JPH0239804B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a traveling trolley equipped with an autonomous navigation device used in a self-propelled autofinisher for finishing concrete floors.

[Conventional technology] Currently, the mainstream method for finishing concrete floors is the monolithic construction method.
Work is being done late at night, and the dust generated when finishing concrete floors is making the work environment extremely poor. As described above, the working conditions for finishing work on concrete floors are not necessarily good, but to date, no adequate solution has been taken.

[Object of the Invention] Accordingly, an object of the present invention is to provide a traveling trolley equipped with an optimal autonomous navigation device for use in unmanned operation, that is, autofinishing.

[Structure of the Invention] A running bogie equipped with an autonomous navigation device of the present invention includes a running bogie, a steerable front wheel provided on the running bogie, a driving rear wheel provided on the running bogie, and a running bogie. A measuring roller for detecting the traveling distance and direction of the traveling trolley installed in the vehicle, a measuring roller distance detection sensor for detecting the traveling distance of the measuring roller for each unit time, and a measuring roller distance detection sensor for detecting the traveling direction of the measuring roller. A measuring roller direction detection sensor is installed on the traveling truck, and a truck direction detection sensor is installed on the traveling truck to detect the direction of the traveling truck with respect to a reference axis. and a control device that controls the traveling speed, and the control device is configured to calculate, for each unit time, the traveling distance detected by the measuring roller distance detection sensor and the measuring roller direction detected by the measuring roller direction detecting sensor. The current position of the running bogie is calculated from the running direction and the bogie direction detected by the bogie direction detection sensor, and the running direction and running of the running bogie are calculated based on the amount of difference between the calculated current position and the target position at that time. Configured to control speed.

When carrying out the present invention, it is preferable to include a position correction device consisting of a sensor provided on the traveling vehicle and a dog provided on the traveling path, so as to further improve the accuracy of travel control of the traveling vehicle.

Further, it is preferable that the measuring roller distance detection sensor and the measuring roller direction detection sensor are embodied as encoders, and the truck direction detection sensor is embodied as a gyro compass.

[Function] According to the present invention having the above-described configuration, the control device includes a measuring roller distance detection sensor,
The current position of the traveling truck is calculated based on the detection signals of the measuring roller direction detection sensor and the truck direction detection sensor, and the result is compared with the stored instructed traveling route to control the traveling. If used in a finisher, the autofinisher can be operated unmanned.

The reason why the measuring roller direction detection sensor and the truck direction detection sensor are used to calculate the current position of the traveling truck is as follows. A mode in which only one type of sensor is used instead of two types of sensors to measure the traveling direction of a traveling bogie is as follows: (a) The measuring roller is fixed to the bogie and the bogie direction detection sensor is used. There are two possible methods: (b) Measuring the traveling direction of the bogie from the output of (b) Measuring the traveling direction of the bogie only using the measuring roller direction sensor without using the bogie direction sensor. .

However, in the method (a) above, since the measuring roller is fixed to the truck, the traveling truck is likely to cause so-called "lateral displacement." Therefore, measurement accuracy deteriorates.

On the other hand, in the method (b) above, when a rotational component centered on the grounding point of the measuring roller occurs, it is not possible to determine the rotational component. In addition, in the general operation of vehicles, not just running bogies, it is necessary to control the attitude of the vehicle in order to determine the steering direction, but without a bogie direction detection sensor, attitude control for determining the steering is not possible. It is possible.
Furthermore, if there is a truck direction detection sensor, the reference axis can be set by running the truck along the wall, but if there is no truck direction detection sensor, the reference axis cannot be determined easily.

In the present invention, the problems in the above methods (a) and (b) are solved by using two types of sensors.

In other words, when a lateral shift occurs in the traveling bogie,
Since the measuring roller follows the movement in the direction of lateral deviation, the amount of lateral deviation is reduced accordingly. Therefore, errors are also reduced and accuracy is improved.

Furthermore, the cart direction detection sensor makes it possible to determine the rotational component when a rotational component about the grounding point of the measuring roller occurs. In addition, by using the bogie direction detection sensor, attitude control and reference axis setting for determining steering can be easily performed.

[Example] Hereinafter, an example of the present invention will be described with reference to the accompanying drawings.

In FIG. 1, this traveling truck is traveling truck 1.
, a steerable front wheel 2 and a driving rear wheel 3 provided on the traveling truck 1, a measuring roller 4 provided on the traveling truck 1, and a distance detection sensor 5 and a direction detecting sensor 6 of the measuring roller 4. , a vehicle direction detection sensor 7 provided on the traveling vehicle 1 , and a control device 8 provided on the traveling vehicle 1 .

In FIG. 2, the front wheels 2 are steered by a servo motor 10 controlled by a servo amplifier 9, and controlled to a required steering angle by a deviation counter 13 via a tacho generator 11 and a pulse generator 12.

The rear wheel 3 is driven by a servo motor 15 controlled by a servo amplifier 14, and is controlled to a required speed via a tachogenerator 16.

The measuring roller 4 has a vertical support shaft 17 pivotally mounted near the front wheel 2 on the center line of the traveling truck 1.
It is rotatably supported via an arm 18 that is swingably attached to the arm 18, contacts the running surface with its own weight, rotates according to the running of the running bogie 1, and also follows the steering of the running bogie 1. The support shaft 17 is rotated as shown by the arrow. The distance detection sensor 5 consists of an encoder and is connected to the arm 1.
The measuring roller 4 support section 8 is provided with the measuring roller 4 support section 8 to detect the travel distance of the measuring roller 4 from the rotational displacement of the measuring roller 4 and output a detection signal to the control section 8 . The direction detection sensor 6 is composed of an encoder and is provided on the top of the spindle 17 to detect the running direction of the measuring roller 4 from the rotational displacement of the spindle 17 and output a detection signal to the control section 8. .

The truck direction detection sensor 7 is composed of a gyro compass, and is provided approximately at the center of the traveling truck 1 to detect the direction of the traveling truck 1, that is, the gyro angle, and output a detection signal to the control section 8.

The control unit 8 is provided behind the truck direction detection sensor 7. In FIG. 2, the control unit 8 is provided with a central processing unit 19, and an input/output device 20.
It is connected to the distance detection sensor 5, the direction detection sensor 6, the truck direction detection sensor 7, the steering servo motor 9, and the traveling servo amplifier 14 via. In addition to the central processing unit 19, the control unit 8 also includes a travel route instruction program storage unit 21 and a current position calculation program storage unit 2.
The ROM 23 is provided with a ROM 23 having ROM 2. Then, when the detection signals from each of the sensors 5 to 7 are input to the central processing unit 19 via the input/output device 20, the central processing unit 19 calculates the current position of the traveling bogie 1 based on the detection signals. The current position is calculated, the calculation result is compared with the travel route instruction program, and control signals for the required steering angle and travel speed are output to the servo amplifiers 9 and 14 via the input/output device 20. .

Next, the operation of the present invention will be explained with reference to FIGS. 2, 3, and 7.

In FIG. 3 and FIG. 7, the central processing unit 19 detects the gyro direction (direction of the traveling vehicle 1: indicated by arrow S) ψ, the direction detection sensor 6 determines the direction of the measuring roller (MR) (progressing direction of the traveling vehicle with respect to the center axis of the traveling vehicle 1: indicated by arrow T) θ, and distance detection sensor 5 determines the traveling distance of the measuring roller (MR) between Δt and Δl. Read the reference axis that has been set in advance (set the trolley in a direction parallel to a wall, etc., and set the reference axis based on the value of the gyro at that time; the x-axis in Figure 7) (Step S ₁ in Figure 3) ).

Here, as will be described later, the coordinates of the traveling cart at each point in time are calculated using a polar coordinate system, but the current position of the cart is calculated from the cumulative value of the traveling distance. The orthogonal coordinate system is more convenient than the polar coordinate system when determining the current position of the truck from the cumulative value of travel distance. Therefore, when controlling the travel of the traveling truck, an arbitrary orthogonal coordinate system is set each time work is started.

The orthogonal coordinate system is determined by setting either the x-axis or the y-axis, and the direction of either the x-axis or the y-axis set in this way is called a reference axis. For example, in floor finishing work, the reference axis is generally set in a direction parallel to one wall, and set so that the start point of that day's work is the origin.

Next, when the reference axis is the y-axis, the amount of change △x in the x direction of the orthogonal coordinate system (exemplified in Figure 7) is determined by the current position calculation program as △x; △lsin (π/2−ψ −θ) (step S ₂ ). That is, the seventh
In the figure, the distance from origin O to position P ₁ is △l
Then, the angle between the straight line OP ₁ and the y-axis is (π/2−
ψ−θ), so the distance △x parallel to the x-axis is △
It is expressed as lsin(π/2−ψ−θ).

Similarly, the amount of change Δy in the y direction is calculated as Δy=Δlcos(π/2−ψ−θ) (step S ₃ ).

Next, the current position of the traveling vehicle is specified in the orthogonal coordinate system.

At position P ₁ , the coordinates (x, y) of the current position of the traveling trolley are x = △x y = △y, but in general, the current position calculation program The axis coordinate x is calculated as x=ΣΔx (step S ₄ ), while the y coordinate y of the current position of the traveling vehicle is calculated as y = ΣΔy (step S ₅ ). That is _, for example, the x _- axis coordinate x of _position P ₃ in _{FIG .} becomes. From this, the current position of the traveling trolley x
It is understood that the axis coordinate x is expressed as the sum of the amount of change Δx in the x direction, and similarly the y axis coordinate y is expressed as the sum of the amount of change Δy in the y direction.

Once the coordinates x and y of the current position of the traveling vehicle are calculated, the required steering angle α is determined from the difference between the calculation result and a predetermined value determined by the traveling route instruction program.
is calculated ( _S6 ).

Also, from the difference between the calculation results of the coordinates x and y and the predetermined bogie position according to the travel route instruction program, the predetermined travel speed V is calculated in the same way as the required steering angle α (step S ₇ ). . In other words, in a normal travel route instruction program, the elapsed time and the corresponding trolley position are set, but the trolley position at a certain time t _a and the next time
The required traveling speed V of the truck is calculated so that the truck can travel the distance between the truck and the program-set truck position at ta+ ₁ in unit time (ta ₊₁ - _ta ). In other words, by controlling the required running speed V, the distance that the bogie 1 can travel per unit time (the distance corresponding to the distance △l in FIG. It has achieved running.

In addition to achieving the running of the trolley according to the route instruction program, when a constant working speed is desired, such as in floor finishing work, it is necessary to keep the running speed of the trolley 1 constant. If the traveling speed of the truck 1 is to be kept constant, the constant traveling speed is always output in step _S7 .

A manner in which the steering is controlled based on the required steering angle α determined in step _S6 will be described. When a signal indicating the required steering angle α is input to the deviation counter 13 (FIG. 2), the deviation counter provides an appropriate speed indication value to the servo amplifier 9. When the instruction value is transmitted, the servo amplifier 9 operates the servo motor 10 at the required speed to steer the front wheels 2.

At this time, the speed of the servo motor 10 is detected by the tacho generator 11 and fed back to the servo amplifier. Further, the rotation speed of the servo motor 10 is detected by the pulse generator 12 and fed back to the deviation counter 13, and the rotation speed of the servo motor 10 is controlled by the deviation counter 13. As a result, the steering of the front wheels 2 is controlled by the required steering angle α.

Further, the manner in which the speed of the traveling bogie 1 is controlled based on the required traveling speed V determined in step _S7 is as follows. That is, when the required traveling speed V is transmitted to the servo amplifier 14 by a signal indicating it, the servo amplifier 14 operates the servo motor 15 by the required amount, and the rear wheel 3
to drive. At this time, the rotation speed of the servo motor 15 is detected by the tacho generator 16 and fed back to the servo amplifier 14. Thereby, the rotational speed of the servo motor 15 is controlled so that the speed of the traveling trolley 1 reaches the required traveling speed.

By the way, in this invention, in order to further improve the accuracy of travel control of the traveling trolley 1, a position correction device can be provided if necessary. That is, in FIGS. 4 and 5, a sensor head 24 is erected in front of the center line of the traveling vehicle 1, and on both sides of the sensor head 24 at a predetermined height are a pair of left sensors 25L and right sensors 25R that are turned on when in contact. is installed protrudingly. On the other hand, both sensors 25L, 2
A pair of docks 26L and 26R are provided at the same height as 5R, sandwiching the aforementioned guidance target point P on the x-axis. At the base of these docks 26L and 26R,
A clearance C is formed such that both sensors 25L and 25R can pass through while being turned on, and is open at an angle β with respect to the origin direction.

Here, the sensor head 24 and the left sensor 25
L, right sensor 25R is a pair of docks 26L, 26
It is necessary to prevent an error from occurring to the extent that it does not come into contact with R. This is because if the sensor and the dock do not come into contact with each other, it becomes impossible to perform travel control using the position correction device while the traveling trolley 1 is traveling.

In view of this, the length l of the opening of the dock is set to a predetermined value related to the guidance target point P. In other words, the length l of the frontage of the dock is statistically determined by the traveling distance of the traveling trolley 1 (distance x and distance y in Figs. 3 and 7), the numerical value of the cumulative error during the traveling of the traveling trolley 1, It is determined from the obtained relationship between the two.

In other words, left sensor 25L, right sensor 25R
The length 1 of the frontage of the dock is selected such that one of the two docks 26L, 26R is always in contact with the other.

Autonomous navigation systems generally determine the current position by measuring minute displacements and accumulating the values, so errors occur due to errors in the measuring device and errors between sampling intervals. Most of these errors are proportional to the distance traveled (the amount of error follows a probability distribution). Therefore, if the distance between the origin and the position correction device is known, the amount of error ε (symbol ε is not shown in the attached drawing)
The maximum value (MAXε) of is also found (MAXε=l
).

Next, the operation of the position correction device will be explained with reference to FIG.

The central processing unit 19 checks whether the right sensor 25R is turned on (step S ₁ ), and if not, checks whether the left sensor 25L is turned on (step S ₂ ). If it is not turned on, the traveling trolley 1 is allowed to proceed as it is (step _S3 ), is allowed to proceed as it is for a certain period of time (step _S7 ), and then returns to step _S1 again. In step _S2 , when the left sensor 25L is on as shown in FIG. 4, the steering wheel is steered to the right as shown by the arrow (step _S4 ), then continues for a certain period of time (step _S7 ), and then proceeds to step _S1. Return to Therefore, when the right sensor 25R is on, it is further checked whether the left sensor 25L is on, and if the left sensor 25L is also on, the guidance target point P is reached and the guidance is completed. In step _S5 , if the left sensor 25 is not on, the vehicle steers to the left (step _S6 ), continues for a certain period of time (step _S7 ), and returns to step _S1 again. In this way, when both sensors 25L, 25R pass through the docks 26L, 26R, the cumulative errors X and Y with respect to the traveling direction are corrected so that the guide point P is passed through.

[Effects of the Invention] As established above, according to the present invention, a control device for controlling the traveling of a traveling truck based on detection signals from a measuring roller distance detection sensor, a measuring roller direction detection sensor, and a truck direction detection sensor is provided. With this arrangement, the control device can calculate the current position of the traveling bogie based on the detection signals of the various sensors, compare the result with the stored designated traveling route, and control the traveling. Therefore, if used in an autofinisher, the autofinisher can be operated unmanned.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing one embodiment of the present invention, and FIG.
3 is a flowchart of this embodiment, FIG. 4 is a top view of the position correction device, FIG. 5 is a side view, and FIG. 6 is a side view of the position correction device. The flowchart, FIG. 7, is a diagram illustrating the measurement principle of the present invention using orthogonal coordinates. 1... Traveling trolley, 2... Front wheels, 3... Rear wheels, 4
... Measuring roller, 5 ... Distance detection sensor, 6 ... Direction detection sensor, 7 ... Carriage direction detection sensor, 8 ... Control device.

Claims (1)

[Claims] 1. A running bogie, a steerable front wheel provided on the running bogie, a driving rear wheel provided on the running bogie, and a measuring ring attached to the running bogie for detecting the traveling distance and direction of the running bogie. A measuring roller distance detection sensor that detects the traveling distance of the measuring roller per unit time, a measuring roller direction detecting sensor that detects the traveling direction of the measuring roller, and a reference axis provided on the traveling cart. It includes a truck direction detection sensor that detects the direction of the traveling truck relative to the vehicle, and a control device that controls the running direction and speed of the traveling truck based on the detection signals of these sensors provided on the traveling truck, and the control device The running bogie is calculated based on the traveling distance detected by the measuring roller distance detection sensor, the running direction of the measuring roller detected by the measuring roller direction detection sensor, and the bogie direction detected by the bogie direction detection sensor at each time point. An autonomous navigation device characterized in that it is configured to calculate the current position of the vehicle and to control the traveling direction and traveling speed of the traveling bogie based on the amount of difference between the calculated current position and the target position at that time. A traveling trolley equipped with