JPH11180697A - Operation control method for unmanned traveling vehicle and unmanned traveling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely grasp the position of a loading part to be used in a loading station and an unloading station and to improve the workability by judging whether an unmanned traveling vehicle is of a standard type having one loading part or a multiple loading type, and discriminating the loading part to be used in the multiple loading type. SOLUTION: Various stations are provided along a guide band M1 laid on the floor surface within a prescribed area, and loading parts 41, 42 are provided, for example, in longitudinal two positions on the upper surface of the body 10 of an unmanned traveling vehicle traveling along the guide band M1. In a station where the unmanned traveling vehicle is stopped, communication is performed between communication devices 45b, 46b provided in two positions on both lateral side surfaces of the body 10 and a transmitter-receiver provided on the station side. The loading position data showing the positions of the loading parts 41, 42 of the unmanned traveling vehicle is inputted to the control part of the unmanned traveling vehicle by transmission from an external communication control device in a reference station, and the loading and unloading in each station is performed according to the loading position data.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned traveling vehicle having at least one loading portion for loading and unloading luggage on the upper surface of a main body, and a method for controlling the operation of the vehicle.

[0002]

2. Description of the Related Art An unmanned traveling vehicle runs along a taxiway formed by attaching a guide band such as a magnetic tape to a floor surface in a predetermined area such as a factory planned in advance, and is provided along the taxiway. In the buffer station, which is a station for loading various parts, the luggage (boxes containing the parts) is stacked, and the goods are transported to a predetermined unloading station, such as a production line, and unloaded. . Then, in order to improve the transportation efficiency of the unmanned traveling vehicle, in addition to the standard type unmanned traveling vehicle provided with one loading portion 1 on the upper surface of the main body as shown in FIG. Before and after 2
An unmanned traveling vehicle of a two-loading type having loading portions 41 and 42 at respective locations is used.

[0003]

In the above-mentioned production line station, a line station I for supplying one type of package and a line station I for supplying two different types of package in a predetermined order.
There is I. In the case of the line station II, if the order of supply of the luggage according to the type is incorrect, there is a problem that the production line is stopped due to the supply of a different product. For example,
In the case of the above-mentioned two-load type unmanned traveling vehicle, it is possible to load the same type of luggage on the front and rear two loading sections and transport it in large quantities by one operation. Could not be transported to the production line station. Therefore, it is necessary to use a standard type unmanned traveling vehicle or increase the number of two-stack type unmanned traveling vehicles according to the number of types of luggage, but the traveling vehicle costs increase and traveling on a taxiway. As the number of unmanned vehicles increases, the control cost also increases.

[0004] Furthermore, by increasing the number of unmanned traveling vehicles loaded with two, there is a possibility that the degree of freedom in designing the taxiway may be limited. In addition, when the standard type and the two-load type unmanned traveling vehicle are mixed, there is a possibility that the control of loading / unloading of goods may be confused due to the difference in the number of loading portions. In addition, in the case of the conventional unmanned traveling vehicle, in the case of the standard type, two stop position detection sensors for forward and backward travel are required,
In the case of the dual loading type, in order to stop the two loading sections at the front and rear at the station, a total of four stop position detection sensors for forward and backward travel are required, and the cost of the sensors is reduced. There was also the problem of becoming expensive.

SUMMARY OF THE INVENTION The present invention is intended to solve the above-mentioned problem, and it is possible to load and unload a predetermined type of luggage at a predetermined loading position of a loading portion of an unmanned traveling vehicle at a predetermined station. An object of the present invention is to provide an operation control method for an unmanned traveling vehicle and an unmanned traveling vehicle that can reduce the number of stop position detection sensors.

[0006]

Means for Solving the Problems and Effects of the Invention In order to achieve the above object, the structural feature of the invention according to the first aspect is that a guide zone is arranged on a floor in a predetermined area. An unmanned vehicle having at least one loading portion for loading and unloading luggage on the upper surface of a main body of an unmanned traveling vehicle configured and provided with stations at a plurality of locations along a guidance band and having a communication device in the main body. An operation control method for controlling the operation of the traveling vehicle, wherein information communication data indicating whether to perform communication between the communication device and the ground-side transmission / reception device provided in the station at the station where the unmanned traveling vehicle is stopped, The loading position data indicating the position of the loading section of the unmanned traveling vehicle where the loading or unloading of luggage is performed at the station is output at the reference station where the unmanned traveling vehicle starts operating. When the information from the communication control unit is transmitted to the control unit of the unmanned traveling vehicle via the communication device and the information communication data communicates at the stopped station, the communication device and the ground-side transmission / reception device provided at the station After confirming by the control unit that the contents of the loading position data are appropriate through communication with the control unit, the station is controlled to load or unload the load on the loading unit at the station.

[0007] With the configuration according to the first aspect of the present invention, the control unit of the unmanned vehicle transmits information communication data to the control unit via the communication device by transmitting from the external communication control device at the reference station. And loading position data are input. Then, when the unmanned traveling vehicle arrives at a predetermined station, when the content of the information communication data is the content for communication, the content of the loading position data is controlled by the communication between the communication device of the traveling vehicle and the ground side transmission / reception device. After confirmation by the department, loading or unloading of luggage is performed.

As a result, according to the first aspect of the present invention, whether the unmanned traveling vehicle has a single loading type or a plurality of loading types, and in the case of a plurality of loading type unmanned traveling vehicles, It is possible to accurately distinguish between the parts, and it is possible to prevent confusion caused by erroneous positions of the loading parts to be used in the loading station and the unloading station. By adjusting the contents of the loading position data, confusion does not occur even when the standard type and a plurality of loading type unmanned vehicles are used simultaneously in the same taxiway.

According to a second aspect of the present invention, there is provided the operation control method for an unmanned traveling vehicle according to the first aspect, wherein the unmanned traveling vehicle transmits the communication device through an external communication control device. Input to the control unit of the unmanned vehicle via
That is, as the data for communicating with the ground-side transmission / reception device in the stopped station, loading / unloading data indicating whether to load / unload the luggage in the station and type data indicating the type of the luggage are added.

According to the second aspect of the present invention, when the unmanned vehicle arrives at the station, the contents of the unloading data and the type data are controlled by communication between the communication device and the ground side transmitting / receiving device. After confirmation by the department, loading or unloading of a predetermined type of luggage is performed. As a result, according to the second aspect of the present invention, in addition to the effect of the first aspect of the present invention, the loading / unloading operation of the luggage is definitely performed at the predetermined station. In particular, by one operation of one multi-load unmanned vehicle, loading and unloading of multiple types of luggage at the loading station and unloading station can be accurately performed without discrimination between loading or unloading and mistakes in the type of luggage. Can be. In addition, since it is not necessary to increase the number of unmanned traveling vehicles loaded with a plurality of types in response to the increase in the number of types of luggage to be transferred, the cost of traveling vehicles can be reduced. Furthermore, the efficient operation of a plurality of loaded unmanned vehicles does not limit the degree of freedom in designing a taxiway.

According to a third aspect of the present invention, in the operation control method for an unmanned traveling vehicle according to the first or second aspect, the communication device includes a main body corresponding to the loading portion. One of the communication devices is provided on each side, and the connection of the control unit to any one of the communication devices is switched by a relay circuit operated under the control of the control unit.

According to the third aspect of the present invention, in addition to the effects of the first and second aspects, a communication device is provided on both sides of the main body corresponding to the loading section. Providing the individual units makes it possible to easily correspond to the set position of the ground-side transmitting / receiving device of each station. By switching the connection of each communication device to the control unit using a relay circuit, the switching can be performed at low cost.

According to a fourth aspect of the present invention, in the operation control method for an unmanned traveling vehicle according to any one of the first to third aspects, the configuration corresponds to the loading portion of the main body. One stop position detection sensor at each position
One stop position mark provided at each station is detected, and control is performed such that the traveling of the unmanned traveling vehicle is stopped at the loading portion position. By configuring the invention according to claim 4 as described above, the number of stop position detection sensors can be reduced in addition to the effects of the invention according to claims 1, 2, and 3, and the number of sensors can be reduced. Cost can be reduced.

A structural feature of the invention according to claim 5 is that the guide band is arranged on the floor in a predetermined area, and stations are provided at a plurality of locations along the guide band. An unmanned vehicle having a communication device and having at least one loading portion on a main body upper surface for traveling on a taxiway and loading and unloading luggage at a station, and an external communication control device at a reference station to start operation. Is input via the communication device by transmitting
At the station where the unmanned vehicle stops, information communication data indicating whether or not to communicate with the ground-side transmission / reception device provided at the station, and loading indicating the position of the loading section at which loading or unloading of luggage is performed at the station. When the communication unit communicates with the storage unit that stores the position data and the information communication data at the stopped station, the contents of the loading position data are appropriate due to the communication between the communication device and the ground-side transmitting / receiving device provided at the station. And a control unit for controlling the loading unit to load or unload the load at the station.

According to the fifth aspect of the present invention, the control unit of the unmanned traveling vehicle transmits the information communication data and the loading position via the communication device by the transmission from the external communication control device at the reference station. Enter the data. Then, when the unmanned traveling vehicle arrives at the predetermined station, when the content of the information communication data is the content for performing communication, the communication between the communication device of the traveling vehicle and the ground side transmission / reception device is performed, and the control unit is moved to the loading position. After confirming the contents of the data, loading or unloading of the luggage is performed under the control of the control unit.

As a result, according to the fifth aspect of the present invention, whether the unmanned traveling vehicle has a single loading type or a plurality of loading types, and in the case of a plurality of loading type unmanned traveling vehicles, It is possible to accurately distinguish between the parts, and it is possible to prevent confusion caused by erroneous positions of the loading parts to be used in the loading station and the unloading station. By adjusting the contents of the loading position data, confusion does not occur even when the standard type and a plurality of loading type unmanned vehicles are used simultaneously in the same taxiway.

According to a sixth aspect of the present invention, there is provided an unmanned traveling vehicle according to the fifth aspect, wherein the vehicle is input to a control unit via a communication device by transmission from an external communication control device, and The unloading data indicating whether to load or unload the luggage at the station and the type data indicating the type of the luggage are added as data that is stored in the storage unit and communicates with the ground-side transmitting / receiving device in the stopped station. .

According to the sixth aspect of the present invention, when the unmanned vehicle arrives at the station, the contents of the unloading data and the type data are controlled by communication between the communication device and the ground side transmitting / receiving device. After confirmation by the department, loading or unloading of a predetermined type of luggage is performed.

As a result, according to the sixth aspect of the present invention, in addition to the effect of the fifth aspect of the present invention, the loading / unloading operation of the luggage at the predetermined station is definitely performed. In particular, by one operation of one multi-load unmanned vehicle, loading and unloading of multiple types of luggage at the loading station and unloading station can be accurately performed without discrimination between loading or unloading and mistakes in the type of luggage. Can be. In addition, since it is not necessary to increase the number of unmanned traveling vehicles loaded with a plurality of types in response to the increase in the number of types of luggage to be transferred, the cost of traveling vehicles can be reduced. Furthermore, the efficient operation of a plurality of loaded unmanned vehicles does not limit the degree of freedom in designing a taxiway.

According to a seventh aspect of the present invention, in the unmanned vehicle according to the fifth or sixth aspect, the communication device is provided on both sides of the main body corresponding to the loading portion. In addition to providing the relay circuits one by one, a relay circuit that switches connection of the control unit to any one of the communication devices under the control of the control unit is provided.

According to the seventh aspect of the present invention, in addition to the effects of the fifth and sixth aspects, the communication device can be easily located at the setting position of the ground-side transmission / reception device of each station. Can be handled. By switching the connection of each communication device to the control unit using a relay circuit, the switching can be performed at low cost.

According to the eighth aspect of the present invention, in the unmanned vehicle according to any one of the fifth to seventh aspects, the vehicle stops at a position corresponding to the loading portion of the main body. A position detection sensor is provided, and one stop position mark provided at each station is detected by the stop position detection sensor to control the unmanned traveling vehicle to stop at the loading portion position. By configuring the invention according to claim 8 as described above, claim 5, claim 6,
In addition to the effect of the seventh aspect, the number of stop position detection sensors can be reduced, and the cost of the sensors can be reduced.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a two-load type unmanned traveling vehicle (hereinafter, referred to as a "loader") having a loading section applied to one embodiment. FIG. 2 schematically shows a perspective view of an unmanned traveling vehicle).
FIG. 3 is a plan view showing a state in which a later-described transported object mounting plate 10a is removed from the unmanned traveling vehicle, and FIG. 3 is a side view showing a state in which a later-described right side plate 10d is removed from the unmanned traveling vehicle. Hereinafter, the left and right sides of the unmanned traveling vehicle are determined when viewed from above, and the positional relationship of the unmanned traveling vehicle will be described accordingly.

The unmanned traveling vehicle is provided with a box-shaped trolley 10. The trolley 10 is provided at an upper portion thereof with a transported article mounting plate 10a, a front side plate 10b and a rear side plate 10c provided at front and rear ends, and provided at both ends. A right side plate 10d and a left side plate 10e. The control box 10f is attached to the rear side plate 10c so as to face rearward. Inside the carriage 10,
A rear partition plate 10g and a front partition plate 10h are provided, and the inside of the carriage 10 is divided into three spaces R1, R2, R3 by the two partition plates 10g and 10h.
Are separated.

As shown in FIG. 2, rotating shafts 11a and 11b are provided through the side plates 10d and 10e at intermediate positions between the right and left plates 10d and 10e. It is rotatably supported by 10d1 and 10e1. A right driving wheel (RW) 12a and a left driving wheel (LW) 12b are fixed to outer ends of both rotating shafts 11a and 11b, and pulleys 13a and 13b are fixed to inner ends of the rotating shafts 11a and 11b. I have.

As shown in FIG. 2, a front mounting plate 14a is provided at the left and right center of the front partition plate 10h on the space R2 side.
a is fixed. Rotation axis 1 of right DC motor 15a
5a1 is inserted into a bearing 10d2 provided on the right side plate 10d and is rotatably supported. A pulley 16a is provided at an intermediate portion of the rotating shaft 15a1. And
A belt 17a is wound around the pulley 16a and the pulley 13a of the rotating shaft 11a, so that the torque of the right DC motor 15a is transmitted to the right drive wheel 12a.

As shown in FIG. 2, a rear mounting plate 14b is provided at the left and right center of the rear partition plate 10g on the space R2 side.
b is fixed. Rotation axis 1 of left DC motor 15b
5b1 is rotatably supported by being inserted into a bearing 10e2 provided on the left side plate 10e. A pulley 16b is provided at an intermediate portion of the rotating shaft 15b1. And
A belt 17b is wound around the pulley 16b and the pulley 13b of the rotating shaft 11b, so that the rotational force of the left DC motor 15b is transmitted to the left drive wheel 12b.
Note that a combination of a sprocket and a chain may be used instead of the pulleys 13a, 16a, 13b, 16b and the belts 17a, 17b. In some cases, the rotating shaft of the motor and the shaft of the driving wheel may be directly connected.

As shown in FIGS. 2 and 3, a bracket 21a for supporting a shaft 22a is provided at the left and right centers of the front partition 10h on the space R1 side. A link 23a is rotatably provided on the shaft 22a.
A bracket 24a1 for supporting the auxiliary wheel 24a
Is provided. A shock absorber 25a is provided between the lower end of the bracket 24a1 and the load plate 10a for absorbing a shock when the load is loaded.

A bracket 21b for supporting the shaft 22b is provided at the left and right center of the rear partition plate 10g on the space R3 side. A link 23b is rotatably provided on the shaft 22b, and a bracket 24b1 for supporting the auxiliary wheel 24b is provided at the tip of the link 23b. A shock absorber 25b is provided between the lower end of the bracket 24b1 and the load plate 10a for absorbing a shock when the load is loaded.

A forward guide sensor 31a is provided at a central lower end position of the front side plate 10b, and a reverse guide sensor 31b is provided at a central lower end position of the rear side plate 10c. Each of the guide sensors 31a and 31b has 16 (16-bit) magnetic sensors arranged in a horizontal line, detects both ends of a magnetic induction band (hereinafter, referred to as an induction band) MI constituting a guidance path, and will be described later. The operation position of the unmanned traveling vehicle is controlled in cooperation with the control circuit 51.

The forward guide sensor 31 of the front side plate 10b
As shown in FIGS. 1 and 2, a forward deceleration sensor 32a is provided at the lower left position with respect to a. The forward deceleration sensor 32a is a magnetic sensor for detecting a forward deceleration mark GM1 made of a magnetic tape provided in front of the position where the unmanned vehicle stops. By detecting the forward deceleration mark GM1, the unmanned traveling vehicle is decelerated from a normal traveling speed (first speed) to a half traveling speed (second speed). A reverse deceleration sensor 32b is similarly provided at the lower left position of the reverse guide sensor 31b on the rear side plate 10c. As shown in FIG. 2, the reverse deceleration sensor 32b is disposed at a position closer to the left side of the bogie than the forward deceleration sensor 32a, and detects a reverse deceleration mark (not shown) provided outside the forward deceleration mark GM1. Has become.

At the lower end position near the right end of the front partition plate 10h, as shown in FIG. 2, a front stop position detection sensor 33a (hereinafter, referred to as a front stop sensor) for detecting a stop position of the unmanned vehicle is provided. Is provided. A rear stop sensor 33 is provided at a lower end position near the right end of the rear partition plate 10g.
b is provided. The front stop sensor 33a is a magnetic sensor that detects a stop mark TM made of a magnetic tape provided at a position where the unmanned traveling vehicle stops. By detecting the stop mark TM, stop control of the unmanned traveling vehicle is performed. The stop control of the rear stop sensor 33b is also performed by detecting the stop mark TM similarly to the front stop sensor 33a.

As shown in FIG. 1, a pair of front and rear stacking portions 41 and 42 are provided on the transported object mounting plate 10a.
The stacking units 41 and 42 are formed by arranging a plurality of rollers 41a and 42a in the width direction.
b is a power mora having a rotary drive function. The plurality of rollers 41a and 42a have a belt 4 at both ends.
3, 44, and the whole is rotationally driven by the rotation of the rollers 41b, 42b.

Inside the right side plate 10d and the left side plate 10e, as shown in FIGS.
Corresponding to each other, a serial communication device 45 for light or the like one by one.
a, 45b, 46a, and 46b are provided. These communication devices 45a, 45b, 46a, 46b are compatible with a home base H. B exchanges signals with the external communication control device 47 provided in the station B, and transmits and receives signals to and from the stations SB, S
Ground-side transmitting / receiving devices 48a, 48b, 4 provided in L1, SL2
8c.

As shown in FIG. 2, a start switch 36 for starting energization and a stop switch 37 for stopping energization are provided in the control box 10f on the rear side of the transported article mounting plate 10a.
And the communication devices 45a, 45b, 46
A display panel 38 is provided for displaying the contents received by the a and 46b. The control box 10f has a confirmation lamp 39 for confirming whether or not the unmanned traveling vehicle is located on the taxiway.
Is provided. A control circuit 51 for controlling the operation of the unmanned traveling vehicle is stored in the control box 10f.
The control circuit 51 executes the “loading / unloading control program” shown in FIGS. 5 and 6. Although the control circuit 51 is of a digital type using a microcomputer, it may be of a type using an analog circuit.

On the input side of the control circuit 51, as shown in FIG. 4, the forward guide sensor 31a, the reverse guide sensor 31b, the forward deceleration sensor 32a, and the reverse deceleration sensor 32
b, front stop sensor 33a, rear stop sensor 33b
Is connected. In addition, a relay circuit 4
9, the communication devices 45a, 45b, 46a, 46
b is connected. The relay circuit 49 includes a control circuit 51
Communication devices 45a, 45b, 46a,
This switches the connection between any one of the control circuits 46b and the control circuit 51. Further, a start switch 36 is connected to an input side of the control circuit 51.

As shown in FIG. 4, the output side of the control circuit 51 is connected to a display plate 38 for displaying a destination, a confirmation lamp 39, and rollers 41b and 42b. A digital / analog converter D / A is provided on the output side of the control circuit 51.
52a and 52b are connected, and convert a digital signal indicating the rotational speed of the left and right drive wheels 12a and 12b from the control circuit 51 into an analog signal in a range of +10 to -10 V and output the analog signal. Digital / analog converter D / A 52a,
Driving circuits 53a and 53b are connected to the output side of the digital / analog converters D / A 52a and 52b.
2b is amplified to a voltage in the range of + 24V to -24V required for driving the DC motor, and the right DC motor 15a and the left DC motor 15b are amplified.
Output to Also, the digital / analog converter D / A5
Code bit input lines 52a1 and 52b1 for reverse output from the control circuit 51 are connected to 2a and 52b, and the output signal is inverted between positive and negative when switching between forward and reverse. The rotational speed control of the left and right drive wheels 12a and 12b of the unmanned traveling vehicle is performed in an open loop manner using an inexpensive DC motor, but may be performed in a closed loop manner using a servo motor.

Next, an example of a taxiway using an unmanned vehicle will be described with reference to FIG. The guide path 60 has a closed loop shape including left and right straight portions 61 and 62 and arc-shaped portions 63 and 64 connecting the straight portions 61 and 62. The left straight section 61 includes an empty box station SKO in which the unloading operation is performed in the traveling direction (the direction of the arrow) of the unmanned traveling vehicle and a reference station serving as a home base (HB) of the unmanned traveling vehicle. S1 and a buffer station SB as a loading station for loading various fitting parts as luggage are sequentially provided. In the right straight portion 62,
A production line station SL1 in which the operation of lowering the bracket A is performed in the traveling direction (the direction of the arrow) of the unmanned traveling vehicle;
The production line station SL2 where the operation of lowering the metal fittings B and C in this order is performed, and the production line station S
Empty box stacking stations SKT are provided in order to load empty boxes emptied in L1 and SL2.

The home base H. B is provided with an external communication control device 47 that exchanges signals with the communication devices 45a, 45b, 46a, 46b of the unmanned traveling vehicle. Each station SB, SL1, SL2 has a communication device 4
Ground-side transmission / reception devices 48a, 48b, 48c for transmitting and receiving signals to and from 5a, 45b, 46a, 46b are provided. The ground-side transmitting / receiving devices 48a, 48b, and 48c are provided with a control unit (not shown) together with a transmitting / receiving unit.
The control unit executes a “terrestrial-side transmission / reception control program” as shown in FIG.

The contents of the unloading / unloading signal of the unmanned traveling vehicle transmitted from the external communication control device 47 to the communication devices 45a, 45b, 46a, 46b of the unmanned traveling vehicle indicate the destination of the unmanned traveling vehicle as shown in FIG. Destination data, and operation data indicating the operation at the destination. The destination data includes destination stop number data S (x) indicating a stop position for each loading portion of the unmanned traveling vehicle, unloading data TO indicating operations such as only loading, unloading, and stopping of luggage, and the type of luggage. Type data HS shown in FIG.

The operation data uses 16-bit data, and includes information communication data JT indicating whether or not information communication is performed at the destination station, and loading position data SI indicating a use portion of the unmanned vehicle. It is included.
The information communication data JT includes communication devices 45a,
It indicates whether or not communication is performed between 45b, 46a, 46b and the ground-side transmitting / receiving devices 48a, 48b, 48c in each station. "1" indicates that there is information communication, and "0" indicates that there is no information communication. . The loading position data SI is
The case where the unmanned traveling vehicle is the standard type is indicated by “00”, the front side of the two-loading type is indicated by “01”, and the rear side of the two-loading type is indicated by “10”. When the information communication data is “1”,
Communication between the communication device and the ground-side transmission / reception device is performed on whether the loading position data SI, the unloading data TO, and the type data HS are appropriate. These data are stored in the storage section of the control circuit 51 in a readable manner.

Next, the control of the rotation speed of the right DC motor 15a and the left DC motor 15b by the control circuit 51 will be described. First, the forward and backward guide sensors 31a, 31
The travel position G on the guide band MI of the unmanned traveling vehicle by b is obtained. The traveling position uses 16 (16-bit) magnetic sensors numbered 0 to 15 shown in FIG. 10 (a), and the 31 numbers shown in FIG. 10 (b) which are twice the detected values are used. Is used to represent the traveling position G. The sum of the detected value SL at the left end of the guide band MI and the detected value SR at the right end of the guide band MI obtained by the forward / backward guide sensors 31a and 31b is defined as traveling position G = SL + SR. Although not dealt with in the present embodiment, when the fork is provided with a fork in the taxiway, and the unmanned traveling vehicle makes a left turn, the detection value S of the left end of the guidance band MI by the forward / reverse guide sensors 31a and 31b is used.
The travel position G = 2S is obtained by adding a correction value “3” to twice L.
L +3. In the case of a right turn, a value obtained by subtracting a correction value 3 from twice the detection value SR of the right end of the guidance band MI by the forward and backward guide sensors 31a and 31b is used as the travel position G = SR.
-3.

Next, based on the traveling position G, the displacement z, which is the amount of deviation of the unmanned traveling vehicle from the guidance band MI, is calculated as z
= 15-G. Here, "15" in the expression indicates the sensor number at the right end position of the forward / backward guide sensors 31a and 31b. By defining the displacement amount z in this manner, by using the detection values at both ends of the guide band MI by the forward / backward guide sensors 31a and 31b, the guide band MI is obtained.
Of the unmanned vehicle from the center of the vehicle can be accurately obtained.

On the basis of the displacement z, a PID control amount is obtained by using the following equation (1). The PID amount is such that the first term is a proportional quantity P, the second term is an integral quantity I, and the third term is a differential quantity D
It is. Here, the proportional amount P used in the present embodiment is not a primary amount of displacement used in normal PID control, but a displacement amount z obtained by a traveling experiment of an unmanned traveling vehicle, as shown in the following Expression 1. A secondary quantity represented by the product of the displacement z and the absolute value is used.

[0045]

(Equation 1)

In the above equation (1), k is a constant of proportionality and is a value obtained by a running experiment of an unmanned vehicle.
| Z | represents the absolute value of the displacement z. T
i represents the integration time, and Td represents the differentiation time. Based on the PID value, the rotational speeds VL and VR of the left and right drive wheels 12a and 12b are obtained by Expressions 2 and 3, respectively.

[0047]

## EQU2 ## VL = V0 (1 + PID)

[0048]

## EQU3 ## VR = V0 (1-PID)

Here, V0 is a reference rotation speed of the drive wheels 12a and 12b of the unmanned traveling vehicle determined by the control circuit 51 according to the position of the guidance band MI. The rotation speeds VL, V of the left and right drive wheels 12a, 12b calculated in this manner.
Since R is corrected every moment based on the continuously calculated PID amount using the accurate displacement amount z, it is possible to appropriately correct the deviation of the unmanned traveling vehicle from the guidance band MI. In particular, a stable running of the unmanned traveling vehicle can be ensured without deviating from the guidance band MI in response to a sudden turn of the guidance band MI or a change such as a left branch or a right branch. Further, even in a two-load unmanned vehicle having a high load and a large inertia force, the influence of the inertia force is reduced by continuously controlling the rotation speed of the drive wheels 12a and 12b based on the PID component, and the meandering and the guiding band MI are reduced. It is possible to secure stable running without falling off. In the present embodiment, the rotational speed control of the drive wheels 12a and 12b is continuously performed by PID control. However, instead of this, control using only the proportional amount P is also possible. Further, although the controllability of the control is slightly inferior to those of the PID control and the P control, discontinuous rotation speed control using discrete values can be performed.

Next, a specific operation of the embodiment configured as described above will be described. When the start switch 36 of the unmanned vehicle is turned on while the unmanned vehicle is stopped at the reference station S1, the control circuit 51 is turned on.
Starts the "loading / unloading control program" at step 70 shown in FIG. 5, and sets the number x indicating the stop position to "1".
After the initialization processing of various variables such as the following, the communication devices 45a, 45b, 46a,
The destination stop number data S (x), information communication data JH (x), loading position data SI (x), and unloading data TO (x) shown in Table 1 below are sent to the control circuit 51 via 46b.
When the type data HS (x) is input, the data is stored in the storage unit of the control circuit 51 (steps 72 and 7).
3).

[0051]

[Table 1]

In the above Table 1, the information communication data JH
As for (x), “1” indicates that there is information, and “0” indicates that there is no information.
In the loading position data SI (x), “01” indicates the front loading section of the dual loading type, “10” indicates the rear loading section of the dual loading type, and “0”
"0" indicates a standard type having one loading unit. The loading / unloading data TO (x) is “product” indicating the loading of the load, “load” indicating the loading of the load, and “stop” indicating only the stop. Also, the kind data HS (x) includes the luggage K1, K2
And an empty box H.

Subsequently, the rotation speeds VR and VL of the drive wheels determined by the PID control are output from the control circuit 51, so that the unmanned vehicle starts running based on the rotation speeds (step). 74). here,
Since no branch is provided in the route, control based on straight running is performed. When the stop mark TM is detected by the front stop sensor 33a of the unmanned traveling vehicle, the front loading section 41 stops at the buffer station SB based on the destination stop number data S (1) (steps 75 and 7).
6) It is determined whether the information communication data JH (x) is "1" or "0" (step 77). In S (1), J
Since H (x) = 1, the program proceeds to step 78 based on the determination of "YES", and the loading position data SI (1) between the communication device 45b and the ground side transmitting / receiving device 48a and the unloading data TO (1). ) And the type data HS (1) are transmitted, and it is confirmed whether or not the loading use position and the work content of the unmanned traveling vehicle are appropriate (steps 78 to 80).

On the other hand, the upper transmitting / receiving devices 48a, 48
In steps b and 48c, the control unit starts execution of the "ground side transmission / reception control program" in step 90 shown in FIG. 7, and loads luggage loading position U (x) and unloading V ( The data relating to x) and the type of package W (x) are stored in the storage unit (step 91), and thereafter, the apparatus enters a standby state waiting for communication from the communication device 45b (step 92).

When the loading position data SI (1), the unloading data TO (1) and the type data HS (1) are transmitted from the communication device 45b, it is sequentially determined whether or not these are appropriate. If it is confirmed by the ground side transmitting / receiving device 48a that it is correct, it is transmitted to the communication device 45b to that effect,
If an error is recognized, the fact is transmitted to the communication device 45b. That is, the loading position data SI (1) is confirmed in steps 93 to 95, and if correct, the signal UN (1) is transmitted if the signal UO (1) is incorrect. The loading / unloading data TO (1) is confirmed in steps 96 to 98, and if correct, the signal V
If O (1) is incorrect, signal VN (1) is emitted. Step 99-for the type data HS (1)
It is confirmed at 101, and if correct, the signal WO (1) is transmitted if it is incorrect.

The signal UO recognized as all correct
When (1), VO (1), and WO (1) are received by the communication device 45b, the program proceeds to step 82 based on the determination of "YES" in step 81, and the unloading data TO ( An operation based on 1) and the type data HS (1) is performed. Here, the rollers 41b of the front loading portion 41 of the unmanned traveling vehicle start to be driven, and the luggage K1 supplied to the buffer station SB is loaded on the front loading portion 41 (step 82). When the loading of the baggage K1 is completed, the number x is incremented by "1" (step 8).
3, 84), the program returns to step 74, and the movement of the unmanned traveling vehicle is started again.

In the terrestrial transceiver 48a,
If it is determined that any of the signals is erroneous, and any of the signals UN (1), VN (1), WN (1) is transmitted and the communication device 45b receives them, “NO” is determined in step 81. Is determined, the program proceeds to step 88, where it is displayed on the display panel 38, and the execution of the program ends (step 89).

Then, the rear stop sensor 33 of the unmanned traveling vehicle
When the stop mark TM is detected by b, the rear loading section 42 stops at the buffer station SB based on the destination stop number data S (2) (steps 75 and 76), and the information communication data JH (x) is It is determined whether it is "1" or "0" (step 77). In S (2), JH (2)
= 1, as in the case of S (1), the communication device 45b
Loading position data SI between the transmitter and receiver 48a
(2), loading / unloading data TO (2) and type data H
S (2) is transmitted, the data is confirmed to be appropriate by the ground side transmitting / receiving device 48a, and the roller 42b starts driving in response to the communication to the communication device 45b, and the luggage to the rear loading portion 42 is loaded. When K2 has been loaded and the loading operation has been completed, the program proceeds to step 84, where the number x is incremented by "1" to make x = 3, and the process returns to step 74.

Then, the unmanned traveling vehicle starts traveling again, and the front loading section 41 stores the destination stop number data S
When it reaches the production line station SL2 based on (3), it stops (steps 74 and 75), and the information communication data J
The loading position data SI (3) and the unloading data TO (3) between the communication device 45b and the ground-side transmitting / receiving device 48c whose connection to the control circuit 51 has been switched in response to H (3) being "1". Then, the type data HS (3) is transmitted, and it is confirmed whether the loading use position and the work content are appropriate (step 81).

When the ground side transmitting / receiving device 48c recognizes that the data content is correct, the signals UO (3), VO
(3), WO (3) is transmitted, and this is the communication device 45b.
Is received, the program is transferred to step 82 based on the determination of "YES" in step 81, and the work based on the unloading data TO (3) and the kind data HS (3) is performed. Here, the roller 41b of the front loading section 41 of the unmanned traveling vehicle starts driving, and the front loading section 4
Production line station SL2 for luggage K1 loaded on 1
A lowering operation is performed (step 82). Luggage K1
Is completed, the number x is increased by “1” and x =
After the number is changed to 4 (steps 83 and 84), the program returns to step 74, and the movement of the unmanned vehicle starts again.

The unmanned traveling vehicle moves (step 74), and the rear loading section 42 based on the destination stop number data S (4).
Stops upon arrival at the production line station SL2 (steps 75 and 76), and information communication between the communication device 45b and the ground-side transmission / reception device 48c is similarly performed based on JH (4) = 1 (steps 78 to 80). ), It is confirmed whether the loading use position and the work content are appropriate. If it is confirmed that the load is proper, the roller 42b starts to be driven, and the load K2 is unloaded from the rear loading section 42 (step 8).
2, 83), after the number x is increased by "1" and x is set to 5 (step 84), the unmanned traveling vehicle starts moving (step 74).

Further, the front loading portion 41 of the unmanned traveling vehicle is
When the vehicle arrives at the empty box loading station SKT based on the destination stop number data S (5), it stops. Here, as shown in Table 1, since the information communication data JH (5) = 0 and no information communication is performed, after confirming that the number x is not n = 9, that is, it is not the last station S1 ( Steps 77 and 85), unloading data TO (5)
Then, the kind data HS (5) is read and the work based thereon is performed (steps 86 and 82). That is, the empty boxes H are simply loaded by driving the rollers 41b. Subsequently, the rear loading section 42 is moved to the empty box loading station SKT.
Stops when the vehicle arrives at the roller 42b based on the unloading data TO (6) and the product type data HS (6).
The empty boxes H are loaded by the drive of.

After the loading of the empty boxes H, the unmanned traveling vehicle moves (step 74), stops when the front loading section 41 arrives at the empty box unloading station SKO, and also performs information communication as shown in Table 1 here. No (step 77), the empty box H is unloaded based on the unloading data TO (7) and the product type data HS (7) (steps 85, 86, 86).
82). Subsequently, when the rear loading section 42 arrives at the empty box loading station SKT, it stops, and the empty box H is similarly unloaded based on the unloading data TO (8) and the type data HS (8) ( Steps 77, 85, 86,
82). When the unloading of the empty box H is completed, the number x becomes “9”.
(Step 84), the unmanned vehicle moves (Step 74), arrives at the reference station S1 (H.B) and stops (Steps 75 and 76), and the number x becomes n.
(Here, 9) is determined, and the program proceeds to step 87 to terminate its execution.

As described above, according to the present embodiment, the control circuit 51 of the two-load type unmanned vehicle is controlled by the external communication control device 47 at the reference station S1 according to Table 1.
Information communication data JH (x), loading position data SI
(X), loading / unloading data TO (x), product data HS
(X) is input, and after the buffer station SB confirms the contents of the loading position data, the unloading data, and the type data according to the contents of the information communication data JH by communication with the ground side transmitting / receiving device 48a, the luggage K1 is checked.
, K2 are loaded, and after the contents of the data are confirmed by communication with the ground side transmitting / receiving device 48c at the production line station SL2, the packages K1, K2
2 unloading work is performed. Therefore, the loading and unloading of a plurality of types of luggage is performed at the buffer station SB and the production line station SL2 by one operation of loading one two-load unmanned traveling vehicle, and the loading / unloading position, loading / unloading distinction, and type of luggage. Can be performed accurately without mistake.

In addition, it is not necessary to increase the number of two-load type unmanned vehicles in response to the increase in the number of types of luggage to be transferred.
The cost of the traveling vehicle can be reduced. Furthermore, the efficient operation of the two-load unmanned traveling vehicle does not limit the freedom of designing the taxiway. Also, by changing the loading position data, the dual-load unmanned traveling vehicle and the standard unmanned traveling vehicle can be freely used, which is convenient.

Further, in the present embodiment, by using the relay circuit 49, each of the communication devices 45a, 45b,
Switching of the connection of the controllers 46a and 46b to the control unit 51 can be performed at low cost. Further, the front and rear stop sensors 33a and 33b for detecting the stop position are common to the forward and backward movements, and only one each is provided at the bottom of the main body corresponding to the front loading section 41 and the rear loading section 42. Thus, the number of the stop sensors 33a and 33b can be reduced by two, and the cost of the stop sensors can be reduced.

In the above embodiment, the luggage is unloaded only to the production line station SL2. However, separate luggage can be unloaded to both stations SL1 and SL2. In addition, it is possible to unload the luggage without making a mistake in the kind of the luggage or the work position. Further, in the above-described embodiment, the number of the buffer stations for loading the luggage is one, but the number is not limited to this, and the number of the buffer stations may be two or more.

Further, in the above-described embodiment, the transport destination of the load is the production line station. However, the present invention is not limited to this, and a station for unloading the load, for example, a carry-in station may be used. The traveling course of the unmanned traveling vehicle is an example, and the course can be freely designed, and the present invention can be applied to any course having a branch point.

[Brief description of the drawings]

FIG. 1 is a perspective view schematically showing a two-load unmanned traveling vehicle according to an embodiment of the present invention.

FIG. 2 is a plan view schematically showing a state in which a transported object mounting plate of the unmanned traveling vehicle is removed.

FIG. 3 is a side view schematically showing a state where a right side plate of the unmanned traveling vehicle is removed.

FIG. 4 is a circuit diagram showing a configuration of an electric control device for the unmanned traveling vehicle.

FIG. 5 is a part of a flowchart of a “loading / unloading control program” executed by the control circuit of FIG. 4;

FIG. 6 is a part of a flowchart of the “loading / unloading control program”.

FIG. 7 is a part of a flowchart of the “terrestrial-side transmission / reception control program”.

FIG. 8 is a chart showing an example of a taxiway on which the unmanned traveling vehicle travels.

FIG. 9 is an explanatory diagram illustrating a data configuration of destination data indicating a destination of the unmanned traveling vehicle and operation data indicating an operation at the destination.

FIG. 10 is an explanatory diagram showing a relationship between a guide sensor and a traveling position on a guide band detected by the guide sensor.

FIG. 11 is a perspective view schematically showing a standard type unmanned traveling vehicle.

[Explanation of symbols]

10 trolley, 12a right drive wheel, 12b left drive wheel, 1
5a: right side DC motor, 15b: left side DC motor, 31
a: forward guide sensor, 31b: reverse guide sensor, 3
2a: forward deceleration sensor, 32b: reverse deceleration sensor, 33
a: Front stop sensor, 33b: Rear stop sensor, 36 ...
Start switch, 41: front loading section, 42: rear loading section, 41a, 42a: roller, 41b, 42b: roller, 45a, 45b, 46a, 46b: communication device, 47
... external communication control devices, 48a, 48b, 48c ... ground side transmission / reception devices, 49 ... relay circuits, 51 ... control circuits, MI
... magnetic induction band, TM ... stop mark, GM1 ... forward deceleration mark.

Claims (8)

[Claims] 1. An unmanned traveling vehicle which is configured by arranging a guide band on a floor surface in a predetermined area and which runs on a guide path provided with stations at a plurality of locations along the guide band. An operation control method for controlling the operation of an unmanned traveling vehicle having at least one loading portion for loading and unloading and having a communication device in the main body, wherein the communication device and the communication device are arranged at a station where the unmanned traveling vehicle stops. Information communication data indicating whether or not communication is to be performed with a ground-side transmitting / receiving device provided at a station, and a loading position indicating a position of the loading section of the unmanned traveling vehicle at which loading or unloading of luggage is performed at the station. And data transmitted from an external communication control device at a reference station at which the unmanned traveling vehicle starts to operate, via the communication device, to control the unmanned traveling vehicle. When the content is such that the information communication data communicates at the stopped station, the content of the loading position data is appropriate due to the communication between the communication device and the ground-side transmitting / receiving device provided at the station. Controlling the operation of loading and unloading luggage on the loading section at the station after confirming the above by the control section. 2. The operation control method for an unmanned traveling vehicle according to claim 1, wherein the unmanned traveling vehicle inputs to the control unit of the unmanned traveling vehicle via the communication device by transmission from the external communication control device. And loading and unloading data indicating whether to load or unload the luggage at the station and type data indicating the type of the luggage are added as data for communicating with the ground-side transmitting / receiving device at the stopped station. Operation control method for unmanned traveling vehicles. 3. The operation control method for an unmanned traveling vehicle according to claim 1, wherein the communication devices are provided one by one on both sides of a main body corresponding to the loading unit, and the communication device is provided. An operation control method for an unmanned traveling vehicle, wherein switching of connection of the control unit to any one of the devices is performed by a relay circuit operated under the control of the control unit. 4. The method according to claim 1, wherein
In the operation control method for an unmanned traveling vehicle described in (1), one stop position detection sensor is provided at a position corresponding to the loading portion of the main body, and one stop position mark provided at each station is detected. Controlling the operation of the unmanned traveling vehicle to stop at the loading portion position. 5. A vehicle having a guide zone arranged on a floor in a predetermined area, traveling on a taxiway having stations at a plurality of locations along the guide zone, and loading and unloading luggage at the station. An unmanned traveling vehicle having at least one loading portion for unloading on the upper surface of the main body and having a communication device in the main body, and transmitted from the external communication control device via the communication device at a reference station where operation starts. Information communication data indicating whether communication is performed between the communication device and a ground-side transmission / reception device provided at the station at the station where the unmanned vehicle stops, and loading or unloading of luggage at the station. A storage unit that stores loading position data indicating a position of the loading unit where the unloading is performed; When the communication data indicates that communication is to be performed, after confirming that the contents of the loading position data are appropriate by communication between the communication device and the ground-side transmission / reception device provided in the station, the station performs the communication. An unmanned traveling vehicle, comprising: a control unit that controls a loading unit to load or unload luggage. 6. The unmanned traveling vehicle according to claim 5, wherein the stopped station is input to the control unit via the communication device by transmission from the external communication control device, stored in the storage unit, and stopped. 3. The unmanned traveling vehicle according to claim 2, further comprising, as data for communicating with the ground-side transmitting / receiving device, loading / unloading data indicating whether to load or unload the luggage at the station and type data indicating the type of the luggage. 7. The unmanned traveling vehicle according to claim 5, wherein one of the communication devices is provided on each of both sides of the main body corresponding to the loading portion, and one of the communication devices is provided. An unmanned traveling vehicle provided with a relay circuit that switches connection of the control unit to any one of the above under the control of the control unit. 8. The method according to claim 5, wherein
In the unmanned traveling vehicle described in one, a stop position detection sensor is provided at a position corresponding to the loading portion of the main body, and one stop position mark provided at each station is detected by the stop position detection sensor, An unmanned traveling vehicle, wherein the traveling of the unmanned traveling vehicle is controlled to be stopped at the loading portion position.