JPH11143538A - Automatic guided vehicle system - Google Patents
Automatic guided vehicle systemInfo
- Publication number
- JPH11143538A JPH11143538A JP9322324A JP32232497A JPH11143538A JP H11143538 A JPH11143538 A JP H11143538A JP 9322324 A JP9322324 A JP 9322324A JP 32232497 A JP32232497 A JP 32232497A JP H11143538 A JPH11143538 A JP H11143538A
- Authority
- JP
- Japan
- Prior art keywords
- guided vehicle
- automatic guided
- travel
- point
- intersection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000011144 upstream manufacturing Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Landscapes
- Control Of Conveyors (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
Description
【０００１】[0001]
【発明の利用分野】この発明は無人搬送車システムに関
し、特に無人搬送車への走行許可に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic guided vehicle system, and more particularly, to permitting unmanned guided vehicles to travel.
【０００２】[0002]
【従来技術】無人搬送車システムでは有軌道もしくは無
軌道の走行ルートに沿って、複数の無人搬送車を走行さ
せ、走行ルートに沿って配置したステーション間で物品
を搬送する。走行ルートは複数の区間に分割され、無人
搬送車はシステムコントローラに各区間の走行許可を要
求し、これが許可されるとその区間を無人搬送車が走行
する。2. Description of the Related Art In an automatic guided vehicle system, a plurality of automatic guided vehicles travel along a tracked or trackless traveling route, and articles are transported between stations arranged along the traveling route. The traveling route is divided into a plurality of sections, and the automatic guided vehicle requests the system controller for traveling permission in each section, and when this is permitted, the automatic guided vehicle travels in that section.
【０００３】しかしながらこのような無人搬送車システ
ムでは、区間毎に無人搬送車からシステムコントローラ
への走行許可要求とそれに対する走行許可の通信が必要
で、無人搬送車とシステムコントローラ間の通信負担が
著しい。However, in such an automatic guided vehicle system, a travel permission request from the automatic guided vehicle to the system controller and communication of a travel permission for the request are required for each section, and the communication load between the automatic guided vehicle and the system controller is remarkable. .
【０００４】[0004]
【発明の課題】請求項１の発明の課題は、走行ルートを
細分割して細かな制御を可能にしながら、無人搬送車と
システムコントローラ間の走行許可に関する通信回数を
削減することにある。請求項２の発明での追加の課題
は、１台の無人搬送車が走行ルートを独占することを防
止して、無人搬送車システムの搬送効率を向上させるこ
とにある。請求項３の発明での追加の課題は、無人搬送
車を走行させるための追い出し処理を簡単にすることに
ある。SUMMARY OF THE INVENTION It is an object of the present invention to reduce the number of times of communication relating to travel permission between an automatic guided vehicle and a system controller while subdividing a travel route to enable fine control. An additional object of the invention according to claim 2 is to prevent one automatic guided vehicle from monopolizing the traveling route and improve the transport efficiency of the automatic guided vehicle system. An additional object of the third aspect of the present invention is to simplify an eviction process for running an automatic guided vehicle.
【０００５】[0005]
【発明の構成】請求項１の発明は、走行ルートに沿って
複数の無人搬送車をシステムコントローラの制御下で走
行させるようにした無人搬送車システムであって、前記
走行ルートを複数のポイントで分割し、かつ無人搬送車
に、行き先までの最初の交差点もしくは合流点の手前ま
でのポイントを、一括してシステムコントローラに走行
許可要求させるように構成したことを特徴とする。According to the present invention, there is provided an automatic guided vehicle system in which a plurality of automatic guided vehicles are caused to travel along a traveling route under the control of a system controller. The present invention is characterized in that the system controller is configured to request the system controller to collectively request the system controller to divide and point the automatic guided vehicle to a point before the first intersection or the junction before the destination.
【０００６】請求項２の発明はさらに、無人搬送車が走
行済みのポイントの走行許可を、前記走行許可要求の範
囲よりも小さな単位で取り消すように、システムコント
ローラを構成したことを特徴とする。According to a second aspect of the present invention, the system controller is configured to cancel the travel permission of the point where the automatic guided vehicle has traveled in a unit smaller than the range of the travel permission request.
【０００７】請求項３の発明はさらに、走行許可要求の
範囲内で待機中の無人搬送車を該範囲外に追い出すよう
に、システムコントローラを構成したことを特徴とす
る。The invention according to a third aspect is further characterized in that the system controller is configured to drive the unmanned guided vehicle on standby within the range of the travel permission request out of the range.
【０００８】[0008]
【発明の作用と効果】請求項１の発明では、前記走行ル
ートを複数のポイントで分割するので、ポイント単位で
無人搬送車を走行させることができ、細やかな走行制御
ができる。次に走行許可要求は、交差点の手前もしくは
合流点の手前のポイントまでを一括して行う。交差点の
手前や合流点の手前は走行ルートに沿った特別なポイン
トであり、ここまでの範囲では他のルートとの合流や交
差を考える必要がなく、走行許可の制御が簡単である。
これに対して交差点や合流点の先の例えば行き先までの
範囲を一括して走行許可要求させると、交差ルートの上
流側や合流ルートの上流側の無人搬送車が走行を許可し
た無人搬送車と干渉し、制御はきわめて難しくなる。な
お行き先までの範囲に交差点や合流点が無ければ、行き
先のポイントまでを一括して走行許可要求すれば良い。
請求項１の発明では細やかな走行制御ができ、かつ走行
許可に関する無人搬送車とシステムコントローラ間の通
信回数を削減できる。According to the first aspect of the present invention, the traveling route is divided into a plurality of points, so that the automatic guided vehicle can travel in units of points and fine traveling control can be performed. Next, the travel permission request is made in a lump to a point before the intersection or a point before the junction. Before the intersection or before the junction is a special point along the traveling route, it is not necessary to consider merging or intersection with another route in the range so far, and the control of the traveling permission is easy.
On the other hand, if a request for travel permission is made for the area beyond the intersection or junction, for example, up to the destination, the automated guided vehicle on the upstream side of the intersection route or upstream of the junction route will be Interference and control become extremely difficult. If there is no intersection or confluence in the range up to the destination, a travel permission request may be made to the destination point in a lump.
According to the first aspect of the present invention, fine traveling control can be performed, and the number of times of communication between the automatic guided vehicle and the system controller relating to traveling permission can be reduced.
【０００９】請求項２の発明では、走行し終ったポイン
トを走行許可要求よりも小さな単位で、好ましくは各ポ
イント毎に、あるいは２〜３程度のポイント毎に、走行
許可を取り消す。このため請求項１で広い範囲について
一括して走行許可要求し、請求項２で走行が終ったポイ
ントをその都度後続の無人搬送車に開放することによ
り、同時に走行可能な無人搬送車の台数を増して、搬送
効率を向上させることができる。According to the second aspect of the present invention, the travel permission is canceled in units smaller than the travel permission request, preferably for each point or every few points. For this reason, the travel permission request for a wide range is collectively requested in claim 1, and the point at which the travel is completed is opened to the subsequent automatic guided vehicle in each case, so that the number of unmanned guided vehicles that can travel at the same time is reduced. In addition, the transport efficiency can be improved.
【００１０】請求項３の発明では、走行許可要求の有っ
た範囲で待機中の無人搬送車を追い出すように、システ
ムコントローラを構成する。待機中の無人搬送車の追い
出しは、走行許可要求が有った範囲で必要で、この範囲
で待機中の無人搬送車を範囲外へ追い出せば、１回の追
い出し指令で簡単に追い出しの処理ができる。According to the third aspect of the present invention, the system controller is configured to drive out the waiting automatic guided vehicle within a range in which the travel permission request exists. It is necessary to remove the unmanned guided vehicle on standby within the range where the travel permission request was issued, and if the unmanned guided vehicle on standby in this range is removed from the range, the removal process can be easily performed with one removal command. it can.
【００１１】[0011]
【実施例】図１〜図５に実施例を示す。図１に無人搬送
車システム２の構成を示すと、走行ルートに沿って複数
の無人搬送車４−１〜４−６が走行している。走行ルー
トには交差点６や合流点８あるいは分岐１０等が存在
し、走行ルートは多数の走行ポイントに分割されてい
る。このうち主な走行ポイントのみを説明すると、走行
ポイント１２−１〜１２−４は交差点６の手前や出口側
のポイントで、走行ポイント１３−１〜１３−３は合流
点８の手前側や出口側のポイントである。なお走行ポイ
ントはマーカ等からなる物理的なポイントとしても良
く、あるいは論理的なポイントで、無人搬送車４−１〜
４−６の車軸等に取り付けたエンコーダ等で走行距離を
積算し、所定の走行距離毎に論理的な走行ポイントがあ
るものとしても良い。なお無人搬送車４−１〜４−６は
走行開始時や走行ルートの所定の地点を通過する毎に、
位置を校正するものとする。また無人搬送車４−１〜４
−６は走行ルートに関するレイアウトマップを有してお
り、マップには走行ポイントや交差点，合流点及び分岐
に関する情報等が書き込まれているものとする。２０は
システムコントローラで、無人搬送車システム２全体を
制御し、各無人搬送車から行き先までの範囲で最初の交
差点や最初の合流点の手前のポイントまでの走行許可の
要求を受け付け、これに対して走行可能な部分に関して
走行許可を与える。またシステムコントローラ２０は、
走行許可の要求を受けた範囲内で待機している無人搬送
車が存在すると、これに対して追い出しを指令する。1 to 5 show an embodiment. FIG. 1 shows the configuration of the automatic guided vehicle system 2 in which a plurality of automatic guided vehicles 4-1 to 4-6 travel along a traveling route. The traveling route includes an intersection 6, a junction 8 or a branch 10, and the traveling route is divided into a number of traveling points. If only the main traveling points are described, the traveling points 12-1 to 12-4 are points before the intersection 6 and the exit side, and the traveling points 13-1 to 13-3 are near the junction 8 and the exit. The point of the side. The traveling point may be a physical point such as a marker, or a logical point, and the automatic guided vehicle 4-1 to 4-1.
The travel distance may be integrated by an encoder or the like attached to the axle 4-6 or the like, and a logical travel point may be provided for each predetermined travel distance. It should be noted that the automatic guided vehicles 4-1 to 4-6 each start traveling or pass a predetermined point on the traveling route.
The position shall be calibrated. Automated guided vehicles 4-1 to 4
Reference numeral -6 has a layout map relating to the traveling route, and information such as traveling points, intersections, junctions and branches is written in the map. Reference numeral 20 denotes a system controller which controls the automatic guided vehicle system 2 as a whole and receives a request for permission to travel to a point before the first intersection or the first junction in a range from each automatic guided vehicle to the destination. And give a driving permission for the part that can be driven. Also, the system controller 20
If there is an unmanned guided vehicle waiting within the range in which the request for travel permission has been received, an instruction is given to kick out the unmanned guided vehicle.
【００１２】図２に１台の無人搬送車４とシステムコン
トローラ２０間の接続を示すと、無人搬送車４側には通
信インターフェース２１があり、システムコントローラ
２０側の通信インターフェース２２と有線あるいは無線
で接続されている。無人搬送車４とシステムコントロー
ラ２０は、走行ルートのパターンと、各ポイントの位置
や交差点，合流点，分岐等の位置を示したレイアウトマ
ップ２３，２４を保有しており、システムコントローラ
２０から無人搬送車４に送られた走行指令は走行指令記
憶部２５に記憶され、無人搬送車４は現在位置管理部２
６で記憶した現在位置からレイアウトマップ２３を参照
して、行き先までの範囲内で最初の交差点や合流点の手
前の走行ポイントを算出し、これを走行許可要求部２７
からシステムコントローラ２０に走行許可を求める。シ
ステムコントローラ２０側では、走行許可要求処理部２
８が無人搬送車位置管理部２９での個々の無人搬送車の
位置を参照して、走行可能な範囲について走行許可を与
える。また走行許可要求があった範囲で待機中の無人搬
送車に対して追い出し処理部３０で待避先を指定し、追
い出しを走行指令として入力する。追い出しを行う範囲
は、走行許可要求があった範囲であり、実際に走行許可
を行う範囲ではない。FIG. 2 shows the connection between one automatic guided vehicle 4 and the system controller 20. A communication interface 21 is provided on the automatic guided vehicle 4 side, and the communication interface 22 on the system controller 20 side is wired or wireless. It is connected. The automatic guided vehicle 4 and the system controller 20 have layout maps 23 and 24 indicating the pattern of the traveling route and the position of each point and the positions of intersections, junctions, branches, and the like. The travel command sent to the vehicle 4 is stored in the travel command storage unit 25, and the automatic guided vehicle 4
The running point before the first intersection or junction is calculated within the range up to the destination by referring to the layout map 23 from the current position stored in Step 6 and the travel permission requesting unit 27.
Requests the system controller 20 to run. On the system controller 20 side, the traveling permission request processing unit 2
8 refers to the position of each automatic guided vehicle in the automatic guided vehicle position management unit 29 and gives travel permission for the range in which the vehicle can travel. In addition, the eviction processing unit 30 designates a refuge destination for the unmanned guided vehicle on standby within the range where the travel permission request is issued, and inputs the eviction as a travel command. The range in which the driving is performed is a range in which a travel permission request has been issued, and is not a range in which the travel permission is actually performed.
【００１３】図３に無人搬送車４−６から見た走行ルー
トを示す。走行ルートは区間１４〜１８の５つの区間に
分割され、区間１４が分岐１０で区間１５，１６に分岐
し、交差点６から先を区間１７，１８とすると、これら
の区間は合流点８で合流して、最初の区間１４へと１周
することになる。そして無人搬送車４−６は図３の現在
位置から、走行区間１８での走行ポイント１９への走行
を指令されているものとする。無人搬送車４−６が走行
ポイント１９へ走行するルートは分岐１０で走行区間１
５へ分岐し、交差点６を渡って走行区間１８へ入る例え
ば１通りである。そしてこの経路での最初の合流点や交
差点は交差点６であり、その手前の走行ポイント１２−
２が走行許可要求を行う範囲となる。無人搬送車４−６
が現在地から走行ポイント１９まで走行する間の制御を
図４，図５に示す。FIG. 3 shows a traveling route viewed from the automatic guided vehicle 4-6. The traveling route is divided into five sections, sections 14 to 18, and section 14 branches into sections 15 and 16 at branch 10 and sections 17 and 18 proceed from intersection 6, and these sections merge at junction 8 Then, one round is made to the first section 14. Then, it is assumed that the automatic guided vehicle 4-6 is instructed to travel to the travel point 19 in the travel section 18 from the current position in FIG. The route where the automatic guided vehicle 4-6 travels to the traveling point 19 is a branch 10 and a traveling section 1
For example, there is one branching to the intersection 5 and crossing the intersection 6 into the traveling section 18. The first junction or intersection on this route is the intersection 6, and the running point 12-
2 is a range in which a travel permission request is made. Automatic guided vehicle 4-6
4 and 5 show the control while the vehicle travels from the current position to the traveling point 19.
【００１４】無人搬送車４−６は自己のレイアウトマッ
プ２３から走行経路を決定し、最初の交差点が６である
ことを検出して、現在位置から走行ポイント１２−２ま
での走行許可をシステムコントローラ２０に要求する。
無人搬送車４−６は他の無人搬送車の位置を原則として
知らず、ここでは分岐１０の手前で待機中の無人搬送車
４−５と、交差点６と分岐１０との間で待機中の無人搬
送車４−４が存在するものとする。走行ポイント１２−
２までの走行許可が要求されると、無人搬送車４−５と
干渉しない位置までの走行許可がとりあえず与えられ、
かつ待機中の無人搬送車４−５に追い出しが指令され、
この場合は分岐１０から走行区間１６側へ分岐して、無
人搬送車４−６の走行経路から外れるように待避先が指
定される。なお無人搬送車４−５への実際の追い出しの
指令は、後続の無人搬送車４−６との間隔が所定値以下
に減少した際等に行えばよい。待機中の無人搬送車４−
５を走行区間１６へ追い出し、車間距離が縮むのを待っ
て次に待機中の無人搬送車４−４を交差点６の遠方、好
ましくは行き先の走行ポイント１９より遠方へ追い出す
と、走行ポイント１２−２までの走行許可を与えること
ができる。The automatic guided vehicle 4-6 determines a traveling route from its own layout map 23, detects that the first intersection is 6, and gives permission to travel from the current position to the traveling point 12-2 by the system controller. Request 20.
The automatic guided vehicle 4-6 does not know the position of another automatic guided vehicle in principle, and here, the automatic guided vehicle 4-5 waiting before the branch 10 and the automatic guided vehicle waiting between the intersection 6 and the branch 10 It is assumed that a transport vehicle 4-4 exists. Running point 12-
When the travel permission up to 2 is requested, the travel permission to a position that does not interfere with the automatic guided vehicle 4-5 is given for the time being,
And an instruction is sent to the waiting automatic guided vehicle 4-5,
In this case, the evacuation destination is designated so as to branch from the branch 10 to the traveling section 16 side and deviate from the traveling route of the automatic guided vehicle 4-6. It should be noted that the command to actually drive the automatic guided vehicle 4-5 may be issued when the distance between the automatic guided vehicle 4-5 and the following automatic guided vehicle 4-6 is reduced to a predetermined value or less. Unmanned guided vehicle 4-
5 is moved to the traveling section 16, and after waiting for the inter-vehicle distance to be reduced, the waiting automatic guided vehicle 4-4 is driven farther from the intersection 6, preferably farther than the traveling point 19 at the destination. Up to two traveling permits can be given.
【００１５】無人搬送車４−６は走行ポイント１２−２
に到着した時点や、あるいはこのポイントに接近した時
点で、残りの区間の走行許可を要求する。この場合行き
先の走行ポイント１９までの間には交差点６があり、こ
れ以外に交差点や合流点はないので、行き先の走行ポイ
ント１９までの走行許可を一括して要求することにな
る。そして交差点６を渡る条件が整った時点で、走行ポ
イント１９までの走行許可が与えられ、この区間全体に
ついて走行許可を一括して与えられない場合、走行許可
可能な部分について走行許可が与えられ、残りの部分は
走行許可が可能になった時点で許可が与えられる。The automatic guided vehicle 4-6 has a traveling point 12-2.
When the vehicle arrives at or approaches this point, a request is made for permission to travel in the remaining sections. In this case, there is an intersection 6 before the travel point 19 of the destination, and there are no other intersections and junctions. Therefore, permission to travel to the travel point 19 of the destination is requested collectively. Then, when the conditions for crossing the intersection 6 are satisfied, the travel permission up to the travel point 19 is given. If the travel permission is not given collectively for the entire section, the travel permission is given to the portion where the travel is allowed, The remaining parts will be given permission when driving permission becomes possible.
【００１６】ここで走行許可の要求を交差点６や合流点
８の手前の走行ポイントまでとしたのは、行き先の走行
ポイント１９まで一括して走行許可の要求をさせると、
交差点６や合流点８で他の区間から走行してくる無人搬
送車との干渉を考慮せねばならず、走行許可の処理が極
めて複雑になるからである。これに対して交差点６や合
流点８の手前の走行ポイントまでの走行許可であれば、
交差や合流がない単独の走行経路のみを考えれば良く制
御は簡単である。分岐１０では走行区間１４が走行区間
１５，１６に分岐し制御は簡単であるので、分岐１０の
手前までというように走行許可を要求させる区間を限定
する必要はない。Here, the request for the travel permission is made up to the travel point before the intersection 6 or the junction 8 because the travel permission request is made all the way to the travel point 19 at the destination.
This is because interference with the automatic guided vehicle traveling from another section at the intersection 6 or the junction 8 must be taken into consideration, and the process of permitting traveling becomes extremely complicated. On the other hand, if it is permitted to travel to the traveling point before the intersection 6 or the junction 8,
The control is simple, considering only a single traveling route without intersection or merging. In the branch 10, the traveling section 14 branches into the traveling sections 15 and 16, and the control is simple. Therefore, it is not necessary to limit the section in which the traveling permission is requested, such as to the area before the branch 10.
【００１７】交差点６や合流点８の手前の走行ポイント
までの走行許可の要求に対して、走行の許可は実際に許
可が可能な範囲のみについて行われる。このため広い範
囲について走行を許可できない場合でも、無人搬送車の
走行を部分的に許可することができる。そして一旦走行
許可の要求がなされると、要求があった範囲は走行許可
要求処理部２８に記憶され、以降この範囲内では無人搬
送車側からの新たな走行許可の要求は不要である。この
ため無人搬送車側からの走行許可の要求回数が減少す
る。次に走行許可には無人搬送車への通信が必要である
が、走行経路が混雑し１ポイント毎に走行許可を行うよ
うな例外的な場合を除き、通常は複数のポイント単位で
走行を許可できるので、システムコントローラ２０から
無人搬送車への通信回数も減少する。In response to a request for permission to travel to a travel point before the intersection 6 or the junction 8, travel permission is made only in a range where the permission is actually permitted. Therefore, even when traveling over a wide range cannot be permitted, traveling of the automatic guided vehicle can be partially permitted. Once a request for travel permission is made, the requested range is stored in the travel permission request processing unit 28, and a new travel permission request from the automatic guided vehicle side is unnecessary within this range. For this reason, the number of requests for travel permission from the automatic guided vehicle decreases. Next, the travel permission requires communication with the automatic guided vehicle. However, travel is normally permitted in units of multiple points, except in exceptional cases where travel paths are congested and travel permission is granted for each point. As a result, the number of times of communication from the system controller 20 to the automatic guided vehicle is also reduced.
【００１８】図４に示すように、無人搬送車４−６が走
行し終わった区間については、各走行ポイント毎に走行
許可を取り消す。この取り消しは走行許可要求処理部２
８で一旦与えた走行許可を各ポイント毎に取り消す処理
であり、無人搬送車４への通信は必要ではない。そして
走行が終わると直ちに走行許可を取り消すので、後続の
無人搬送車を速やかに走行させることができる。As shown in FIG. 4, for the section where the automatic guided vehicle 4-6 has finished traveling, travel permission is canceled at each travel point. This cancellation is performed by the traveling permission request processing unit 2
This is a process for canceling the travel permission once given at 8 for each point, and communication to the automatic guided vehicle 4 is not necessary. Then, the travel permission is canceled immediately after the travel is completed, so that the subsequent automatic guided vehicle can be made to travel quickly.
【００１９】次に待機中の無人搬送車４−４，４−５等
の追い出しの要否は例えば走行許可の要求があった時点
で判断し、走行許可要求のあった範囲について待機中の
無人搬送車を追い出すことにする。なお追い出しの対象
とならないものは、走行中の無人搬送車や物品の移載中
の無人搬送車あるいは充電中の無人搬送車である。これ
らのものが存在する場合、走行許可を要求した無人搬送
車を停止させることになる。無人搬送車の追い出し先
は、分岐１０がある場合、追い出しの原因となった無人
搬送車４−６とは異なる側の走行区間１６とし、無人搬
送車４−４については走行許可を要求された走行ポイン
ト１２−２よりも少なくとも先のポイントとし、例えば
走行ポイント１２−４や走行ポイント１９の次のポイン
トが追い出し先となる。そして実際の追い出しの指令
は、追い出しの原因となった無人搬送車との車間距離が
所定値以下に減少した時等に行い、追い出しの実行によ
って走行可能になった区間にその都度走行許可を与え
て、無人搬送車４−６を走行させる。Next, the necessity of kicking out the waiting automatic guided vehicles 4-4, 4-5 and the like is determined, for example, at the time of a request for travel permission. I will drive out the carrier. Those that are not targeted for ejection are unmanned transport vehicles that are traveling, that are transporting articles, or that are being charged. When these are present, the automatic guided vehicle that has requested the travel permission is stopped. If there is a branch 10, the unmanned guided vehicle is to be driven out to the traveling section 16 on the side different from the unmanned guided vehicle 4-6 that caused the removal, and the traveling permission is requested for the unmanned guided vehicle 4-4. The point is at least a point ahead of the traveling point 12-2, and for example, a point next to the traveling point 12-4 or the traveling point 19 is an ejection destination. Then, the command of the actual ejection is issued when the inter-vehicle distance to the automatic guided vehicle that caused the ejection is reduced to a predetermined value or less, and the traveling permission is given each time to the section where the driving becomes possible by the execution of the ejection. Then, the automatic guided vehicle 4-6 is driven.
【図１】 実施例の無人搬送車システムの構成を示す図FIG. 1 is a diagram showing a configuration of an automatic guided vehicle system according to an embodiment.
【図２】 実施例の無人搬送車とシステムコントローラ
間の接続を示す図FIG. 2 is a diagram illustrating a connection between the automatic guided vehicle and a system controller according to the embodiment;
【図３】 実施例で無人搬送車４−６から見た走行ルー
トの状態を示す図FIG. 3 is a diagram showing a state of a traveling route as viewed from the automatic guided vehicle 4-6 in the embodiment.
【図４】 実施例での無人搬送車の走行に伴う状態の推
移を示す図FIG. 4 is a diagram showing a transition of a state accompanying travel of the automatic guided vehicle in the embodiment.
【図５】 実施例での走行許可のアルゴリズムを示すフ
ローチャートFIG. 5 is a flowchart showing an algorithm for permitting travel in the embodiment.
２ 無人搬送車システム ４−１〜４−６ 無人搬送車 ６ 交差点 ８ 合流点 １０ 分岐 １２−１〜１３−３ 走行ポイント １４〜１８ 走行区間 １９ 走行ポイント ２０ システムコントローラ ２１，２２ 通信インターフェース ２３，２４ レイアウトマップ ２５ 走行指令記憶部 ２６ 現在位置管理部 ２７ 走行許可要求部 ２８ 走行許可要求処理部 ２９ 無人搬送車位置管理部 ３０ 追い出し処理部 2 Automatic guided vehicle system 4-1 to 4-6 Automatic guided vehicle 6 Intersection 8 Junction point 10 Branch 12-1 to 13-3 Travel point 14 to 18 Travel section 19 Travel point 20 System controller 21, 22 Communication interface 23, 24 Layout map 25 Driving command storage unit 26 Current position management unit 27 Driving permission request unit 28 Driving permission request processing unit 29 Automatic guided vehicle position management unit 30 Ejection processing unit
Claims (3)
システムコントローラの制御下で走行させるようにした
システムであって、前記走行ルートを複数のポイントで
分割し、かつ無人搬送車に、行き先までの最初の交差点
もしくは合流点の手前までのポイントを、一括してシス
テムコントローラに走行許可要求させるように構成した
ことを特徴とする、無人搬送車システム。1. A system in which a plurality of automatic guided vehicles are caused to travel along a traveling route under the control of a system controller, wherein the traveling route is divided into a plurality of points, and a destination is provided to the automated guided vehicle. An automatic guided vehicle system characterized in that a point up to a point before a first intersection or a confluence until is collectively requested to a system controller for a travel permission.
許可を、前記走行許可要求の範囲よりも小さな単位で取
り消すように、システムコントローラを構成したことを
特徴とする、請求項１の無人搬送車システム。2. The unmanned transport system according to claim 1, wherein the system controller is configured to cancel the travel permission of the point where the automatic guided vehicle has traveled in a unit smaller than the range of the travel permission request. Car system.
送車を該範囲外に追い出すように、システムコントロー
ラを構成したことを特徴とする、請求項１または２の無
人搬送車システム。3. The automatic guided vehicle system according to claim 1, wherein a system controller is configured to drive the automatic guided vehicle waiting within a range of the travel permission request out of the range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9322324A JPH11143538A (en) | 1997-11-07 | 1997-11-07 | Automatic guided vehicle system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9322324A JPH11143538A (en) | 1997-11-07 | 1997-11-07 | Automatic guided vehicle system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH11143538A true JPH11143538A (en) | 1999-05-28 |
Family
ID=18142375
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9322324A Pending JPH11143538A (en) | 1997-11-07 | 1997-11-07 | Automatic guided vehicle system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH11143538A (en) |
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