JPH0679253B2 - Automated guided vehicle display control system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Outline] When a plurality of unmanned guided vehicles are traveling along a guideway, whether or not the unmanned guided vehicle arrives according to information input from a slave station calling terminal device is determined. For easy identification, the calling station number, the destination station number, etc. are displayed on the outside of the automatic guided vehicle.

[Industrial application field]

The present invention relates to an unmanned guided vehicle display control system for displaying a destination of an unmanned guided vehicle or the like to easily identify whether or not the unmanned guided vehicle is an intended guided vehicle.

In a factory or the like, it is necessary to convey articles between arbitrary designated positions.For that reason, by setting a guide traveling path in advance and automatically driving an automatic guided vehicle along the guide traveling path, A system for conveying articles is adopted. In such an automatic guided system, there is a demand for an efficient automatic guided vehicle operation in which the layout of the guideway can be easily changed.

[Conventional technology]

In the unmanned transportation system, an optical guidance system, an electromagnetic guidance system, a self-contained navigation system, etc. are known for automatically driving an unmanned transportation vehicle. The optical guidance system is to form the guidance runway with a tape having a reflectance different from the floor surface.
The automated guided vehicle travels along the tape while detecting the difference in reflectance. In the electromagnetic induction method, a guide wire wheel or the like is buried in a floor to form a guide traveling path, and an automatic guided vehicle travels while detecting electromagnetic waves from the buried guide wire wheel. In addition, the self-contained navigation system travels along an instructed path along an arbitrary traveling path, which simplifies the structure of the traveling path but complicates the control structure of the automatic guided vehicle. Therefore, generally, either the optical induction method or the electromagnetic induction method is used.

There is also known a system in which an automated guided vehicle is used to move an automated guided vehicle to different floors to connect the guideways on a plurality of floors. Moreover, the loading and unloading of articles on the automatic guided vehicle can be automated by the automatic moving device.

In addition, there are two methods of transmitting operation control information to an automated guided vehicle: one that uses an optical signal and one that uses electromagnetic waves.In the electromagnetic induction method, a guide wire wheel embedded in a guideway is used. The operation control information can be transmitted using electromagnetic waves. A configuration is also known in which a lamp that lights up while the automatic guided vehicle is running is provided.

[Problems to be solved by the invention]

In a variety of small-quantity production factories, etc., the layout in the factories is frequently performed, and accordingly, it is necessary to change the guide route of the unmanned transfer system. In that case, in the electromagnetic induction system, the operation control information can be given to the unmanned guided vehicle on the guideway at an arbitrary position, but since the guide wire wheel is embedded, the layout can be easily changed. There are some drawbacks. On the other hand, in the optical guiding method, since only the path change by the tape is performed, there is an advantage that the layout change can be easily dealt with.

In high-volume production plants, etc., it is often possible to preset the operation program of the automated guided vehicle. However, when the layout is changed as described above or whenever it is necessary to transport goods, the section can be set at any section. When carrying an article by an automated guided vehicle, it is desirable to transmit the operation control information to the automated guided vehicle as needed. In that case,
There was no effective control means when the transport section of the article straddled a plurality of points and required a plurality of automatic guided vehicles.

Also, when multiple automated guided vehicles are automatically traveling along the guideway, it is not possible to identify which automated guided vehicle is traveling in response to a call, and the operator makes a mistake. In some cases, the articles may be conveyed by the above method.

An object of the present invention is to make it possible to immediately identify whether or not an unmanned guided vehicle is capable of calling even when a plurality of unmanned guided vehicles are automatically traveling.

[Means for solving problems]

The unmanned guided vehicle display control system of the present invention will be described with reference to FIG. 1. According to the input information from the slave station calling terminal devices 4 arranged in a distributed manner, the central station central control device 3 causes the unmanned guided vehicle 1 to operate.
The operation control information is transmitted to the home station 2a. This is done by an optical signal by the optical communication device 5. The automatic guided vehicle 1 automatically travels along the guideway 2 according to the operation control information. A display unit 1a is provided outside the automatic guided vehicle 1 to display the destination station number, the calling station number, and the operating state according to the operation control information on the display unit 1a. Then, when the operation according to the operation control information is completed and the process returns to the home station 2a, the display content is cleared automatically or by the master station central control device 3.

[Action]

Since the display station 1a is provided outside the automatic guided vehicle 1 to display the destination station number and the calling station number, the automatic guided vehicle 1 corresponding to the call can be immediately identified and whether the destination is correct or not. Confirmation is also possible. Further, by displaying the operating state by a lamp or the like, it becomes easy to confirm whether or not the instructed work is completed.

〔Example〕

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 2 is an explanatory view of the automatic guided vehicle of the embodiment of the present invention,
The automatic guided vehicle 1 has an article loaded on top thereof and has a configuration corresponding to the size and weight of the article to be transported, and shows the case where the display unit 1a is provided on the front surface and the side surface thereof. The display portion 1a can be provided only on the front surface or only on the side surface, or can be provided on the front surface, both side surfaces, and the rear surface, respectively. Further, 1b is an optical communication device, which transmits and receives information to and from the optical communication device 5 of the home station 2a (see FIG. 1) by optical signals.

FIG. 3 is an explanatory view of the display section of the embodiment of the present invention.
Is a calling station number display, 6a is a calling lamp, and 7-
Reference numeral 9 is a destination station number display portion, and 7a to 9a are destination lamps. The number display units 6 to 9 can be configured by various display panels such as a back-illuminated liquid crystal display panel, a light emitting diode display panel, a plasma display panel, and the like. Further, the lamps 6a to 9a can be composed of ordinary display lamps or light emitting diodes.

When the first to third destinations are input from a certain slave station calling terminal device 4, information including the number of the slave station calling terminal device 4 is transferred to the master station central control device 3 and returned to the home station 2a. For the vehicle 1, optical communication is performed between the master station central control device 3 and the optical communication device 5 and the optical communication device 1b of the unmanned guided vehicle 1, and operation control information is transmitted from the master station central control device 3 to the unmanned guided vehicle. Propagate to 1.

In the automatic guided vehicle 1, the calling station number is displayed on the number display section 6 and the first to third destination station numbers are displayed on the number display sections 7 to 9 according to the operation control information. When the automatic guided vehicle 1 starts traveling in response to a departure command from the master station central control device 3, the calling lamp 6a blinks, and when it arrives at the calling station, the calling lamp 6a continuously lights. When the vehicle starts traveling from the calling station toward the first destination station, the destination lamp 7a blinks, and when the vehicle reaches the first destination station, the destination lamp 7a lights continuously.

Therefore, it is possible to easily identify whether or not the vehicle is an unmanned guided vehicle corresponding to a call by the number display portions 6 to 9, and while traveling toward the destination station by the call lamp 6a and the destination lamps 7a to 9a. It is also possible to easily identify whether or not the work is completed.

FIG. 4 is an explanatory view of an embodiment of the present invention, 11 is an unmanned guided vehicle, 12 is a guide route, 12a is a home station, 13 is a master station central controller, 14 and 14a are slave station calling terminal devices, 15a, 1
5b is an optical communication device, 16a and 16b are home station marks, 17 is a station mark, 18 is an automatic transfer device (for loading), and 19 is an automatic transfer device (for lowering).

The guide travel path 12 is of an optical guide system, and has a configuration capable of easily coping with a layout change. Further, the automatic guided vehicle 11 can determine the stop position by explaining the home station marks 16a, 16b or the station mark 17, and at the branch point, whether or not to go straight according to the operation control information is controlled. It Home station again
In 12a, the operation control information from the master station central control device 13 is transmitted by the optical communication devices 15a and 15b.

The slave station calling terminal devices 14 are distributed along the guideway 12 and are assigned station numbers, respectively, and are connected so that information can be transmitted and received to and from the master station central control device 13. ing. Further, it is provided with an input operation unit and a display unit, and by performing a desired input operation, the master station central control device 13 creates operation control information based on the input information, and returns to the home station 12a to perform the unmanned conveyance. The operation control information is transmitted to the car 11. The input information in this case is
Not only the transport section between two points but also a plurality of points can be designated. It is also possible to instruct to arrange not only one automated guided vehicle but also a plurality of automated guided vehicles. Further, the slave station call terminal device 14a combined with the automatic transfer device 18 can send an automatic call of the automatic guided vehicle to the master station central control device 13 through a cooperative operation.

The automated guided vehicle 11 is provided with an optical communication device capable of communicating with the optical communication devices 15a and 15b in the home station 12a by an optical signal, and the motor etc. according to the operation control information given by the optical signal. Is driven and travels, for example, temporarily stops at the position where the articles are stacked, travels after loading the articles, stops at the position where the articles are lowered, and the articles are lowered to complete the instructed work, the home station 12a It is controlled to automatically return to.

Further, in this embodiment, the home station 12a,
Since the optical communication devices 15a and 15b are arranged at intervals,
While the operation control information is being transmitted to the automatic guided vehicle 11 by the optical communication device 15b, even when a plurality of automatic guided vehicles 11 return, the optical communication device 15a receives the number of the automatic guided vehicle 11 and the like. Thus, it is possible to identify the end of work of the automated guided vehicle 11.

In the case of a system equipped with an automatic control elevator,
Elevator / station marks, passenger sensors for unmanned guided vehicles, sensors for disembarking, etc. will be installed.

FIG. 5 is a block diagram of an essential part of the automated guided vehicle, and 51 is a second block.
An optical communication device corresponding to the optical communication device 1b in the figure, 52 is a microprocessor (MPU) that controls each unit, 53 is an input / output control unit, 54 is an automatic transfer device, 55 is an elevator sensor unit, 56 Is a sensor unit for detecting the station mark 17 and the like, 57 is a display unit corresponding to the display unit 1a in FIG.
Is a traveling control unit including a storage battery, a motor, and the like.

The operation control information from the master station central control device 13 is received by the optical communication device 51 of the automated guided vehicle 11 facing the optical communication device 15a or 15b of the home station 12a, and is called by the display unit 57 under the control of the microprocessor 52. When the station number and the destination station number are displayed, and the traveling control unit 58 is driven corresponding to the operation control information, the vehicle travels to the designated position on the designated path and the loading / unloading of the articles is completed,
It is controlled to return to the home station 12a.

FIG. 6 is an explanatory view of the display contents of the embodiment of the present invention, in which the x mark of the call lamp 6a and the destination lamps 7a to 9a blinks, the ● mark indicates the continuous lighting, and the ◯ mark indicates the unlit state. And "destination" indicate the number display portions 6, 7 to 9 in FIG. The contents displayed on the number display section are station numbers NO.23, NO.45, NO.56, and NO.67 shown in FIG. 4 as an example.

Unmanned guided vehicle 11 finishes work at home station 12a
By returning to step 1, the calling station number and the destination station number are cleared, as indicated by clearing all display. Then, when the first to third destination station numbers “45”, “56”, and “67” are input from the slave station calling terminal device 14, the station number “23” of the slave station calling terminal device 14 is input. The added input information is transferred to the master station central controller 13.

The master station central control device 13 reads the number of the automatic guided vehicle 11 returned to the home station 12a, and transmits operation control information corresponding to the input information to the automatic guided vehicle 11 using the optical communication device 15a or 15b. . As a result, "23" is displayed on the calling station number display portion and "45", "56", "67" are displayed on the destination station number display portion.

An automated guided vehicle 11 according to a departure command from the master station central controller 13
When starts, the call lamp blinks. Therefore, N
Even if there is a calling station other than O.23, it can be seen from the displayed contents whether the vehicle is an unmanned guided vehicle or not, and the calling lamp is blinking to indicate that the vehicle is traveling to the calling station. I understand.

When it arrives at the calling station of No. 23, the calling lamp lights continuously. When the train departs from this calling station, the first destination lamp blinks and it is displayed that the driver is heading to the first destination station of NO.45. After going straight on the guideway 12, when the vehicle turns right along the guideway 12 and arrives at the first destination station No. 45, the first destination lamp is continuously turned on.

When loading and unloading items and starting traveling from the No. 45 station, the second destination lamp blinks and the guideway
When you turn right at No. 56 and arrive at the No. 56 second destination station, the second destination lamp lights continuously. When the vehicle starts traveling from the second destination station, the third destination lamp blinks. When the vehicle arrives at the third destination station of No. 67, the third destination lamp is also continuously turned on. When the vehicle starts traveling from the third destination station, the display content of the state holding is displayed, which indicates the end of the work. Then, the display returns to the home station 12a, and all the displays are cleared.

Therefore, even when a plurality of stations are designated to carry the article, the predetermined automatic guided vehicle 11 can be used without mistake. It is also possible to have a configuration in which the occurrence of an abnormal state due to blinking of a red lamp is displayed on the display unit.

〔The invention's effect〕

As described above, according to the present invention, the display unit 1a is provided outside the automatic guided vehicle 1, and the destination station number and the calling station number and the calling lamp 6 according to the operation control information are used.
a, the destination lamps 7a to 9a, etc. are used to display the operating status, so even if multiple automated guided vehicles are running,
It is possible to immediately recognize whether or not the vehicle is an unmanned vehicle corresponding to a call, and it is possible to confirm whether or not the vehicle operates as input from the slave station calling terminal device 4 by the display contents.

[Brief description of drawings]

FIG. 1 is an explanatory view of the principle of the present invention, FIG. 2 is an explanatory view of an automated guided vehicle of an embodiment of the present invention, FIG. 3 is an explanatory view of a display portion of the embodiment of the present invention, and FIG. FIG. 5 is a block diagram of essential parts of an automated guided vehicle, and FIG. 6 is an explanatory view of display contents of an embodiment of the present invention. 1,11 is an automatic guided vehicle, 1a is a display unit, 1b is an optical communication device, and 2,12
Is a guideway, 2a and 12a are home stations, 3 and 13 are master station central control devices, 4 and 14 are slave station calling terminal devices, and 5 and 15a and 15b
Is an optical communication device.

Claims (1)

[Claims] 1. The operation control information is transmitted from a master station central control device (3) to an automatic guided vehicle (1) in accordance with input information from distributed remote station call terminal devices (4), and the automatic guided vehicle ( In a system in which 1) automatically travels on a guideway (2) according to the operation control information, a display section (1a) is provided outside the automatic guided vehicle (1), and a destination according to the operation control information is provided. The station number, calling station number, and operating status are displayed on the display section (1a).
The automatic guided vehicle display control method is characterized in that the display contents of the display section (1a) are cleared by displaying the information on the display and terminating the operation according to the operation control information.