JPH09185409A - Unmanned vehicle system for wagon truck conveyance - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned vehicle system for wagon truck conveyance for which severe positioning is not required when arranging a wagon truck at a prescribed position. SOLUTION: When an unmanned vehicle 10 detects a magnetic mark 4, traveling is started along a guide line 23 provided on the bottom face of wagon truck 20 by a guide sensor 16. When a mark sensor 18 detects a magnetic mark 24 later, traveling is stopped, a hook pin 19 is protruded and engaged with a hook hole 25 of wagon truck 20, and the wagon truck 20 is drawn to the destination of delivery. At such a time, since the width of guide line 3' inside a frame line 2 is made wider by laying guide lines 3a and 3b on both sides, even when the wagon truck 20 is obliquely arranged inside the frame line 2, the wagon truck 20 can be drawn to the destination of delivery without losing the guide line 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned vehicle system that travels to a destination along a predetermined route, and more particularly to an unmanned vehicle system for transporting a wagon cart to a destination.

[0002]

2. Description of the Related Art Currently, in facilities such as hospitals, for example, when transporting meals for inpatients from the kitchen to each hospital room,
Some facilities use unmanned vehicle systems. In this type of unmanned vehicle system, an unmanned vehicle crawls under a wagon trolley with a meal tray, and a hook pin provided on the back of the unmanned vehicle in a hook hole provided on the bottom of the wagon trolley. There is one in which the wagon trolley is inserted, and the wagon trolley is towed, and the wagon trolley is transported to a destination along a guide line (for example, magnetic tape) laid on the floor surface according to a predetermined route.

In such an unmanned vehicle system for transporting a wagon, in order for the hook pin of the unmanned vehicle to be fitted into the hook hole of the wagon, the operator must place the wagon at a predetermined position extremely accurately. did not become.
In order to facilitate this, conventionally, for example, a wheel stopper shown in FIG. 5 or FIG. 6, a pressing tool shown in FIG. 7 or FIG. In these figures, (a) shows a top view of various wheel stoppers or pressing tools, and (b) shows a side view.

That is, as shown in FIG. 9, the hook pin of the unmanned vehicle 50 can engage the hook hole of the wagon truck 60 in the wheel stopper 40 shown in FIG. 5 or 6 at a predetermined position of the wagon truck. It was installed in the position. When the worker places the wagon trolley at the above-described predetermined position, first, the operator pushes the wagon trolley 60 toward the wheel stopper 40 grounded on the floor, and the wheel stopper shown in FIG. 5 is installed. When the wheels 61 of the wagon trolley 60 are placed in the recess 101 and the wheel stopper of FIG.
By inserting each wheel 61 of the wagon trolley along the line 2, the wagon trolley 60 is accurately positioned.

Further, in order to further facilitate the placement of the wagon cart, the pressing tool 41 of FIG. 7 or 8 is placed on the floor or wall so as to be horizontal with respect to the guide line 51 at the above-mentioned predetermined placement position. May be installed. Here, FIG. 7 shows a pressing tool fixed to the floor, and FIG. 8 shows a pressing tool attached to a wall. Further, the pressing tool of FIG. 8 is attached to the wall 104 via the suspension 103, and absorbs an impact when the wagon cart 60 is pressed. When the above-described pressing tool is provided, the worker first applies the wagon cart 60 to the pressing tool 41 to make the longitudinal direction of the wagon cart 60 horizontal with respect to the guide line 51, and then the wagon cart 6
The wheel 0 of the wagon trolley 60 is aligned with the wheel stopper 40 by moving 0 while pressing 0 on the pressing tool 41.

[0006]

As described above, conventionally, in order to pull the wagon cart by the unmanned vehicle, it is necessary to strictly position the wagon cart. Also,
In order to facilitate the positioning, the wheel stopper 40 and the pressing tool 41 described above are installed on the floor, the wall, etc.
When you trip over them or move a wagon cart or other carts by hand, you may hit the pushing tool 41,
There was a risk that it would hinder general traffic. Further, even if the wheel stopper 40 and the pressing tool 41 described above are used, each wheel of the wagon trolley must be finally adjusted to the wheel stopper, and the labor thereof cannot be saved.

The present invention has been made in view of the above circumstances, and provides an unmanned vehicle system for transporting a wagon that does not require strict alignment when the wagon is placed at a predetermined position. It is an object.

[0008]

According to the first aspect of the present invention,
A wagon trolley carrying a transported object, a first guide wire detection means for detecting a guide wire laid on the floor along the travel route, and position information recorded in marks appropriately provided on the travel route are displayed. And an unmanned vehicle that travels while controlling the traveling so as not to deviate from the guide line and recognizing the current position based on the position information of the mark. In order to indicate the predetermined position in the unmanned vehicle system for transporting the wagon, which goes under the wagon trolley arranged at a predetermined position, engages with the wagon trolley, and transports the wagon trolley from the predetermined position to the destination. A frame line drawn on the floor and having a size larger than the bottom surface of the wagon trolley, a guide line within the frame line laid in the frame line and having a width wider than the guide line, and the vicinity of the frame line Is provided in The wagon trolley has a first mark on which position information indicating a predetermined position is recorded, and the wagon trolley has a trolley-side guide line for guiding the traveling of the unmanned vehicle on the bottom outer surface thereof and the wagon trolley. A second mark in which bogie information peculiar to the car is recorded, and the unmanned vehicle is recorded in the second mark with a second guide wire detecting means for detecting the car-side guide wire. Second mark detecting means for recognizing the trolley information, and when digging into the lower part of the wagon trolley arranged in the frame line, after recognizing the position information recorded in the first mark. An unmanned carrier for transporting a wagon, which moves along the guide wire on the side of the trolley and, when recognizing the trolley information recorded in the second mark, stops the movement and engages with the wagon trolley. It is a car system.

According to a second aspect of the present invention, a wagon trolley for carrying a transported object, a first guide line detecting means for detecting a guide line laid on the floor along the traveling route, and the traveling route are appropriately provided. An unmanned vehicle equipped with a first mark detecting means for reading the position information recorded on the provided mark, and controlling the traveling so as not to deviate from the guide line and traveling while recognizing the current position from the position information of the mark. The unmanned vehicle crawls under the wagon trolley placed at a predetermined position, and a hook pin provided on the upper surface thereof is fitted into a hook hole provided on the outer surface of the bottom of the wagon trolley. Then, in the unmanned vehicle system for transporting the wagon to be pulled from the predetermined position to the destination, a frame line drawn on the floor surface to indicate the predetermined position and the line laid within the frame line, The wagon trolley has a wide guide wire in a frame line and a first mark provided in the vicinity of the frame line and recording position information indicating the predetermined position. On the outer surface, there is a bogie side guide line for guiding the traveling of the unmanned vehicle and a second mark on which bogie information unique to the wagon bogie is recorded, and the unmanned vehicle detects the bogie side guide line. And a second guide line detecting means for recognizing the trolley information recorded on the second mark, and the wagon trolley arranged in the frame line. When digging into the lower part of the vehicle, after recognizing the position information recorded on the first mark, the vehicle moves along the trolley-side guide line, and when the trolley information recorded on the second mark is recognized, the movement is stopped. Stop and insert the hook pin into the hook hole of the wagon trolley. A wagon transport unmanned vehicle systems for which said Rukoto.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to FIGS. FIG. 1 is a diagram showing a place where the unmanned vehicle engages with the wagon trolley when the unmanned vehicle pulls the wagon trolley to a destination in the unmanned vehicle system for transporting the wagon trolley of the present embodiment, that is, the above-mentioned surroundings. In this figure, 1 is an operation control device, 10 is an unmanned vehicle, and 20 is a wagon cart. The operation control device 1 always keeps track of the position of the unmanned vehicle 10 in the facility, and wirelessly instructs the unmanned vehicle 10 about the destination and the like. Reference numeral 2 is a frame line drawn on the floor and showing a predetermined arrangement position of the wagon carriage 20, which is drawn slightly larger than the size of the bottom surface of the wagon carriage 20 described later.

Reference numeral 3 denotes a guide line such as a magnetic tape, which is laid on the floor and serves as a traveling route of the unmanned vehicle 10. Further, the width of the guide wire 3'in the frame line 2 is wider than the width of the guide wire 3 laid on the normal travel route, and the width from the guide wire 3 to the width of the guide wire 3'is The width is being gradually changed. Here, the guide wires 3a and 3b cut into a predetermined length are used, and both ends in the longitudinal direction are obliquely cut and laid on both sides of the guide wire 3 in the frame line 2. Reference numeral 4 denotes a magnetic mark provided on the floor, and a unique number (hereinafter referred to as a position number) is recorded on the magnetic mark 4. Further, the magnetic mark 4 is provided at a position where the front end of the unmanned vehicle 10 also digs into the end of the wagon cart 20 when the unmanned vehicle 10 reads the number.

A transport preparation completion button 5 is provided on the wall 6 or the like near the predetermined position of the wagon carriage 20, and the operator pushes this button after moving the wagon carriage 20 into the frame line 2. By doing so, the operation control device is notified that the preparation for transportation is completed. As a result, the operation control device 1 wirelessly instructs the unmanned vehicle 10 to head to the predetermined position where the transfer preparation completion notification has been given, that is, the magnetic mark 4.

Next, the structure of the unmanned vehicle 10 will be described with reference to FIG. In this figure, (a) shows an unmanned vehicle 10.
FIG. 2B is a block diagram of the unmanned vehicle 10. 1
Reference numeral 1 denotes a control unit composed of a CPU (central processing unit), a ROM (read only memory), a RAM (random access memory), etc., and controls each unit of the unmanned vehicle 10 according to a program stored in the ROM. Reference numeral 12 denotes a receiver, which receives information about the destination and the route to the destination transmitted from the operation control unit 1 and outputs the information to the control unit 11. Reference numerals 13a to 13d denote steering drive wheels, which are normally or reversely rotated by correspondingly provided motors 14a to 14d to move the unmanned vehicle 10 back and forth, and also to 13a and 13b or 13c and 13d. Steering is performed by the rotation difference.

Reference numerals 15 and 16 denote guide sensors provided at the front center of the unmanned vehicle 10 in the traveling direction (arrows in FIG. 2A). The guide sensor 15 guides the bottom surface of the unmanned vehicle 10 to the guide sensor. 16 is provided so as to face the upper surface of the unmanned vehicle 10. Further, when the guide sensors 15 and 16 sense magnetism, the controller 1 outputs a signal according to the strength of the magnetism.
Output to 1. Reference numerals 17 and 18 denote mark sensors provided at the right end of the unmanned vehicle 10 at the center in the longitudinal direction when viewed from the front. The mark sensor 17 is on the bottom surface of the unmanned vehicle 10 and the mark sensor 18 is on the unmanned vehicle 10. It is provided on the upper surface. Further, the mark sensors 17 and 18 read the information recorded on the magnetic marks facing each other, and output the information to the control unit 11. Reference numerals 19 and 19 denote hook pins, which move up and down according to an instruction from the control unit 11.

Next, the construction of the wagon cart 20 is shown in FIG.
This will be described with reference to FIG. In this figure, (a) is a perspective view of the wagon carriage 20, and (b) is a bottom view. Reference numeral 21 denotes an idle wheel, which movably supports the wagon cart 20. 22 is
These are shelves provided in the wagon cart 20, and a tray or the like on which food is placed is placed on each shelf. Reference numeral 23 is a guide line, which is attached to the center of the bottom surface of the wagon cart 20 in the longitudinal direction. Reference numerals 24 and 24 are magnetic marks on which the ID numbers of the wagon carts 20 are recorded. At the bottom of the wagon carts 20, at the center of the wagon carts 20 in the longitudinal direction, the guide lines 23 are arranged in line symmetry. It is provided. As a result, the unmanned person 10 can read the information of the magnetic mark 24 even if the unmanned person digs in from either the left or right direction in FIG.

Further, the hook holes 25, 25 are formed in the guide wire 2.
3 are provided on the upper surface of the unmanned vehicle 3 at intervals such that they can be fitted into the hook pins 19 of the unmanned vehicle. Here, when the control unit 11 reads the ID number recorded in the magnetic mark 24 by the mark sensor 18 of the unmanned vehicle 10, the magnetic pins 24 of the unmanned vehicle 10 are hooked by the hook pins 19, 19 of the unmanned vehicle 10.
It is affixed to the bottom surface of the wagon trolley 20 so that it can be fitted into the vehicle 5, 25.

In the above-mentioned unmanned vehicle system, the operation when the wagon cart 20 is arranged at a predetermined position and the unmanned vehicle 10 is transported to the destination will be described with reference to FIGS. 1 to 4. First, the worker arranges the wagon cart 20 so as to be substantially contained within the frame line 2. Here, in the frame line 2, it is not necessary to adjust the longitudinal direction of the wagon carriage 20 so that it is strictly horizontal to the guide line 3, and even if it is slightly inclined. It is sufficient that the entire wagon trolley 20 fits within the frame line 2.

Next, the operator pushes the transportation preparation completion button 5 to notify the operation control device 1 that the transportation preparation is completed. As a result, the operation control device 1 wirelessly instructs the unmanned vehicle 10 to move to the predetermined arrangement position together with the position number recorded in the magnetic mark 4 and the route to the magnetic mark 4. In the unmanned vehicle 10, when the receiver 12 receives an instruction from the operation control device 1, the control unit 11
Drives the motors 14a to 14d and moves to the magnetic mark 4 according to the route instructed by the operation control device 1. During this period, the control unit 11 controls the number of rotations of each of the motors 14a to 14d based on the signal output from the guide sensor 15 so as not to deviate from the guide line 3, and the magnetic marks provided at various places by the mark sensor 17. The unmanned vehicle 10 while reading the position number of the
To control the running.

When the unmanned vehicle 10 eventually reaches the position shown by the broken line in FIG. 1, the mark sensor 17 reads the position number recorded on the magnetic mark 4, and as a result,
The control unit 11 recognizes that the unmanned vehicle 10 has reached the destination. Then, the rotations of all the motors 14a to 14d are stopped, and the traveling of the unmanned vehicle 10 is temporarily stopped. At this time, the tip of the unmanned vehicle 10 is also digging into the end of the wagon trolley 20, and thereafter, the control unit 11 follows the signals output from the guide sensor 16 and the mark sensor 18 to guide the unmanned vehicle 1.
Control the zero run.

That is, the controller 11 controls the guide sensor 1
Based on the signal output from the motor 6, each of the motors 14a-1
The unmanned vehicle 10 is run so as not to deviate from the guide line 23 attached to the bottom surface of the wagon cart 20 by controlling each rotation speed of 4d. When the mark sensor 18 reads the ID number of the wagon truck recorded in the magnetic mark 24, the control unit 11 stops the rotation of all the steering drive wheels 13 again, and stops the traveling of the unmanned vehicle 10 once. At this time, the hook pins 19 and 19 are in positions where they can be fitted into the hook holes 25 and 25. Further, the control unit 11 controls the hook pins 19 and 1
9 is made to project and it fits in the hook holes 25 and 25. As a result, the unmanned vehicle 10 can pull the wagon cart 20.

Then, the control unit 11 controls the traveling of the unmanned vehicle 10 again according to the signals output from the guide sensor 15 and the mark sensor 17. At this time, for example, as shown in FIG.
Even if the guide sensor 3 is displaced or obliquely placed with respect to the guide wire 3, the guide wires 3a and 3b widen the width of the guide wire 3'in the frame line 2, so that the guide sensor 15 is
The guide line can be sufficiently detected, and the control unit 11 controls the unmanned vehicle 10
From the guide lines 3a and 3b along the central guide line 3.

Then, the unmanned vehicle 10 pulls the wagon trolley 20 and starts traveling in the direction of arrow B in FIG. At this time, the guide wires 3a, 3
The width of b is gradually narrowed, and the unmanned vehicle 10 finally travels along the guide line 3. Thus, in the unmanned vehicle system for transporting the wagon truck according to the present embodiment, the guide wire 23 and the magnetic mark 24 are provided on the bottom surface of the wagon truck 20, and the guide sensor 16 and the mark sensor 18 are provided on the unmanned vehicle 10. Further, since the width of the guide line 3'in the frame line 2 is widened, the operator can place the unmanned vehicle 10 on the wagon carriage 20, that is, the wagon carriage 20.
It is not necessary to strictly align the wagon carriage 20 at the predetermined arrangement position, and therefore, there is no need to provide a wheel stopper, a pressing tool, or the like that may hinder general traffic unlike the related art. .

Note that the form of the unmanned vehicle system for transporting the wagon trolley is not limited to that described in this embodiment as long as the unmanned vehicle travels along a guide line provided on the floor or the like. , For example, for an unmanned vehicle that has map data of the travel route, calculates the route to the destination instructed by the operation control device, and follows this route to carry a wagon truck that travels along a guide line It is also effective for unmanned vehicle systems.

Further, in this embodiment, the hook pin provided on the unmanned vehicle is engaged with the hook hole of the wagon trolley,
Although the unmanned vehicle system for transporting the wagon trolley that pulls the wagon trolley has been described, it is also applicable to the unmanned vehicle system for transporting the wagon trolley that lifts up and transports the wagon trolley after the unmanned vehicle has slipped into the wagon trolley. further,
Needless to say, as a method of widening the width of the guide line in the frame line 2, a guide line that is originally wide may be used.

[0025]

As described above, according to the present invention, at a predetermined position of the wagon cart, when the unmanned vehicle slips under the wagon cart and engages with the wagon cart, the unmanned vehicle is: It moves along the guide wire provided on the outer surface of the bottom of the wagon, and when the information on the mark provided on the outer surface of the bottom of the wagon is read, the movement is stopped. At this time, since the unmanned vehicle is in a position where it can be engaged with the wagon cart and the unmanned vehicle performs the engaging operation, it is not necessary for the operator to strictly position the wagon cart. Further, since the width of the guide wire at the predetermined arrangement position is wide, for example, even when the wagon trolley is arranged slightly obliquely with respect to the guide wire, the unmanned vehicle should be equipped with a guide wire laid on the floor. Since it can be recognized, the wagon trolley can be normally transported to the destination after the unmanned vehicle engages with the wagon trolley.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram for explaining a configuration around a predetermined arrangement position of a wagon cart according to an embodiment of the present invention.

2A and 2B are views for explaining the configuration of the unmanned vehicle in the same embodiment, FIG. 2A is an external view of the unmanned vehicle, and FIG. 2B is a block diagram of the unmanned vehicle.

FIG. 3 is a diagram for explaining the configuration of the wagon trolley in the same embodiment, FIG. 3A is an external view of the wagon trolley,
(B) is a bottom view.

FIG. 4 is an explanatory diagram for explaining an example of a positional relationship between the unmanned vehicle 10 and the wagon cart 20 when the unmanned vehicle 10 and the wagon cart 20 are engaged in the same embodiment.

FIG. 5 is a diagram showing an example of a conventional wheel stopper, (a) is a top view of the wheel stopper, and (b) is a side view.

FIG. 6 is a diagram showing another example of a conventional wheel stopper, (a) is a top view of the wheel stopper, and (b) is a side view.

FIG. 7 is a view showing an example of a conventional pressing tool, (a)
Is a top view of the pressing tool, and (b) is a side view.

FIG. 8 is a view showing another example of a conventional pressing tool, (a)
Is a top view of the pressing tool, and (b) is a side view.

FIG. 9 is an explanatory view for explaining the installation location of the wheel stopper shown in FIG. 5 or 6 and the pressing tool shown in FIG. 7 or 8 at a predetermined arrangement position of the conventional wagon cart.

[Explanation of symbols]

1 ... Operation control device, 2 ... Frame line, 3, 3 ', 3a, 3
b, 23 ... Guide line, 4, 24 ... Magnetic mark, 5 ...
... Transport preparation completion button, 10 ... unmanned vehicle, 11 ... control section, 12 ... receiver, 13a to 13d ... steering drive wheels,
14a to 14d ... Motor, 15, 16 ... Guide sensor, 17, 18 ... Mark sensor, 19 ... Hook pin, 20 ... Wagon cart, 21 ... Idler wheel, 22 ... Shelf,
25: Hook hole.

Claims (2)

[Claims] 1. A wagon trolley for carrying a transported object, a first guide wire detection means for detecting a guide wire laid on the floor along the travel route, and recording in a mark provided appropriately on the travel route. And an unmanned vehicle that travels while recognizing the current position based on the position information of the mark and controlling the travel so as not to deviate from the guide line. The unmanned vehicle is a wagon trolley transporting unmanned vehicle system that digs under the wagon trolley placed at a predetermined position, engages with the wagon trolley, and transports the wagon trolley from the predetermined position to a destination. A frame line drawn on the floor to indicate the position and having a size larger than the bottom surface of the wagon trolley, and a guide line in the frame line laid in the frame line and having a width wider than the guide line, Of the border A first mark provided on a side and having position information indicating that it is the predetermined position is recorded, the wagon trolley has a trolley-side guide line that guides the unmanned vehicle on an outer surface of a bottom portion thereof, A second mark in which trolley information specific to the wagon trolley is recorded, and the unmanned vehicle includes a second guide line detection unit for detecting the trolley side guide line, and the second mark. Second mark detecting means for recognizing the trolley information recorded in the position of the wagon trolley, and the position information recorded in the first mark when digging into the lower part of the wagon trolley arranged in the frame line. After recognizing the trolley, the trolley is moved along the trolley-side guide line, and when the trolley information recorded in the second mark is recognized, the movement is stopped and the wagon trolley is engaged with the wagon trolley. Unmanned vehicle system for transportation. 2. A wagon trolley for carrying a transported object, a first guide wire detecting means for detecting a guide wire laid on the floor along the travel route, and recording on a mark appropriately provided on the travel route. And an unmanned vehicle that travels while recognizing the current position based on the position information of the mark while controlling the travel so as not to deviate from the guide line. , The unmanned vehicle crawls under the wagon trolley placed at a predetermined position, and a hook pin provided on the upper surface thereof is fitted into a hook hole provided on the outer surface of the bottom of the wagon trolley, and the predetermined position In an unmanned vehicle system for transporting a wagon to a destination from a vehicle to a destination, a frame line drawn on the floor surface to indicate the predetermined position, and a frame laid in the frame line and having a width wider than the guide line Within the line A guide line and a first mark provided near the frame line and having position information indicating that the position is the predetermined position are recorded, and the wagon trolley is provided on the bottom outer surface of the unmanned vehicle. It has a trolley-side guide line for guiding traveling and a second mark in which trolley information unique to the wagon trolley is recorded, and the unmanned vehicle is a second guide for detecting the trolley-side guide line. Line detection means and second mark detection means for recognizing the carriage information recorded in the second mark are provided, and when the carriage is sunk into the lower portion of the wagon carriage arranged in the frame line, After recognizing the position information recorded on the first mark, the vehicle moves along the trolley-side guide line, and when the trolley information recorded on the second mark is recognized, the movement is stopped and the wagon trolley is moved. Characterized in that the hook pin is fitted into the hook hole. An unmanned vehicle system for carrying wagon carts.