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WO2018173594A1 - Dispositif de mesure de distance et véhicule de transport - Google Patents

Dispositif de mesure de distance et véhicule de transport Download PDF

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Publication number
WO2018173594A1
WO2018173594A1 PCT/JP2018/005927 JP2018005927W WO2018173594A1 WO 2018173594 A1 WO2018173594 A1 WO 2018173594A1 JP 2018005927 W JP2018005927 W JP 2018005927W WO 2018173594 A1 WO2018173594 A1 WO 2018173594A1
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WO
WIPO (PCT)
Prior art keywords
unit
measurement
distance
light
measuring device
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PCT/JP2018/005927
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English (en)
Japanese (ja)
Inventor
石丸　裕
佐伯　哲夫
智浩 江川
岡本　修治
Original Assignee
日本電産株式会社
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Publication of WO2018173594A1 publication Critical patent/WO2018173594A1/fr

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  • the present invention relates to a distance measuring device and a transport vehicle.
  • Patent Document 1 discloses a laser scanner mounted on a moving device. *
  • the laser scanner includes an optical deflection unit that is rotationally driven by a motor, and a light receiver.
  • an optical deflection unit that is rotationally driven by a motor
  • a light receiver When light beams having individual light pulses are deflected through the light deflection unit towards the monitoring area and the light beams are reflected off the object, the reflected light returns to the laser scanner and is detected by the light receiver. With this configuration, the light beam scans the monitoring area. When the reflected light is received by the light receiver, the angular position of the object in the monitoring region is estimated from the angular position of the deflection unit detected by the encoder. *
  • the distance from the laser scanner to the object is estimated based on the required time from when each light pulse is emitted until it is reflected and received by the object in the monitoring area.
  • the position on the two-dimensional coordinate of the object in the monitoring area can be grasped by the angular position and the distance acquired in this way. That is, a distance image of the object can be acquired.
  • the laser scanner when the laser scanner is mounted on a moving device such as an omnidirectional drive type transporting device that can rotate on the spot, the light deflection unit in the laser scanner rotates on the rotating moving device. For this reason, the rotational speed of the light deflection unit viewed from the place where the moving device moves relatively increases or decreases depending on the rotation direction of the moving device. Then, since the angular position scanned by the light beam is shifted, the position of the light beam applied to the object is shifted. Thereby, distortion will arise in the acquired distance image. *
  • Patent Document 1 a rotational speed sensor is provided in the laser scanner, and the rotational speed and direction of the laser scanner itself are detected by the rotational speed sensor. Based on the detected information, the correction unit corrects the measured distance image. Thereby, the distortion of the distance image caused by the rotation of the moving device is suppressed.
  • Patent Document 1 since it is necessary to provide a rotation speed sensor in the laser scanner, there is a problem that the cost of the laser scanner increases.
  • moving devices such as transport devices often move linearly and the frequency of rotational movement is considered to be relatively low, but the laser scanner itself cannot grasp the traveling status of the moving device, so the laser scanner depends on the traveling status.
  • correction processing according to the output of the rotational speed sensor must be performed. Therefore, the load on the calculation unit that performs the correction process increases, and the amount of heat generation increases. Then, the problem that the cost by a heat countermeasure rises arises. *
  • an object of the present invention is to provide a distance measuring device capable of reducing costs and a transport vehicle equipped with the distance measuring device.
  • An exemplary distance measuring device of the present invention is based on a light projecting unit that emits projection light, a motor that rotationally drives the light projecting unit, a light receiving unit, emission of the projection light, and light reception by the light receiving unit.
  • a distance measurement unit that measures the distance to the measurement object, a measurement distance data output unit that outputs measurement distance data based on a measurement result by the distance measurement unit, and a rotational speed of the mobile device in which the distance measurement device is mounted
  • a storage unit that stores information, and a movement information acquisition unit that acquires at least rotation direction information from the moving device, wherein the measurement distance data output unit is based on the rotation speed information and the rotation direction information. The measurement distance data is corrected.
  • another exemplary distance measuring device of the present invention includes: a light projecting unit that emits projection light; a motor that rotationally drives the light projecting unit; a light receiving unit; and the emission of the projection light and the light receiving unit.
  • a distance measurement unit that measures the distance to the measurement object based on the received light, a measurement distance data output unit that outputs measurement distance data based on the measurement result by the distance measurement unit, and a movement in which the distance measurement device is mounted
  • a storage unit that stores rotation speed information of the device, a movement information acquisition unit that acquires rotation direction information from the moving device, and a correction that corrects the rotation speed of the motor based on the rotation speed information and the rotation direction information. And a portion.
  • FIG. 1 is a schematic overall perspective view of an automatic guided vehicle according to an embodiment of the present invention.
  • FIG. 2 is a schematic side view of the automatic guided vehicle according to the embodiment of the present invention.
  • FIG. 3 is a plan view seen from above of the automatic guided vehicle according to the embodiment of the present invention.
  • FIG. 4 is a schematic side cross-sectional view of a distance measuring device according to an embodiment of the present invention.
  • FIG. 5 is a block diagram showing an electrical configuration of the distance measuring apparatus according to the embodiment of the present invention.
  • FIG. 6 is a block diagram showing an electrical configuration of the automatic guided vehicle according to the embodiment of the present invention.
  • FIG. 7 is a flowchart regarding operations performed by the automatic guided vehicle and the distance measuring device.
  • FIG. 8 is a schematic diagram illustrating an example of the rotation direction of the automatic guided vehicle with respect to the rotation direction of the light projecting mirror of the distance measuring device.
  • FIG. 9 is a diagram illustrating an example of a distance image corresponding to the scanning rotation speed.
  • FIG. 10 is a flowchart regarding a modified example of the operation performed by the automatic guided vehicle and the distance measuring device.
  • the distance measuring device is configured as a laser range finder
  • AGV Automatic Guided Vehicle
  • FIG. 1 is a schematic overall perspective view of an automatic guided vehicle 15 according to an embodiment of the present invention.
  • FIG. 2 is a schematic side view of the automatic guided vehicle 15 according to the embodiment of the present invention.
  • FIG. 3 is a plan view seen from above the automatic guided vehicle 15 according to the embodiment of the present invention.
  • the automatic guided vehicle 15 travels autonomously by two-wheel drive and transports luggage. In particular, the automatic guided vehicle 15 can rotate on the spot. *
  • the automatic guided vehicle 15 includes a vehicle body 1, a loading platform 2, support portions 3L and 3R, drive motors 4L and 4R, drive wheels 5L and 5R, driven wheels 6F and 6R, and a distance measuring device 7. . *
  • the vehicle body 1 includes a base portion 1A and a base portion 1B.
  • the plate-like pedestal 1B is fixed to the rear upper surface of the base 1A.
  • the base part 1B has a triangular part Tr protruding forward.
  • the plate-shaped loading platform 2 is fixed to the upper surface of the platform 1B.
  • a load can be placed on the upper surface of the loading platform 2.
  • the loading platform 2 extends further forward than the platform 1B. Thus, a gap S is formed between the front of the base 1A and the front of the loading platform 2. *
  • the distance measuring device 7 is disposed at the front position of the apex of the triangular portion Tr of the base portion 1B in the gap S.
  • the distance measuring device 7 is configured as a laser range finder, and is a device that measures the distance to the measurement object while scanning the laser beam.
  • the distance measuring device 7 is used for map information creation and self-position identification described later. The detailed configuration of the distance measuring device 7 itself will be described later. *
  • the support portion 3L is fixed to the left side of the base portion 1A and supports the drive motor 4L.
  • the drive motor 4L is configured by an AC servo motor as an example.
  • the drive motor 4L incorporates a reduction gear (not shown).
  • the drive wheel 5L is fixed to a rotating shaft of the drive motor 4L. *
  • the support portion 3R is fixed to the right side of the base portion 1A and supports the drive motor 4R.
  • the drive motor 4R is configured by an AC servo motor as an example.
  • the drive motor 4R incorporates a reduction gear (not shown).
  • the drive wheel 5R is fixed to a rotating shaft of the drive motor 4R. *
  • the driven wheel 6F is fixed to the front side of the base 1A.
  • the driven wheel 6R is fixed to the rear side of the base 1A.
  • the driven wheels 6F and 6R rotate passively according to the rotation of the drive wheels 5L and 5R. *
  • the automatic guided vehicle 15 can be moved forward and backward by rotationally driving the drive wheels 5L and 5R by the drive motors 4L and 4R. In addition, by controlling the rotational speeds of the drive wheels 5L and 5R to be different, the automatic guided vehicle 15 can be rotated clockwise or counterclockwise to change the direction. *
  • the base 1A accommodates the control unit U, the battery B, and the communication unit T therein.
  • the control unit U is connected to the distance measuring device 7, the drive motors 4L and 4R, the communication unit T, and the like.
  • the control unit U communicates various signals with the distance measuring device 7 as will be described later.
  • the control unit U also performs drive control of the drive motors 4L and 4R.
  • the communication unit T communicates with an external tablet terminal (not shown) and complies with, for example, Bluetooth (registered trademark). Thereby, the automatic guided vehicle 15 can be remotely operated by the tablet terminal.
  • the battery B is composed of, for example, a lithium ion battery, and supplies power to each unit such as the distance measuring device 7, the control unit U, the communication unit T, and the like. *
  • FIG. 4 is a schematic side sectional view of the distance measuring device 7.
  • the distance measuring device 7 configured as a laser range finder includes a laser light source 71, a collimating lens 72, a light projecting mirror 73, a light receiving lens 74, a light receiving mirror 75, a wavelength filter 76, a light receiving unit 77, and a rotation.
  • a housing 78, a motor 79, a housing 80, a substrate 81, and wiring 82 are included. *
  • the casing 80 has a substantially cylindrical shape extending in the vertical direction in appearance, and accommodates various configurations including the laser light source 71 in the internal space.
  • the laser light source 71 is mounted on the lower surface of the substrate 81 fixed to the lower surface of the upper end portion of the housing 80. For example, the laser light source 71 emits laser light in the infrared region downward.
  • the collimating lens 72 is disposed below the laser light source 71.
  • the collimating lens 72 emits the laser light emitted from the laser light source 71 downward as parallel light.
  • a light projecting mirror 73 is disposed below the collimating lens 72.
  • the light projection mirror 73 is fixed to the rotary casing 78.
  • the rotary casing 78 is fixed to the shaft 79A of the motor 79, and is driven to rotate around the rotation axis J by the motor 79.
  • the light projection mirror 73 is also driven to rotate around the rotation axis J.
  • the light projecting mirror 73 reflects the laser light emitted from the collimating lens 72 and emits the reflected laser light as projection light L1. Since the light projection mirror 73 is rotationally driven as described above, the projection light L1 is emitted while changing the emission direction in the range of 360 degrees around the rotation axis J. *
  • the casing 80 has a transmission part 801 in the middle in the vertical direction.
  • the transmission part 801 is made of a translucent resin or the like. *
  • the projection light L ⁇ b> 1 reflected and emitted by the light projecting mirror 73 passes through the transmission part 801, passes through the gap S, and is emitted to the outside from the automatic guided vehicle 15.
  • the predetermined scanning rotation angle range ⁇ is set to 270 degrees around the rotation axis J as an example, as shown in FIG. More specifically, the range of 270 degrees includes forward 180 degrees and rear left and right 45 degrees.
  • the projection light L1 passes through the transmission unit 801 at least in the range of 270 degrees around the rotation axis J. In the range where the rear transmission portion 801 is not disposed, the projection light L1 is blocked by the inner wall of the housing 80, the wiring 82, or the like. *
  • the light receiving mirror 75 is fixed to the rotary casing 78 at a position below the light projecting mirror 73.
  • the light receiving lens 74 is fixed to the circumferential side surface of the rotating housing 78.
  • the wavelength filter 76 is positioned below the light receiving mirror 75 and is fixed to the rotary casing 78.
  • the light receiving unit 77 is positioned below the wavelength filter 76 and is fixed to the rotating housing 78.
  • the projection light L1 emitted from the distance measuring device 7 is reflected by the measurement object and becomes diffused light.
  • a part of the diffused light passes through the gap S and the transmission part 801 as incident light L2 and enters the light receiving lens 74.
  • the incident light L2 that has passed through the light receiving lens 74 enters the light receiving mirror 75 and is reflected downward by the light receiving mirror 75.
  • the reflected incident light L 2 passes through the wavelength filter 76 and is received by the light receiving unit 77.
  • the wavelength filter 76 transmits light in the infrared region.
  • the light receiving unit 77 converts the received light into an electrical signal by photoelectric conversion.
  • a range formed by rotating at a predetermined radius around the rotation axis J in the scanning rotation angle range ⁇ is defined as the measurement range Rs.
  • the projection light L1 is emitted within the scanning rotation angle range ⁇ and the projection light L1 is reflected by the measurement object located within the measurement range Rs, the reflected light passes through the transmission unit 801 as the incident light L2 and is received by the light receiving lens 74. Is incident on. *
  • the motor 79 is connected to the substrate 81 by the wiring 82 and is driven to rotate when energized from the substrate 81.
  • the motor 79 rotates the rotary casing 78 at a predetermined rotation speed.
  • the rotary casing 78 is driven to rotate at about 3000 rpm.
  • the wiring 82 is routed along the vertical direction on the rear inner wall of the housing 80. *
  • FIG. 5 is a block diagram showing an electrical configuration of the distance measuring device 7. *
  • the distance measuring device 7 includes a laser light emitting unit 701, a laser light receiving unit 702, a distance measuring unit 703, an arithmetic processing unit 704, a data communication interface 705, a driving unit 706, and a motor 79. And having. *
  • the laser light emitting unit 701 includes a laser light source 71 (FIG. 4) and an LD driver (not shown) that drives the laser light source 71.
  • the LD driver is mounted on the substrate 81.
  • the laser light receiving unit 702 includes a light receiving unit 77 and a comparator (not shown) that receives an electrical signal output from the light receiving unit 77.
  • the comparator is mounted on the light receiving unit 77, compares the level of the electric signal with a predetermined threshold level, and outputs a measurement pulse having a high level or a low level according to the comparison result. *
  • the distance measuring unit 703 receives a measurement pulse output from the laser light receiving unit 702.
  • the laser emission unit 701 emits laser light using the laser emission pulse output from the arithmetic processing unit 704 as a trigger.
  • the projection light L1 is emitted.
  • the incident light L2 is received by the laser light receiving unit 702.
  • a measurement pulse is generated according to the amount of light received by the laser light receiving unit 702, and the measurement pulse is output to the distance measuring unit 703. *
  • the reference pulse output together with the laser emission pulse by the arithmetic processing unit 704 is input to the distance measuring unit 703.
  • the distance measuring unit 703 can acquire the distance to the measurement object OJ by measuring the elapsed time from the rising timing of the reference pulse to the rising timing of the measurement pulse. That is, the distance measuring unit 703 measures the distance by a so-called TOF (Time Of Flight) method.
  • the distance measurement result is output from the distance measurement unit 703 as measurement data.
  • the driving unit 706 controls the rotation of the motor 79.
  • the motor 79 is rotationally driven by the drive unit 706 at a predetermined rotational speed.
  • the arithmetic processing unit 704 outputs a laser emission pulse every time the motor 79 rotates by a predetermined unit angle.
  • the predetermined unit angle is 1 degree.
  • the arithmetic processing unit 704 is arranged on an orthogonal coordinate system based on the distance measuring device 7 based on the rotation angle position of the motor 79 at the timing when the laser emission pulse is output and the measurement data obtained corresponding to the laser emission pulse.
  • the position information of is generated. That is, the position of the measurement object OJ is acquired based on the rotation angle position of the projection mirror 73 and the measured distance.
  • the acquired position information is output from the arithmetic processing unit 704 as measurement distance data. In this way, a distance image of the measurement object OJ can be acquired by scanning with the projection light L1 in the scanning rotation angle range ⁇ . *
  • the amount of light received by the laser light receiving unit 702 varies depending on the reflectance of light at the measurement object OJ. For example, when the measurement object OJ is a black object and the light reflectance is reduced, the amount of received light is reduced and the rise of the measurement pulse is delayed. Then, the distance measurement unit 703 measures the distance longer. As described above, the measured distance may change depending on the reflectance of the light at the measurement object OJ even if the distance is actually the same.
  • the arithmetic processing unit 704 improves the measurement accuracy of the distance by correcting the measurement data according to the length of the measurement pulse.
  • the arithmetic processing unit 704 uses the corrected measurement data when generating the measurement distance data. *
  • the measurement distance data output from the arithmetic processing unit 704 is transmitted to the automatic guided vehicle 15 side shown in FIG. 6 to be described later via the data communication interface 705. *
  • FIG. 6 is a block diagram showing an electrical configuration of the automatic guided vehicle 15. *
  • the automatic guided vehicle 15 includes a distance measuring device 7, a control unit 8, a drive unit 9, a power button 10, and a communication unit T. *
  • the control unit 8 is provided in the control unit U (FIG. 1).
  • the drive unit 9 includes a motor driver (not shown) and drive motors 4L and 4R.
  • the motor driver is provided in the control unit U.
  • the control unit 8 controls the drive unit 9 by giving a command.
  • the drive unit 9 controls the rotation speed and direction of the drive wheels 5L and 5R. *
  • the control unit 8 communicates with a tablet terminal (not shown) via the communication unit T.
  • the control part 8 can receive the operation signal according to the content operated in the tablet terminal via the communication part T.
  • the power button 10 is an operation button for turning on and starting the automatic guided vehicle 15. *
  • the control unit 8 receives the measurement distance data output from the distance measurement device 7.
  • the control unit 8 can create map information based on the measured distance data.
  • the map information is information that is generated for performing self-position identification that identifies the position of the automatic guided vehicle 15 and is generated as position information of a stationary object at a place where the automatic guided vehicle 15 travels.
  • the stationary object is a wall of the warehouse, a shelf arranged in the warehouse, or the like.
  • the map information is generated when a manual operation of the automatic guided vehicle 15 is performed by a tablet terminal, for example.
  • an operation signal corresponding to, for example, operation of the joystick of the tablet terminal is transmitted to the control unit 8 via the communication unit T, so that the control unit 8 instructs the drive unit 9 according to the operation signal, and the unmanned The conveyance vehicle 15 is travel-controlled.
  • the control unit 8 specifies, as map information, the position of the measurement object at the place where the automatic guided vehicle 15 travels based on the measurement distance data input from the distance measuring device 7 and the position of the automatic guided vehicle 15. .
  • the position of the automatic guided vehicle 15 is specified based on the drive information of the drive unit 9. *
  • the map information generated as described above is stored in the storage unit 85 of the control unit 8.
  • the control unit 8 compares the measured distance data input from the distance measuring device 7 with the map information stored in advance in the storage unit 85, thereby performing self-position identification that identifies the self-position of the automatic guided vehicle 15. Do. By performing self-position identification, the control unit 8 can perform autonomous traveling control of the automatic guided vehicle 15 along a predetermined route.
  • step S1 When the power button 10 is operated, the process of FIG. 7 is started, and the control unit 8 controls to supply power from the battery B to each unit except the distance measuring device 7 shown in FIG. 15 is activated (step S1). At the same time, the control unit 8 controls to supply the power from the battery B to the distance measuring device 7 and activates the distance measuring device 7 (step S11).
  • step S ⁇ b> 2 the control unit 8 transmits rotational speed information stored in advance in the storage unit 85 to the distance measuring device 7.
  • the rotation speed information is information indicating the rotation speed when the automatic guided vehicle 15 rotates. That is, the rotation speed when the automatic guided vehicle 15 rotates is set in advance.
  • step S ⁇ b> 12 the arithmetic processing unit 704 of the distance measuring device 7 receives the transmitted rotation speed information via the data communication interface 705.
  • the arithmetic processing unit 704 stores the received rotation speed information.
  • step S2 the automatic guided vehicle 15 starts to travel in step S3.
  • the control unit 8 gives a command to the drive unit 9 in response to a manual operation on the tablet terminal, whereby the traveling control of the automatic guided vehicle 15 is performed.
  • the control unit 8 instructs the drive unit 9 to move the automatic guided vehicle 15 straight at a predetermined speed and in a predetermined direction (forward or reverse).
  • the control unit 8 rotates the automatic guided vehicle 15 at a predetermined rotation speed, a predetermined rotation angle, and a predetermined rotation direction (clockwise or counterclockwise).
  • control unit 8 autonomously instructs the driving unit 9 so that the automatic guided vehicle 15 Is moved straight or rotated in the same manner as described above.
  • Step S ⁇ b> 5 the control unit 8 transmits the rotation angle information and the rotation direction information to the distance measuring device 7.
  • the rotation angle information is information indicating a rotation angle when the automatic guided vehicle 15 rotates.
  • the rotation direction information is information indicating a rotation direction (clockwise or counterclockwise) when the automatic guided vehicle 15 rotates.
  • step S ⁇ b> 12 after step S ⁇ b> 12, operation processing unit 704 starts outputting measurement distance data to automatic guided vehicle 15 via data communication interface 705 in step S ⁇ b> 13.
  • the control unit 8 creates map information based on the measured distance data acquired from the distance measuring device 7. Further, at the time of self-position identification, the control unit 8 specifies the position of the automatic guided vehicle 15 based on the comparison between the measured distance data acquired from the distance measuring device 7 and the existing map information.
  • Step S4 The straight movement of the automatic guided vehicle 15 is continued (N in Step S4), and the process does not proceed to Step S5.
  • the rotation angle information and the rotation direction information are not transmitted to the distance measuring device 7, and the calculation processing unit 704 receives these information. If not (N in Step S14), the arithmetic processing unit 704 outputs the measurement distance data without correcting it without proceeding to Step S15. *
  • Step S4 When the rotation operation of the automatic guided vehicle 15 is started (Y in Step S4), the rotation angle information and the rotation direction information are transmitted to the distance measuring device 7 in Step S5, and the arithmetic processing unit 704 receives these information (Step S4). Y of S14), the process proceeds to step S15.
  • step S15 the arithmetic processing unit 704 corrects and corrects the measurement distance data based on the rotation speed information received and stored from the automatic guided vehicle 15 in step S12 and the received rotation angle information and rotation direction information.
  • the measurement distance data is output to the automatic guided vehicle 15.
  • the schematic diagram shown in FIG. 8 shows that the light projection mirror 73 is always rotating clockwise in the distance measuring device 7, and the case where the automatic guided vehicle 15 rotates clockwise is shown on the left side.
  • the case where 15 rotates counterclockwise is shown on the right side.
  • the scanning rotational speed by the laser light becomes faster than when the automatic guided vehicle 15 does not rotate.
  • the rotation speed of the scanning by the laser light is compared with the case where the automatic guided vehicle 15 does not rotate. Will be late. Therefore, in any case, the irradiation position of the laser beam on the object is shifted as compared with the case where the automatic guided vehicle 15 does not rotate.
  • FIG. 9 shows an example of how the distance image changes according to the scanning rotation speed.
  • a distance measuring device is arranged at the origin 0.
  • FIG. 9 shows a measurement result of the shape of the room when the distance measuring device is arranged in a rectangular room.
  • the light projecting mirror always rotates clockwise as shown in FIG.
  • the scanning rotation speed is increased and is represented by a one-dot chain line.
  • the scanning rotational speed becomes slow and is represented by a broken line.
  • the distance image represented by the broken line or the alternate long and short dash line may be corrected to the distance image represented by the solid line.
  • step S15 such correction is performed on the measurement distance data.
  • the rotational distance information is also used for the measurement distance data. Correction is being performed. However, it is not essential to use the rotation angle information.
  • the rotation speed uses information stored in advance on the automatic guided vehicle 15 side, and the control unit 8 instructs the drive unit 9 about the rotation angle and the rotation direction. Therefore, it is not necessary to provide a sensor on either the distance measuring device 7 or the automatic guided vehicle 15 side. Therefore, the cost of the distance measuring device 7 and the automatic guided vehicle 15 can be reduced. Since the distance measuring device 7 is not provided with a sensor, the distance measuring device 7 can be used by being mounted on a device other than a moving device such as a transport vehicle that performs a rotating operation. *
  • the arithmetic processing unit 704 only needs to perform the correction processing of the measurement distance data when receiving the rotation angle information and the rotation direction information from the automatic guided vehicle 15 side, thereby suppressing the calculation load. can do. Therefore, it is possible to reduce the cost of heat countermeasures due to the calculation load.
  • the arithmetic processing unit of the distance measuring device stores predetermined rotational speed information in advance, and the rotational speed information is The form which is not transmitted from the conveyance vehicle side may be sufficient.
  • the distance measuring device (7) of the present embodiment includes the light projecting unit (73) that emits the projection light (L1), and the motor (79) that rotationally drives the light projecting unit. ), A light receiving unit (702), a distance measuring unit (703) that measures the distance to the measurement object based on emission of the projection light and light reception by the light receiving unit, and a measurement result by the distance measuring unit A measurement distance data output unit (704) that outputs measurement distance data based on the data, a storage unit (704) that stores rotational speed information of the moving device (15) on which the distance measuring device is mounted, and a rotation direction from the moving device. A movement information acquisition unit (704) that acquires at least information. The measurement distance data output unit corrects the measurement distance data based on the rotation speed information and the rotation direction information. *
  • the cost of the distance measuring device can be reduced. Further, only when the moving device rotates, the rotation direction information is acquired from the moving device and the measurement distance data is corrected, so that the calculation load can be suppressed. Therefore, the amount of generated heat can be suppressed, and the cost for heat countermeasures can be reduced.
  • the storage unit stores the rotation speed information transmitted from the moving device. Thereby, the control according to the rotational speed specification of the moving device on which the distance measuring device is mounted can be performed.
  • the movement information acquisition unit acquires rotation angle information from the moving device, and the measurement distance data output unit is based on the rotation speed information, the rotation direction information, and the rotation angle information.
  • the measurement distance data is corrected. Thereby, the measurement distance data can be corrected with higher accuracy.
  • the transport vehicle (15) of the present embodiment is equipped with the distance measuring device having any one of the above configurations. Since the transport vehicle generally rotates, it is particularly suitable as an object on which the distance measuring device having the above configuration is mounted. *
  • FIG. 10 is a flowchart regarding a modified example of the operation performed by the automated guided vehicle 15 and the distance measuring device 7.
  • steps S21 to S25 show the operation on the automatic guided vehicle 15 side
  • steps S31 to S35 show the operation on the distance measuring device 7 side, as in FIG.
  • differences from the processing of FIG. 7 will be particularly described. *
  • step S23 While the automatic guided vehicle 15 starts to travel in step S23 and the automatic guided vehicle 15 continues to move straight (N in step S24), the process does not proceed to step S25.
  • the process proceeds to Step S25, and the control unit 8 transmits the rotation direction information to the distance measuring device 7.
  • step S33 the arithmetic processing unit 704 starts outputting the measured distance data to the automatic guided vehicle 15. While the automatic guided vehicle 15 continues to move straight and the arithmetic processing unit 704 does not receive the rotation direction information from the automatic guided vehicle 15 (N in step S34), the arithmetic processing unit 704 does not correct the rotational speed of the motor 79. Thus, the motor 79 is rotated at a predetermined rotational speed.
  • Step S35 the arithmetic processing unit 704 corrects the rotation speed of the motor 79 that rotates the projection mirror 73 based on the rotation speed information stored in step S32 and the received rotation direction information.
  • the arithmetic processing unit 704 instructs the driving unit 706 to perform the corrected rotation speed.
  • the rotational speed of the motor 79 is corrected to be lower than a predetermined rotational speed when the automatic guided vehicle 15 does not rotate.
  • the scanning rotation speed by the rotation of the automatic guided vehicle 15 and the rotation of the motor 79 is set to the predetermined rotation speed.
  • the rotation direction information is opposite to the rotation direction of the motor 79, the rotation of the automatic guided vehicle 15 and the rotation of the motor 79 are corrected by correcting the rotation speed of the motor 79 to be higher than the predetermined rotation speed.
  • the scanning rotation speed by is set to the predetermined rotation speed.
  • the arithmetic processing unit 704 outputs the laser light emission pulse at the output time interval when the laser light emission pulse is output by the unit rotation angle (for example, 1 degree) of the motor 79 when the automatic guided vehicle 15 does not rotate. Thereby, distortion of a distance image can be suppressed. That is, in this embodiment, the measurement distance data is output without being corrected.
  • the rotation speed uses information stored in advance on the automatic guided vehicle 15 side, and the rotation direction is a content commanded by the control unit 8 to the drive unit 9. Therefore, it is not necessary to provide a sensor on either the distance measuring device 7 or the automatic guided vehicle 15 side. Therefore, the cost of the distance measuring device 7 and the automatic guided vehicle 15 can be reduced.
  • the calculation processing unit 704 only needs to perform the rotation speed correction process when receiving the rotation direction information from the automatic guided vehicle 15 side, so that the calculation load can be suppressed. Therefore, it is possible to reduce the cost of heat countermeasures due to the calculation load.
  • the distance measuring device (7) of the present embodiment includes the light projecting unit (73) that emits the projection light (L1), the motor (79) that rotationally drives the light projecting unit, and the light receiving unit (702). ), A distance measuring unit (703) that measures the distance to the measurement object based on emission of the projection light and light reception by the light receiving unit, and measurement distance data is output based on the measurement result of the distance measuring unit A measurement distance data output unit (704) that performs the measurement, a storage unit (704) that stores rotational speed information of the moving device (15) on which the distance measuring device is mounted, and movement information acquisition that acquires rotational direction information from the moving device. A correction unit (704) that corrects the rotation speed of the motor based on the rotation speed information and the rotation direction information. *
  • the sensor when the distortion of the distance image is suppressed, the sensor is not required for the distance measuring device, and thus the cost of the distance measuring device can be reduced. Further, only when the moving device rotates, the rotation direction information is acquired from the moving device and the rotational speed of the motor is corrected, so that the calculation load can be suppressed. Therefore, the amount of generated heat can be suppressed, and the cost for heat countermeasures can be reduced.
  • the transport vehicle (15) of the present embodiment is equipped with the distance measuring device having the above-described configuration. Since the transport vehicle generally rotates, it is particularly suitable as an object on which the distance measuring device having the above configuration is mounted.
  • the automatic guided vehicle has been described as an example of the moving device.
  • the moving device is not limited thereto, and the moving device may be applied to a device other than the transportation application such as a cleaning robot and a monitoring robot.
  • the present invention can be used, for example, in an automated guided vehicle that transports luggage.

Landscapes

  • Optical Radar Systems And Details Thereof (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention fait appel à : une unité de projection de lumière servant à émettre une lumière de projection ; un moteur servant à faire tourner et à entraîner l'unité de projection de lumière ; une unité de réception de lumière ; une unité de mesure de distance servant à mesurer la distance par rapport à un objet à mesurer sur la base de l'émission de lumière de projection et de la réception de lumière par l'unité de réception de lumière ; une unité de sortie de données de distance de mesure servant à délivrer des données de distance de mesure sur la base des résultats de mesure en provenance de l'unité de mesure de distance ; une unité de mémorisation servant à mémoriser des informations de vitesse de rotation concernant un dispositif en mouvement dans lequel est installé le dispositif de mesure de distance ; et une unité d'acquisition d'informations de mouvement servant à acquérir au moins les informations de sens de rotation en provenance du dispositif en mouvement. Selon l'invention, l'unité de sortie de données de distance de mesure est un dispositif de mesure de distance servant à corriger les données de distance de mesure sur la base des informations de vitesse de rotation et des informations de sens de rotation.
PCT/JP2018/005927 2017-03-22 2018-02-20 Dispositif de mesure de distance et véhicule de transport WO2018173594A1 (fr)

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CN113167895A (zh) * 2018-12-11 2021-07-23 三菱电机株式会社 测距校正装置、测距校正系统、测距校正方法和测距校正程序
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CN111486811B (zh) * 2019-01-25 2022-01-18 科沃斯机器人股份有限公司 测距模组及其测距方法与清洁机器人

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