JP2767334B2 - Travel control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a travel control method, and more particularly to a control method suitable for automatically driving a self-propelled construction robot along a prescribed reference line.

[0002]

2. Description of the Related Art A predetermined work is performed completely over the entire surface by performing a certain work while running straight in a construction robot cart or the like, and performing the same work in parallel with a previous work area. There are cases. For example, in the case where the jointing surface is properly formed by performing chipping on the concrete casting surface and removing latencies, the chipping truck is linearly moved from the end of the concrete casting surface to perform the chipping process. The chip is repeatedly run in parallel with an unprocessed surface adjacent to the surface so that no gap is formed, thereby performing chipping work over the entire surface of a wide area.

[0003] An automatic traveling apparatus for such a work has been conventionally used, in which electromagnetic wave transmitters are provided at four corners of a work area, and a bogie traveling in both areas has a coordinate position with respect to the transmitter. Is detected to determine the traveling direction. According to this, the position of the carriage in the set area can be detected, so that the work can be automatically performed while traveling along the determined route.

[0004]

However, in the above-mentioned conventional automatic traveling method, a preparation work such as a transmitter having to be installed at a corner of a work area is required, and the traveling vehicle itself cannot travel alone. There are drawbacks in that the burden on equipment is large and the investment cost is high, and that the operator must wait on the truck in order to be able to move the truck alone. In addition, there is a problem that it is not possible to perform automatic traveling control so as to prevent a work leak while grasping an actual work state.

The present invention focuses on the above-mentioned conventional problems, and performs a movement along a reference line during traveling so that a work area can be completely covered without overlapping work areas or generating unprocessed portions. And a traveling control method capable of solving the problem of the occurrence of drift due to the use of the optical fiber gyro.

[0006]

According to the present invention, a gyro is mounted on a trolley as an azimuth sensor because the trolley performed in a chipping operation or the like is a straight run along a boundary of a processed area. The traveling direction is determined from and the automatic traveling operation is performed. By avoiding the overlap operation and the unprocessed region while grasping the actual working area status by the image, the automatic traveling operation without leakage is performed. It is based on the viewpoint that it can be performed.

That is, the traveling control method according to the present invention provides:
Direction signal from the optical fiber gyro mounted on the vehicle
Travel straight along the reference line defined on the running surface based on
When the offset amount from the reference line exceeds a threshold value by image processing while imaging the reference line, the offset correction signal is output to the steering means of the vehicle to drive the vehicle.
In addition to the correction in the row direction, the offset amount
To reset the optical fiber gyro accordingly
The above object is achieved by configuring the vehicle to travel straight ahead with more drift cancellation .

[0008]

SUMMARY OF While using the gyro as a direction sensor for the traveling direction of the initialization, the boot / are frequent Construction Robot trolley stop is a long mechanical gyro unsuitable a settling time, static in the present invention Uses an optical fiber gyro that has a short fixed time and is advantageous in terms of strength and size. The azimuth signal thus obtained can be used to determine the traveling direction based on the reference line defined on the traveling surface, and the steering means is operated. The measurement of the reference line is performed by the imaging device, and the offset amount between the traveling direction and the reference line is detected by image processing. When the offset amount exceeds the allowable range, a correction signal is output to the steering means so as not to deviate from the reference line. As a result, traveling control can be performed so as not to deviate from the already processed work area. In addition, the offset is caused by drift, which is a problem particularly in an optical fiber gyro, and this is canceled at the same time. By resetting the optical fiber gyro at the time when the correction steering operation to the reference line is completed, and performing the running control continuously, the bogie can be run exactly along the reference line.

[0009]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a driving control method according to an embodiment of the present invention.

FIG. 1 is a block diagram showing a configuration of a latency processing apparatus to which a traveling control method according to an embodiment is applied. The latency processing unit 10 is attached to the front part of the traveling vehicle 12, and is provided with a chipping processing unit provided with a triple chipping nozzle 16 for jetting high-pressure water onto the concrete casting surface 14, and is disposed on the rear side thereof. It comprises a slime discharging unit composed of two vacuum mice 18 and a surface roughness measuring unit composed of an electromagnetic wave radar 20 disposed on the rear side.

A traveling vehicle 1 having a latency processing unit 10
2 has wheels 22 attached to its four corners so that the wheels can travel.
The rotation is transmitted via the motor 6. A pair of steering cylinders 32R and 32L as steering means are disposed on both sides of the front wheel drive shaft 30 with the front differential gear 28 interposed therebetween.
34L is connected to the drive shaft 30 to perform a telescopic operation, thereby enabling steering.

The chipping operation is performed by running the traveling vehicle 12 having the latency processing unit 10 as described above.
It is necessary to prevent unprocessed portions and overlap chipping from being performed over the entire surface of the device. Therefore, traveling cart 1
2 is made to travel straight from the end of the work area to perform a chipping process in a strip shape by the latency processing unit 10, and then to make the boundary line of the already-processed area a reference line L, and to run exactly parallel thereto. I work repeatedly. In order to perform this traveling control, the traveling carriage 12 according to the embodiment is equipped with a traveling control device.

As shown in FIG. 1, a hydraulic pump 36 for obtaining rotational power from a gear transmission 26 is provided on the traveling vehicle 12.
The steering oil pressure is supplied to 2L. Each hydraulic chamber of the steering cylinders 32R and 32L is provided with a hydraulic pipe 38 for turning right.
R is connected to the hydraulic pump 36L via a proportional electromagnetic directional / flow control valve 40 to these pipes 38R and 38L. By driving the control valve 40, the steering direction and the steering amount can be arbitrarily changed.

On the other hand, a gyro unit 42 is mounted on the traveling vehicle 12. The unit 42 includes an optical fiber gyro 44 and a gyro controller 46, and outputs an azimuth signal. This signal is input to the arithmetic unit 50 via the sequencer 48,
Here, the deviation of the traveling vehicle 12 from the vehicle center direction is calculated and set so that the straight traveling direction becomes “0”.

The traveling carriage 12 is equipped with a CCD camera 52 for monitoring the traveling reference line L. This is mounted with the reference line L as a boundary line between the area where the chipping process is completed and the unprocessed area arranged on the side of the carriage 12 facing, and is taken in as an image signal. The output of the CCD camera 52 is output to a television monitor 54 and also to an image processing device 56.
As shown in FIG. 2, the image processing device 56 captures an imaged screen (FIG. 2 (1)), and performs a binarization process on the image based on a gradation difference. As a result, since the gradation of the image is different between the chipped area and the unprocessed area, the density distribution waveform is output by A / D conversion of the image (2). By outputting this data to the differentiating circuit, the peak signal of the boundary line L is output ((3)). The arithmetic unit 50 fetches this signal, stores the position data of the reference line L defined in relation to the installation position of the CCD camera 52 from the peak value, and calculates the offset d from the reference line L. Like that.
This may be calculated by counting the number of dots from the reference line L, for example. Such an offset d is set to be “0” when the chipping processing region caused by the traveling of the traveling vehicle 12 comes into close contact with the already processed region. Then, the offset d is calculated, and when this exceeds the allowable value, the control valve 40 is controlled and driven via the sequencer 48 so as to correct the offset d.

As shown in the schematic diagram of FIG. 3, assuming that the truck 12 is traveling at the speed v and the steering angle is θ, as shown in the schematic diagram of FIG.

[0017]

[Mathematical formula-see original document] It is sufficient that the steering operation is performed for a time t obtained by t = d / (v · tan θ). The steering angle θ may be set as a constant value, but may be set arbitrarily according to the offset amount, and may be proportionally controlled so as not to perform a sudden steering.

The running control by the control device having the above-described configuration will be described with reference to the flowchart shown in FIG. When the work traveling is performed first after the chipping area is set, the traveling carriage 12 is caused to travel straight from the end of the area, and the concrete placing surface 12 is chipped in a strip shape. Next, returning to the starting point, the cart 12 is arranged adjacent to the already chipped surface. At this time, the CCD camera 52 is configured to take an image of the reference line L, and the vehicle travels slightly straight to take in a signal from the image processing device 56 so that the traveling direction is along the reference line L, and is measured by the optical fiber gyro 44. Then, the deviation from the traveling direction of the carriage 12 is set to “0”. Thereafter, the vehicle travels forward. At this time, the vehicle travels while inputting a signal from the image processing device 56, and shifts to linear traveling control while measuring the offset d.

That is, the position of the running end is detected from the image plane of the reference line L, and the offset d is calculated by the image processing device 56. This is compared with an allowable limit value (step 100), and if this is within the allowable range, the straight running control by the optical fiber gyro 44 is continued. That is,
The detection signals from the gyro 44 are sequentially input, and the vehicle is caused to travel straight so that no traveling deviation occurs (step 102). If the result of the determination by the discriminator exceeds the allowable value, the control for starting the offset d correction is started. At this time, the signal path of the gyro 44 is cut off and ignored (step 104). At the same time, supply and discharge of hydraulic pressure are performed to the steering cylinders 32R and 32L as the steering means, and the steering cylinders 32R and 32L are driven to have a predetermined steering angle θ (step 106). This is set by outputting the flow control signal so that the switching direction of the control valve 40 is determined by the arithmetic unit 50 based on whether the offset d is positive or negative by the arithmetic unit 50, and the steering angle θ is defined or calculated by calculation. .
Then, based on the steering angle θ and the speed signal of the bogie 12, the sequencer 48 outputs the signal so as to maintain the time t calculated by the equation (1) (step 108). After the elapse of the time t, the control valve 40 is driven so that the steering angle θ becomes 0 to shift to the straight running (step 11).
0). At the same time, the gyro 44 is reset, and a new azimuth signal is fetched to perform the straight running control drive (step 112).

That is, the optical fiber gyro 44 has a problem that a drift occurs with the passage of time. However, although the azimuth signal of the gyro 44 is constant, the offset d is generated by the detection from the image processing device 56. In this case, it can be determined that this drift has occurred. Therefore, the drift can be canceled by performing the correction control of the offset d, and the correct azimuth signal can be output by performing the reset processing, so that the optimum straight traveling can be performed. The drift cancel signal may be an azimuth reset signal or a deviation from a control signal depending on the type of gyro, but this selection may be freely made by a program in the arithmetic unit 50.

Thereafter, it is determined whether or not the stop signal is output (step 114), and the control is repeatedly performed until the stop signal is output.

According to such a control method, since the self-propelled robot traveling carriage travels in a straight line, the settling time is short, and the optical fiber gyro 4 is advantageous in terms of strength and size.
4 can be applied to the work of frequent starting / stopping, and at the same time, the occurrence of the problematic drift can be properly corrected. For this reason, it is very important to perform a uniform work such as concrete chipping work without omission, without duplicating a wide work range or generating unprocessed parts of work. It is an effective method.

[0023]

As described above, according to the present invention,
Direction signal from the optical fiber gyro mounted on the vehicle
Travel straight along the reference line defined on the running surface based on
When the offset amount from the reference line exceeds a threshold value by image processing while imaging the reference line, the offset correction signal is output to the steering means of the vehicle to drive the vehicle.
In addition to the correction in the row direction, the offset amount
To reset the optical fiber gyro accordingly
Since it is configured to run straight ahead with more drift cancellation, it is possible to perform work by automatic running without overlapping and duplicating uniform work over the entire work area, and drift of optical fiber gyro Can be solved, so that an effect of enabling automatic work at low cost is obtained.

[Brief description of the drawings]

FIG. 1 is a configuration block diagram for implementing a traveling control method according to an embodiment.

FIG. 2 is an explanatory diagram of image processing.

FIG. 3 is a schematic diagram of a state where an offset occurs.

FIG. 4 is a flowchart of control.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Latency processing part 12 Running trolley 14 Concrete placing surface 16 Chipping nozzle 18 Vacuum mouse 20 Electromagnetic wave radar 22 Wheel 24 Engine 26 Gear transmission 28 Front differential gear 30 Front wheel drive shaft 32R, 32L Steering cylinder 34R, 34L Rod 36 Hydraulic pump 38R, 38L Hydraulic piping for steering 40 Proportional electromagnetic directional / diverting control valve 42 Gyro unit 44 Optical fiber gyro 46 Gyro controller 48 Sequencer 50 Arithmetic unit 52 CCD camera 54 Television monitor 56 Image processing device

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yoshikatsu Sakamu 1-25-1, Nishishinjuku, Shinjuku-ku, Tokyo Inside Taisei Corporation (72) Inventor Manabu Sawada 1-25-1, Nishishinjuku, Shinjuku-ku, Tokyo No. 1 Taisei Corporation (72) Inventor Shinichi Matsumoto 1-25-1, Nishi-Shinjuku, Shinjuku-ku, Tokyo Taisei Corporation (56) References JP-A-2-301808 (JP, A) JP-A-58-215504 (JP, A) JP-A-5-79187 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) G05D 1/02

Claims (1)

(57) [Claims] 1. A reference line defined on a running surface based on an azimuth signal from an optical fiber gyro mounted on a vehicle.
When the offset amount from the reference line exceeds a threshold value by image processing while imaging the reference line while imaging the reference line, the offset correction signal is sent to the steering means of the vehicle.
Output to correct the traveling direction, and
Reset optical fiber gyro according to the amount of offset
To drive straight ahead with drift cancellation
A travel control method characterized by causing the vehicle to travel.