Guide-Line Conveyance Control at Obstacles and Branching Points
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Solution Overview
Problem
Conventional conveyance systems face inefficiencies in work efficiency and accuracy, particularly when obstacles are present on the track or at guide line branching points, leading to potential collisions and unintended branch entries.
Innovation Solution
A conveyance system equipped with a guide line detection unit, object position detection unit, and stop position determination unit, which allows the conveyance vehicle to travel along a guide line with codes, enabling flexible operation and accurate control by switching between guided and autonomous modes based on detected information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If obstacle detection and deceleration control are implemented to prevent collisions, then safety is improved, but work efficiency deteriorates because the target position cannot be flexibly changed when obstacles are present
Solution Approach 1:
The patent applies dynamics by enabling the conveyance vehicle to dynamically switch between guided traveling mode (following guide lines) and autonomous traveling mode (using obstacle detection and position determination). This allows the system to adapt its behavior based on real-time conditions: using autonomous mode when obstacles are detected to maintain flexibility in target position selection, and using guided mode when the path is clear to ensure precise routing and improve work efficiency
Solution Approach 2:
The system changes operational parameters by switching between two distinct traveling modes. In autonomous traveling mode, the vehicle uses obstacle detection data and stop position determination to flexibly adjust its target position. In guided traveling mode, it follows predetermined guide lines for efficient routing. This parameter switching resolves the contradiction by allowing the system to optimize for either safety/flexibility or efficiency depending on conditions
2Measurement precision
If guide line following control is used to ensure accurate routing, then positioning accuracy is improved, but the vehicle cannot correctly handle branching points where guide lines are interrupted or separated
Solution Approach 1:
The patent introduces an intermediary system that combines both guided traveling control and autonomous traveling control. When the guide line detection unit detects that the guide line is interrupted or separated (at branching points), the system switches to autonomous traveling mode as an intermediary mechanism. This allows the vehicle to use obstacle detection and stop position determination to accurately identify the correct branch, then switch back to guided mode for precise positioning, thereby resolving the limitation of pure guide line following at branching points
3Adaptability or versatility
If autonomous traveling mode is used to improve flexibility in obstacle avoidance, then adaptability is improved, but positioning precision deteriorates compared to guide line following
Solution Approach 1:
The system dynamically switches between autonomous and guided traveling modes based on real-time conditions. When obstacles are detected or guide lines are interrupted, autonomous mode provides the needed adaptability and flexibility. When the path is clear and guide lines are intact, the system switches to guided mode to regain precise positioning. This dynamic switching resolves the contradiction by allowing the system to have both flexibility when needed and precision when possible
Data Source
AI summary
A conveyance system according to the present disclosure includes a conveyance vehicle configured to travel along a guide line laid on a traveling road. The conveyance vehicle includes: a guide line detection unit configured to detect the guide line; an object position detection unit configured to detect information on a position of an object around the conveyance vehicle; and a stop position determination unit configured to determine a stop position of the conveyance vehicle based on a result of detection by the object position detection unit.