 23 at a predetermined position on the floor surface F. When the installation of the support blocks 22 and the support blocks 23 is completed, the worker fits the rail 20 into the recesses 221 and 231 of the support blocks 22 and the support blocks 23. Thereby, the longitudinal direction of the rail 20 is arranged so as to be parallel to the first reference line y1.

FIG. 7 is a plan view showing one step of the rail arranging step according to the embodiment. As shown in FIG. 7, the worker attaches the moving carriage 30 to the rail 20. As a result, the moving carriage 30 can make a reciprocating linear movement with respect to the rail 20. In addition, after the movable carriage 30 is installed, the pair of side surfaces 33 of the support portion 32 are arranged in parallel to the second reference line x2. That is, the support portion 32 is a second reference member that is aligned with the second reference line x2. In the present embodiment, the pair of side surfaces 33 of the support portion 32 is exemplified as the part that is aligned with the second reference line x2, but the position other than this may be aligned with the second reference line x2. .. Examples of the other part include a mark for alignment drawn on the support part 32. As described above, the second reference member may be any member that can be aligned with the second reference line x2 while being provided on the moving carriage 30.

Next, the creating step will be described.

FIG. 8 is a plan view showing one process of the creating step according to the embodiment. As shown in FIG. 8, in the creating step, the operator moves the moving carriage 30 on the rail 20 to align the one side surface 33 of the support portion 32 with the second reference line x2. Specifically, one side surface 33 of the support portion 32 and the second reference line x2 are aligned with each other in a top view. At this time, the worker may perform alignment using a measuring member (for example, a gauge) that measures the distance from the support block 22 to the second reference line x2. Specifically, the operator brings one end of the measurement member into contact with the support block 22 and brings the other end of the measurement member into contact with the carriage 31. This makes it possible to perform the alignment easily and accurately.

FIG. 9 is an explanatory diagram showing a shooting range A of the reading device 40 according to the embodiment. Before the image capturing of the reading device 40, the alignment between the one end face of the support block 22 in the longitudinal direction and the first reference line y1 and the alignment between the one side face 33 of the support portion 32 and the second reference line x2 are completed. ing. As a result, as shown in FIG. 9, the first side a1 along the X-axis direction in the image capturing range A of the reading device 40 matches the first reference line y1 and moves in the Y-axis direction in the image capturing range A of the reading device 40. The second side a2 along the line coincides with the second reference line x2. Further, after the alignment, the guiding spot 100 is arranged within the photographing range A of the reading device 40. The reader 40 photographs the spot 100 for guidance. The photographed image includes the arrangement position of the guiding spot 100 within the photographing range A. Further, at the time of photographing, the reading device 40 reads the guide spot 100 and acquires the identification information of the guide spot 100. The reading device 40 associates the identification information with the captured image and outputs it to the controller 50.

The controller 50 creates the arrangement position information of the guiding spot 100 based on the reading result of the reading device 40. Specifically, the controller 50 creates arrangement position information of the guiding spot 100 with respect to the first reference line y1 and the second reference line x2 based on the captured image of the reading device 40. As shown in FIG. 9, the reading device 40 compares the deviation amounts Yg1 and Yg2 of the two vertices p1 and p2 in the guiding spot 100 with respect to the first reference line y1 and the second reference line x2 based on the captured image. The displacement amounts Xg1 and Xg2 are created as the arrangement position information of the guiding spot 100. Due to the deviation amounts Yg1, Yg2, Xg1, and Xg2, the positional deviation amount of the guiding spot 100 with respect to the first reference line y1, the positional deviation amount with respect to the second reference line x2, and the inclination (rotational deviation) with respect to the first reference line y1. And the inclination (rotational deviation) with respect to the second reference line x2 can be acquired.

Although the case where the first side a1 of the reading device 40 and the first reference line y1 coincide with each other after the alignment is illustrated here, the first side a1 and the first reference line y1 may be separated from each other. .. If this separation distance is known in advance, the controller 50 corrects the arrangement position information based on the separation distance, and thus it is possible to create accurate arrangement position information. The same applies to the second side a2 and the second reference line x2.

The operator repeats the above steps while moving the moving carriage 30 on the rails 20 to create the arrangement position information for all the guiding spots 100 per row.

The worker creates the placement position information of all the guiding spots 100 on the floor surface F by repeating the rail arranging step and the creating step for the guiding spots 100 in other rows. After that, the controller 50 transmits the arrangement position information of all the guiding spots 100 to the control unit of the transport vehicle 200. The control unit of the transport vehicle 200 corrects the reference positions of all the guiding spots 100 stored in advance based on the received arrangement position information of all the guiding spots 100. Accordingly, the control unit of the transport vehicle 200 recognizes the corrected reference position on the basis of the identification information of the guiding spot 100 read by the transport vehicle reading device 210, thereby accurately determining the current position of the transport vehicle 200. Can be obtained.

[Effect]
As described above, the method for creating the arrangement position information according to the present embodiment is provided temporarily on the floor surface F on which the guiding spot 100 for guiding the guided vehicle 200 traveling without a track is installed. The guide rail 100 that is provided on the rail 20, the moving carriage 30 that moves on the rail 20, and the moving carriage 30 and that is arranged based on the first reference line y1 along the first direction (X-axis direction). Of the placement position information by the creation device 10 including the reading device 40 for reading and the controller 50 for creating the placement position information of the guidance spot 100 based on the placement position of the guidance spot 100 read by the reading device 40. In the creation method, a rail arranging step of arranging the rail 20 with the first reference line y1 as a reference, and a reading result read by the reading device 40 by moving the moving carriage 30 on the rail 20 are used. And a creation step of creating placement position information of the guiding spot 100 in the second direction (Y-axis direction) orthogonal to the X-axis direction.

Further, the arrangement position information creating apparatus 10 according to the present embodiment is temporarily provided on the floor surface F on which the guiding spot 100 for guiding the guided vehicle 200 traveling without a track is installed. A rail 20, a moving carriage 30 that moves on the rail 20, a reader 40 that is provided on the moving carriage 30, and that reads the guiding spot 100 that is arranged based on the first reference line y1 along the X-axis direction. A controller 50 that creates arrangement position information of the guide spot 100 based on the arrangement position of the guide spot 100 read by the device 40, and the controller 50 moves the moving carriage 30 on the rail 20. Based on the reading result read by the reading device 40, the arrangement position information of the guide spot in the Y-axis direction orthogonal to the X-axis direction on the horizontal plane is created.

According to this, the moving carriage 30 equipped with the reading device 40 travels on the rail 20 so that the reading device 40 reads the guiding spot 100. Since the rail 20 is arranged parallel to the horizontal plane without being affected by the unevenness of the floor surface F, the moving carriage 30 is also less likely to be affected by the unevenness of the floor surface F when moving. Therefore, the reader 40 can accurately read the guide spot 100.

The arrangement position information of the guiding spot 100 is created in the Y-axis direction based on the reading result read by the reading device 40. Therefore, it is possible to create the arrangement position information including the deviation (positional deviation and angular deviation) of the guiding spot 100 in the Y-axis direction from the reference position. By reflecting the created arrangement position information on the transport vehicle 200, the transport vehicle 200 can accurately grasp the current position even if the guiding spot 100 is displaced from the reference position.

Here, it is also possible to create the arrangement position information by the transport vehicle 200 without using the rail 20 and the moving carriage 30. However, accurate placement position information cannot be created due to the influence of the unevenness of the floor surface F. On the other hand, in the method of creating the placement position information according to the present embodiment, the placement position information can be created accurately because it is not affected by the unevenness of the floor surface F.

In the rail disposing step, after disposing the first reference member (support block 22) that supports the rail 20 so as to be aligned with the first reference line y1, the rail 20 is installed on the support block 22. To do.

According to this, since the support block 22 supporting the rail 20 is arranged so as to be aligned with the first reference line y1, the rail 20 is installed on the support block 22. It can be arranged parallel to the reference line y1. Therefore, since the distance between the rail 20 and the first reference line y1 is constant, the creation of the arrangement position information in the Y-axis direction can be simplified.

In the rail arranging step, the rail 20 may be installed on the floor surface F so that a part of the rail 20 is aligned with the first reference line y1. Also in this case, the rail 20 can be arranged parallel to the first reference line y1.

Further, the guiding spot 100 is arranged based on a second reference line x2 along the Y-axis direction, and the moving carriage 30 is provided with a second reference member (support portion) aligned with the second reference line x2. 32), and in the creating step, the moving carriage 30 is moved, and when the support portion 32 is aligned with the second reference line x2, the reading by the reading device 40 is executed, and based on the reading result. Then, the arrangement position information of the guiding spot 100 with respect to the X-axis direction is created.

According to this, the arrangement position information of the guiding spot 100 is created in the X-axis direction based on the reading result read by the reading device 40. Therefore, it is possible to create the arrangement position information including the deviation (positional deviation and angular deviation) of the guiding spot 100 in the X-axis direction from the reference position.

Further, in the creating step, the support portion 32 is aligned with the second reference line x2 based on the distance measurement result of the distance measuring member that measures the distance from the support block 22 to the second reference line x2.

According to this, the support portion 32 is aligned with the second reference line x2 based on the distance measurement result of the distance measuring member that measures the distance from the support block 22 to the second reference line x2. The certainty can be increased.

In the above embodiment, a distance measuring member such as a gauge is illustrated as the distance measuring means, but a distance measuring sensor such as a laser distance measuring device can also be used as the distance measuring means.

Further, the reading device 40 is installed at the same height as the carrying vehicle reading device 210 that is provided in the carrier vehicle 200 and reads the guiding spot 100.

According to this, since the reader 40 is installed at the same height as the carrier reading device 210 provided in the carrier 200, the condition where the carrier reading device 210 reads the guiding spot 100 is read. But it can be reproduced. Therefore, the arrangement position information can be created in a form close to the traveling state of the transport vehicle 200. Specifically, the method of detecting the guiding spot 100 in the reading device 40 is closer to the method of detecting the guiding spot 100 in the transporting vehicle reading device 210. The state becomes closer, and more accurate arrangement position information can be created. The disturbance referred to here is a factor that hinders detection of the guiding spot 100 such as ambient brightness, unlike the unevenness of the floor surface F.

(Modification)
In the above-described embodiment, the case where the moving carriage 30 is moved manually is illustrated. In this modification, a case where the moving carriage automatically moves is illustrated. In the following description, the same parts as those in the above-described embodiment may be assigned the same reference numerals and the description thereof may be omitted.

FIG. 10 is a block diagram showing the control configuration of the creation device 10A according to the embodiment of the modification. As shown in FIG. 10, the moving carriage 30a of the creating apparatus 10A includes a drive source 35 for driving the wheels of the carriage 31 and a movement distance detector 36 for detecting the movement distance of the carriage 31. ing. The drive source 35 is, for example, a motor. The moving distance detection unit 36 is, for example, an encoder that measures the amount of rotation of the wheels.

A drive source 35 and a moving distance detection unit 36 are communicatively connected to the controller 50. The controller 50 controls the drive source 35 based on the detection result of the movement distance detection unit 36.

Next, a creation step according to the modification will be described with reference to FIG. FIG. 11 is an explanatory diagram for explaining the creating step according to the modification. As shown in FIG. 11, in the guiding spot 100, the first guiding spot 100a arranged based on the first reference line y1 and the second reference line x2, and the first guiding spot 100a in the X-axis direction. The second guide spots 100b are provided along the second guide spots 100b. The first guidance spot 100a and the second guidance spot 100b are arranged along one first reference line y1.

The creation step according to the modified example includes a first creation step of creating placement position information of the first guiding spot 100a and a second creation step of creating placement position information of the second guiding spot.

First, the first creating step will be described. In the first preparation step, the worker moves the movable carriage 30 on the rail 20 to align the one side surface 33 of the support portion 32 with the second reference line x2. After the alignment, the first side a1 along the X-axis direction in the photographing range A of the reading device 40 matches the first reference line y1, and the second side a2 along the Y-axis direction in the photographing range A of the reading device 40. Matches the second reference line x2. Further, after the alignment, the first guiding spot 100a is arranged within the photographing range A of the reading device 40. The reading device 40 photographs the first guiding spot 100a. The photographed image includes the arrangement position of the first guiding spot 100a within the photographing range A. Further, at the time of photographing, the reading device 40 reads the first guiding spot 100a and acquires the identification information of the first guiding spot 100a. The reading device 40 associates the identification information with the captured image and outputs it to the controller 50.

The controller 50 creates the arrangement position information of the first guiding spot 100a based on the reading result of the reading device 40. Specifically, the controller 50 creates the arrangement position information of the first guiding spot 100a with respect to the first reference line y1 and the second reference line x2 based on the captured image of the reading device 40. As shown in FIG. 11, the reading device 40, based on the captured image, the deviation amounts Yg11, Yg12 with respect to the first reference line y1 of the two vertices p11, p12 in the first guiding spot 100a, and the second reference line. The displacement amounts Xg11 and Xg12 with respect to x2 are created as the arrangement position information of the first guiding spot 100a. Due to the deviation amounts Yg11, Yg12, Xg11, and Xg12, the positional deviation amount of the first guiding spot 100a with respect to the first reference line y1, the positional deviation amount with respect to the second reference line x2, and the inclination (rotation with respect to the first reference line y1 The deviation) and the inclination (rotational deviation) with respect to the second reference line x2 can be acquired. The controller 50 moves to the second creating step after creating the placement position information of the first guiding spot 100a.

Next, in the second creation step, the controller 50 controls the drive source 35 based on the detection result of the moving distance detection unit 36 with the first guiding spot 100a as a reference, so that the moving carriage 30 is guided to the second guiding position. It moves to the spot 100b for use. Here, the controller 50 stores in advance a reference interval from the first guiding spot 100a to the second guiding spot 100b. When the detection result of the movement distance detection unit 36 matches this reference interval, the controller 50 stops the drive source 35 and stops the moving carriage 30. The controller 50 does not have to stop the drive source 35. In addition, the controller 50 may not store the reference interval. In this case, the controller 50 adds the distance from the first guidance spot 100a to the second guidance spot 100b to the position at which the second guidance spot 100b is read, and thereby the second guidance spot 100b is detected. Determine the position.

At this time, the first side a1 of the photographing range A of the reading device 40 remains in agreement with the first reference line y1. Further, the second side a2 of the photographing range A of the reading device 40 becomes a reference line corresponding to the second reference line. After alignment, the second guiding spot 100b is arranged within the imaging range A of the reading device 40. The reading device 40 captures an image of the second guiding spot 100b. The photographed image includes the arrangement position of the second guiding spot 100b in the photographing range A. Further, at the time of photographing, the reading device 40 reads the second guiding spot 100b and acquires the identification information of the second guiding spot 100b. The reading device 40 associates the identification information with the captured image and outputs it to the controller 50.

The controller 50 creates the arrangement position information of the second guiding spot 100b based on the reading result of the reading device 40. Specifically, the controller 50 creates the arrangement position information of the second guiding spot 100b with respect to the first reference line y1 and the second side a2 based on the captured image of the reading device 40. The reading device 40 detects the deviation amounts Yg21 and Yg22 of the two vertices p21 and p22 of the second guiding spot 100b with respect to the first reference line y1 and the deviation amounts Xg21 and Xg22 of the second side a2 based on the captured image. Then, the arrangement position information of the second guiding spot 100b is created. Due to the deviation amounts Yg21, Yg22, Xg21, and Xg22, the positional deviation amount of the second guiding spot 100b with respect to the first reference line y1, the positional deviation amount with respect to the second side a2, and the inclination (rotational deviation) with respect to the first reference line y1. ) And the inclination (rotational deviation) with respect to the second side a2 can be acquired. The controller 50 repeats the above steps to create the arrangement position information for all the guiding spots 100 per row. For example, in the guiding spot 100 in which the arrangement position information is created after the second guiding spot 100b described above, the arrangement position information is created based on the guiding spot 100 in which the arrangement position information is created immediately before. Alternatively, the arrangement position information may be created based on the arrangement position information of the first guiding spot 100a.

As described above, the guide spot 100 is a predetermined spot from the first guide spot 100a arranged along the first reference line y1 and the second reference line x2, and the first guide spot 100a along the first direction. And a second guiding spot 100b arranged with a space of, the moving step is to move the moving carriage 30a, and when the supporting portion 32 is aligned with the second reference line x2, The reading of the first guidance spot 100a by the reading device 40 is performed, and the first guidance is performed based on the deviation amount of the first guidance spot 100a with respect to the first reference line y1 and the second reference line x2 obtained as the reading result. A first creating step of creating the arrangement position information of the spot 100a for use, and a reading result for the second guiding spot 100b by the reading device 40 obtained by moving the moving carriage 30a after the first creating step, and the moving carriage. A second creating step of creating the arrangement position information of the second guiding spot 100b based on the detection result of the moving distance detecting unit 36 included in 30a based on the first guiding spot 100a.

According to this, the arrangement position information with respect to the second guidance spot 100b is obtained by reading the reading result with respect to the second guidance spot 100b by the reading device 40 obtained by moving the moving carriage 30, and the moving distance detection unit 36 It is created based on the detection result based on the one guiding spot 100a. That is, at the time of creating the arrangement position information of the second guiding spot 100b, the supporting portion 32 does not have to be aligned with the second reference line x2 of the second guiding spot 100b. Therefore, the arrangement position information of the second guiding spot 100b can be automatically acquired. Further, it is not necessary to use the second reference line x2 for detecting the deviation.

(Other)
Although the arrangement position information creating method and the creating apparatus according to the present invention have been described above based on the embodiment, the present invention is not limited to this embodiment. As long as it does not depart from the spirit of the present invention, various modifications that can be thought of by those skilled in the art may be applied to the present embodiment, or a configuration constructed by combining components in different embodiments may be one or more of the present invention. It may be included in the range of the aspect.

For example, a predetermined position of the rail and the second reference line may be arranged so as to coincide with each other, and a stopper may be provided to stop the movable carriage when the second reference member of the movable carriage coincides with the predetermined position of the rail.

Further, a predetermined position of the rail and the second reference line may be arranged so as to coincide with each other, and a sensor for detecting the predetermined position may be provided on the moving carriage. The operator or the controller can also determine that the predetermined position and the second reference member match based on the detection result of the sensor.

INDUSTRIAL APPLICABILITY The present invention is useful as a method of creating arrangement position information that can correct the positional deviation of the guiding spot.

10, 10A Creating device 20 Rail 22 Support block 23 Support block 30, 30a Moving carriage 31 Carriage part 32 Supporting part 33 Side surface 35 Drive source 36 Moving distance detecting part 40 Reading device 50 Controller 100 Guiding spot 100a First guiding spot 100b Second guidance spot 200 Transport vehicle 210 Transport vehicle reading device 221, 231 Recess A Imaging range a1 First side a2 Second side F Floor surface p1, p2, p11, p12, p21, p22 Vertex x2 Second reference line y1 First reference line

Claims (7)

A rail that is temporarily installed on the floor surface where a guiding spot for guiding a guided vehicle that travels without a track is installed,
A moving carriage that moves on the rail,
A reading device which is provided on the movable carriage and which reads the guiding spot arranged based on a first reference line along a first direction,
A controller that creates arrangement position information of the guide spot based on the arrangement position of the guide spot read by the reader;
A method of creating arrangement position information by a creating device equipped with,
A rail disposing step of disposing the rail with the first reference line as a reference;
A creating step of creating placement position information of the guiding spot in a second direction orthogonal to the first direction on a horizontal plane based on a reading result read by the reading device by moving the moving carriage on the rail. And a method of creating arrangement position information. The rail disposing step disposes the first reference member supporting the rail so as to be aligned with the first reference line, and then installs the rail on the first reference member, or The method for creating arrangement position information according to claim 1, wherein the rail is installed so that a part of the rail is aligned with the first reference line. The guide spot is arranged based on a second reference line along the second direction,
The movable carriage has a second reference member that is aligned with the second reference line,
In the creating step, when the second carriage is moved and the second reference member is aligned with the second reference line, reading by the reading device is performed, and based on a reading result, The method of creating the arrangement position information according to claim 1, wherein the arrangement position information of the guiding spot with respect to the first direction is created. The guide spot is a first guide spot arranged on the basis of the first reference line and the second reference line, with a predetermined distance from the first guide spot along the first direction. Having a second guiding spot arranged,
The creation step is
When the moving carriage is moved and the second reference member is aligned with the second reference line, reading of the first guiding spot by the reading device is performed, and the reading result is obtained. Based on the deviation amount of the first guiding spot with respect to the first reference line and the second reference line, a first creating step of creating the arrangement position information of the first guiding spot,
After the first creating step, the reading result for the second guiding spot by the reading device obtained by moving the moving carriage, and the first guiding spot of the moving distance detection unit included in the moving carriage. The method for creating the placement position information according to claim 3, further comprising: a second creating step for creating the placement position information of the second guiding spot based on a detection result based on. In the creating step, the second reference member is aligned with the second reference line based on a distance measurement result of a distance measuring unit that measures a distance from the first reference member to the second reference line. The method for creating the arrangement position information described in 3 or 4. A rail that is temporarily installed on the floor surface where a guiding spot for guiding a guided vehicle that travels without a track is installed,
A moving carriage that moves on the rail,
A reading device which is provided on the movable carriage and which reads the guiding spot arranged based on a first reference line along a first direction,
A controller that creates arrangement position information of the guide spot based on the arrangement position of the guide spot read by the reader,
The controller, based on the reading result read by the reading device by moving the moving carriage on the rail, the placement position information of the guiding spot in the second direction orthogonal to the first direction on a horizontal plane. Device for creating location information to create. The arrangement position information creating apparatus according to claim 6, wherein the reading device is installed at the same height as a reading device for a transportation vehicle, which is provided in the transportation vehicle and reads the guiding spot.

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