GB2187307A

GB2187307A - Running control method for unmanned vehicles and unmanned vehicle system

Info

Publication number: GB2187307A
Application number: GB08630538A
Authority: GB
Inventors: Masao Yoshikawa; Yoshiaki Takatsuki
Original assignee: Yoshida Kogyo KK
Current assignee: YKK Corp
Priority date: 1985-12-26
Filing date: 1986-12-22
Publication date: 1987-09-03
Also published as: DE3644294A1; GB8630538D0; JPS62152015A; KR870005845A; FR2592499A1; IT8667968A0

Abstract

A control method and apparatus for running an unmanned vehicle (4) having the steps of running the vehicle on guide tape runways (1,2,3) laid on the runway surface with a predetermined layout; and controlling starting, decelerating and stopping of the vehicle and selection and alteration of the running route thereof by means of external signals. The external signals are transmitted by a host computer (13) installed at a certain remote place and received by a controller (19) mounted on the vehicle (4). Start, stop, stop validation and straight drive signals are exchanged between the vehicle and computer via guide side transmitters (5), (7,8,9), (6,10,11) and 12 respectively. The presence or absence of a straight drive signal is used to control route selection at corner 2. <IMAGE>

Description

SPECIFICATION Running control method for unmanned vehicles and unmanned vehicle system BACKGROUND OF THE INVENTION Field of the invention: This invention relates to an unmanned vehicle system and a running control method for unmanned vehicles, and more particularly to a method of controlling starting, stopping, selection and alteration of the running route, etc., of unmanned vehicles such as, for example, platform cars, waggons, bogies or other kinds of vehicles for transportation of goods, adapted to run on a plurality of guide runways such as, for example, white belt lines laid with a predetermined layout on the ground surface or the like.

2. Description of the prior art: A control method for running an unmanned vehicle has been known and used, which includes the steps of sending a desired running pattern indication signal simultaneously with a start signal as inputs to a computer mounted on the vehicle which stored severai running patterns previously, selecting a pattern from among these running patterns, and running the vehicle in accordance with a running route to be determined by the selected running pattern while detecting at all times guide runways laid with a predetermined layout on the surface of the compound in a factory or warehouse, etc.

According to such a conventional method of controlling running of vehicles, it is possible to effect only control of running based on a selected running pattern, and therefore alteration of running route during the course of running is difficult.

Further, in order to run a vehicle on guide runways having a different layout, it is necessary to store beforehand running patterns corresponding to the layout in the computer, thus rendering it impossible to use this method for various purposes.

SUMMARY OF THE INVENTION The present invention has been contemplated and devised in view of the above-mentioned circumstances and to eliminate the disadvantages associated with the conventional control method for running an unmanned vehicle of the kind specified, and has for its aspect to provide a versatile control method for running such a kind of vehicle which enables any desired running route on a predetermined guide runway to be selected as occasion demands by controlling starting, stopping, and selection and alteration of the running route, etc., of an unmanned vehicle according to signals transmitted from the external source, and which also enables the control of running of the vehicle to be achieved by changing the external signals to be transmitted to the computer mounted on the vehicle even along a plurality of guide runways laid with a different layout.

To achieve the above-mentioned aspect, according to the present invention, there is provided a control method for running an unmanned vehicle which includes the steps of running the vehicle on a plurality of runways laid with a predetermined layout, and controlling starting, deceleration and stopping of the vehicle and selection and alteration of the running route thereof by means of external singals.

Further, according to an aspect of the present invention, there is provided a control method for running an unmanned vehicle, characterized in that alteration of the running route of the vehicle on the plurality of guide runways is conducted at a route junction point where one end of one guide runway is disconnected from the other guide runway by a predetermined space interval.

Still further, according to the present invention, there is provided a control method for running an unmanned vehicle, characterized in that the external signals are transmitted by a host computer installed at a certain remote place, and sent out by the latter to a controller mounted on the vehicle.

Still further, according to the present invention, there is provided a control method for running an unmanned vehicle, characterized in that the external signals include calling signals transmitted by signal stations installed along guide runway for the selection of the running route based on a predetermined running pattern; a signal transmitted by a stop signal transmitter installed at the station disposed on the selected running route; a start signal transmitted by a start signal transmitter installed at a main station; a signal transmitted by a stop validation signal receiver installed at the station disposed on the selected running route; signals indicative of completion of loading and unloading of a goods; signals transmitted by a stop signal transmitter and a stop validation signal receiver installed at the main station; and/or a signal transmitted by a straight-drive signal transmitter installed in the vicinity of the route junction point in the guide runways.

Still further, according to the present invention, there is provided a method of controlling running of an unmanned vehicle, characterized in that change in running route of the vehicle at the route junction point is made by a signal transmitted by the straight-drive signal transmitter, and wherein when a straight-drive is sent out as an input to the host computer the control of running of the vehicle along a predetermined running route is locked by means of a timer for a predetermined period of time, and then the lock is released after the vehicle has run to a predetermined position.

Still further, according to the present inven tion, the guide runways are made of white adhesive long and narrow strip tapes so that guide runways having any desired layout can be laid on the runway surface, wherein the vehicle is allowed to run on the guide runways while detecting the tapes by a photo-detector mounted on the vehicle.

Yet further, according to the present invention, after completion of the goods loading or unloading operation at a station, the vehicle is allowed to start running again from the station by receiving the start signal from the host computer with the controller mounted on the vehicle.

And further, according to the present invention, after completion of the goods loading or unloading operation at a station, the vehicle is allowed to start running again from the station by receiving the start signal transmitted from a start signal transmitted from a start signal transmitter installed at the station with a vehicle body receiver therefor mounted on the vehicle.

The above and many other advantages, features and additional objects of the present invention will become apparent to those skilled in the art upon making reference to the following detailed description and accompanying drawings in which preferred structural embodiments incorporating the principles of the present invention are shown by way of illustrative example.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic plan view showing the whole system for carrying out a method of controlling running of an unmanned vehicle according to the present invention; Fig. 2 is a schematic front view of an unmanned vehicle, and Figs. 3 to 7 are explanatory views of operations achieved by the method of controlling running of unmanned vehicle according to the present invention.

DETAILED DESCRIPTION OF THE INVENTION In Fig. 1 which is an overall schematic plan view of a system for carrying out a method of controlling running of an unmanned vehicle according to the present invention, a plurality of guide runways or tracks 1 such as, for example, white belt lines with a predetermined layout are laid on the surface of the compound in a factory or warehouse etc. Each of these runways 1 comprises a first guide runway 2 of a rectangular configuration and a sideways U-shaped second runway 3. One end 3a of the second guide runway 3 is disconnected from a first corner 2, of the first guide runway 2 by a predetermined space interval, while the other end 3b of the runway 3 is connected to a second corner 22 of the runway 2.The arrangement is made such that a vehicle 4 such as, for example, a platform, car or waggon or bogie or the like starts from a first station S1 as a main station and runs to either a second station S2 or a third station S3, and then returns to the first station S1.

At the above-mentioned first station Si, a start signal transmitter 5, a stop validation signal receiver 6 and a first stop signal transmitter 7 are installed. At the second and third stations S2 and S3, there are installed a second and a third stop signal transmitters 8 and 9, respectively, and a second and a third stop validation signal receivers 10 and 11, respectively. Further, at the first corner 21, a straight-drive signal transmitter 12 is installed.

Reference numeral 13 denotes a host computer disposed at a certain remote place to control the above-mentioned signal transmitters.

As shown in Fig. 2, the vehicle 4 has caster wheels 14 provided at four corners thereof.

The vehicle 4 has left and right drive wheels 15 and 16 provided on both sides of the intermediate part thereof. The left and right drive wheels 15 and 16 are connected to the left and right motors 17 and 18, respectively, which are arranged to be controlled by a controller 19. The controller 19 is arranged to receive, as input signals, a start signal transmitted by a first vehicle body receiver 20, a straight-drive signal transmitted by a second vehicle body receiver 21, a deceleration signal transmitted by a third vehicle body receiver 22, and a stop signal transmitted by a fourth vehicle body receiver 23, thereby controlling the above-mentioned left and right motors 17 and 18. Further, a vehicle body stop validation signal transmitter 24 is adapted to transmit a stop validation signal.

The above-mentioned vehicle frame 4 is provided with a photo-detector 2S adapted to detect the guide runways 1 and to transmit a detection signal. The detection signal is input to the controller 19 so that the vehicle can be controlled to run along the guide runways 1. If the guide runways 1 are made of white adhesive long and narrow strip tapes applied onto the runway surface and the tape is arranged to be detected by the photo-detector, and desired layout of the guide runways 1 can be obtained by applying white tape onto the runway surface in any desired configuration.

The above-mentioned transmitters and receivers each include a photo-electric tube, and the transmitters are controlled by the abovementioned host computer 13. The stop validation signal transmitted by the vehicle body stop validation signal 24 is sent out as an input to the host computer 13.

The method of controlling running of an unmanned vehicle according to the present invention applied to the running system constructed as mentioned above will now be described hereinbelow.

Stating in brief, the host computer 13 will receive, in the first place, a calling signal from either the second station S2 or the third sta tion S3 to select the running route, and based on the selection, turn on either (for second station S2) the second stop signal transmitter 8 but not the straight-drive signal transmitter 12, or (for third station S3) the stright-drive signal transmitter 12 and third stop signal transmitter 9 to thereby generate signal outputs, and then turn on the start signal transmitter 5 to transmit a start signal whereby enabling the vehicle to run along the selected route, and also receive a stop validation signal from either one of the second and third stop validation signal receivers 10 and 11 indicating that the vehicle 4 has stopped at the second station S2 or the third station S3. Subsequently, loading/unloading of a goods is carried out.The host computer will then generate a signal indicative of completion of loading/unloading operation to allow the vehicle 4 to commence running again, and then turn on the first stop signal transmitter 7 at the first station S1 so as to generate a stop validation signal thereby detecting that the vehicle 4 is stopped at the first station S1 thus completing one running pattern. After that, the vehicle will wait for a calling signal from either the second station S2 or the third station S3 to proceed to the next running pattern.

In the next place, the operation of the system when the vehicle 4 is allowed to run to the third station S3 will be described in more detail.

When the host computer 13 receives a calling signal from the third station 53, it turns on, as mentioned above, the start signal transmitter 5, the straight-drive signal transmitter 12 and the third stop signal transmitter 9.

As a result, as shown in Fig. 3, a start signal R1 transmitted by the start signal transmitter 5 is received by the first vehicle body receiver 20 mounted on the vehicle 4, and then the signal is input to the controller 19 to allow the vehicle 4 to run along the first guide runway 2.

When the vehicle 4 has reached the route junction point along the guide runway 1, as shown in Fig. 4, a straight-drive signal R2 transmitted by the straight-drive transmitter 12 is received by the second vehicle body receiver 21, and then it is input to the controller 19 to enable the vehicle 4 to be switched over to the second guide runway 3. For example, a timer is set to lock, when receiving the straight-drive signal as an input, a circuit arranged to control running of the vehicle along the guide runway for a predetermined time whereby allowing the vehicle to run straight regardless of the guide runway on which the vehicle is running, and upon arriving at a predetermined position on the second guide runway 3, for example, one end 3a, release the lock so as to control the vehicle 4 to run along the second guide runway 3.

When the vehicle 4 has reached the third station S3 as shown in Figs. 5 and 6, a stop signal R3 transmitted by the third stop signal transmitter 9 is received by the third vehicle body receiver 22, and then it is sent out as an input to the controller 19 to allow the vehicle 4 to run at a decelerated speed. When the vehicle 4 runs further, the stop signal R3 transmitted by the third stop signal transmitter 9 is received by the fourth vehicle body receiver 23 as shown in Fig. 7, and then it is sent out as an input to the controller 19 to stop the vehicle 4. At the same time, the vehicle body stop validation signal transmitter 24 will transmit a stop validation signal R4, which is received and sent out as an output by the third stop identification signal receiver 11 to the host computer 13.

As a result. the host computer 13 is rendered operative to actuate a goods loading/unloading arrangement, not shown, so as to load a goods G on the vehicle 4, while the latter is stopped.

Upon completion of the loading or unloading of the goods, the vehicle 4 is started again. In this case, it is possible to install a start signal transmitter at the third station S3 so that a start signal transmitted by the start signal transmitter may be received by the vehicle body receiver 20 to thereby start the vehicle again or alternatively the vehicle may be restarted by the controller 19.

At the same time, a stop signal R5 is transmitted by the first stop signal transmitter 7, when the vehicle 4 arrives at the first station S1 a stop signal R5 is received by the third vehicle body receiver 22 to decelerate the vehicle in the same manner as mentioned above. When the stop signal R5 is received by the fourth vehicle body receiver 23, the vehicle 4 is stopped. At the same time, a stop validation signal R4 transmitted by the vehicle body stop validation signal transmitter 24 is received by the first stop validation signal receiver 6, and then it is sent out as an input to the host computer 13 to allow the vehicle to wait for the next running.

Further, in case the vehicle is allowed to run to the second station S2, it is unnecessary to generate a straight-drive signal by the straightdrive signal transmitter 12, and it is only necessary to run the vehicle 4 along the first guide runway 2.

It is to be understood that the foregoing description is merely illustrative of preferred embodiments of the present invention, and that the present invention is not to be limited thereto, but is to be determined by the scope of the appended claims.

Claims

1. A control method for running an unmanned vehicle which comprises the steps of running the vehicle on a plurality of guide runways with a predetermined layout; and controlling starting, decelerating and stopping of the vehicle and selection and alteration of the running route thereof by means of external signals.

2. The control method as claimed in Claim 1, characterized in that alteration of the running route of the vehicle on the plurality of guide runways is conducted at a route junction point where one end of a guide runway is disconnected from the other guide runway by a predetermined space interval.

3. The control method as claimed in Claim 2, characterized in that said external signals are transmitted by a host computer installed at a certain remote place, and sent out by the latter to a controller mounted on the vehicle.

4. The control method as claimed in Claim 3, characterized in that said external signals include calling signals transmitted by signal stations installed along the guide runways for the selection of the running route based on a predetermined running pattern; a signal transmitted by a stop signal transmitter installed at the station disposed on the selected running route; a start signal transmitted by a start signal transmitter installed at a main station; a signal transmitted by a stop validation signal receiver installed at the station disposed on the selected running route; signals indicative of completion of loading or unloading of goods; signals transmitted by a stop signal transmitter and a stop validation signal receiver installed at the main station; and/or a signal transmitted by a straight-drive signal transmitter installed in the vicinity of a route junction point for the guide runways.

5. The control method as claimed in Claim 4, characterized in that change in running route of the vehicle at said route junction point is made by a signal transmitted by the straight-drive signal transmitter, and wherein when the straight-drive signal is sent out as an input to the host computer the control of running of the vehicle along a predetermined running route is locked by means of a timer for a predetermined period of time, and the lock is released after the vehicle has run to a predetermined position.

6. The control method as claimed in Claim 1, characterized in that said guide runways are made of white adhesive long and narrow strip tapes so that guide runways having any desired layout can be laid on the runway surface, wherein the vehicle is allowed to run on the guide runways while detecting said tapes by a photodetector mounted on the vehicle.

7. The control method as claimed in Claim 4, characterized in that after completion of the goods loading or unloading operation at a station, the vehicle is allowed to start running again from the station by receiving the start signal from the host computer with the controller mounted on the vehicle.

8. The control method as claimed in Claim 4, characterized in that after completion of the goods loading or unloading operation at a station, the vehicle is allowed to start running again from the station by receiving the start signal transmitted from a start signal transmitter installed at the station with a vehicle body receiver therefor mounted on the vehicle.

9. An unmanned vehicle system comprising an unmanned vehicle, a plurality of guide runways with a predetermined layout; and control means, including external signalling means, for controlling starting, decelerating and stopping of the vehicle and selection and alteration of the running route thereof by means of external signals.

10. A system as claimed in Claim 9, characterized in that means for altering the running route of the vehicle on the plurality of guide runways comprises a route junction point where one end of a guide runway is disconnected from the other guide runway by a predetermined space interval.

11. A system as claimed in Claim 10, characterized by a host computer adapted so that said external signals are transmitted by the host computer, installed at a certain remote place, and sent out by the latter to a controller mounted on the vehicle.

12. A system as claimed in Claim 11, characterized in that said external signals include calling signals and in that signal stations are installed along the guide runways for the selection of the running route based on a predetermined running pattern and for transmitting the calling signals; a respective stop signal transmitter installed at each station disposed on the running routes; a start signal transmitter installed at a main station; a respective stop validation signal receiver installed at each station disposed on the running routes; means for transmitting and receiving signals indicative of completion of loading or unloading of goods; and a straight-drive signal transmitter installed in the vicinity of a route junction point for the guide runways.

13. A system as claimed in Claim 12, adapted so that change in running route of the vehicle at said route junction point is made by a signal transmitted by the straight-drive signal transmitter, and so that when the straightdrive signal is sent out as an input to the host computer the control of running of the vehicle along a predetermined running route is locked by means of a timer for a predetermined per iod of time, and the lock is released after the vehicle has run to a predetermined position.

14. A system as claimed in any one of Claims 9 to 13, characterized in that said guide runways are made of white adhesive long and narrow strip tapes, wherein the vehicle is adapted to run on the guide run ways while detecting said tapes by a photo detector mounted on the vehicle.