JP2000207026A - Operation system for unmanned vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate necessity of mounting a battery on an unmanned vehicle and also to prevent traveling from being interrupted except power interruption to the unmanned vehicle. SOLUTION: An external power supply 13 which performs power feeding to each carrier having an orbit outputs a power feeding signal Sd showing that it is in the process of power feeding to a ground side controller 15 which controls the operation of each carrier having an orbit 12a to 12b. When the signal Sd disappears, the controller 15 once moves each carrier 12a to 12c up to a reference position HP when the signal Sd is inputted again so that a carrier controller 14 can newly detect the absolute position on a guide rail 11 that defines the position HP as reference.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation system for unmanned vehicles such as tracked vehicles and unmanned transport vehicles.

[0002]

2. Description of the Related Art Conventionally, for example, in a factory or the like, as shown in FIG. 5, a plurality of tracked vehicles 51 are caused to travel along guide rails 50 provided along a plurality of article transfer positions P1 to P3. A transport system 52 adapted to transport articles between the article positions P1 to P3 is employed. The tracked vehicle 51 is a self-propelled type, and its traveling device is supplied with power from an external power supply 53 via a power supply line provided along the guide rail 50.

Each tracked vehicle 51 has a ground-side control device 54.
The operation is controlled according to a predetermined operation procedure. The ground-side control device 54 is a bogie-side control device 55 of each track bogie 51.
And the bogie controller 55 controls the running of the tracked bogie 51 based on the run command signal.

The ground controller 54 controls the operation of each track 51 based on the absolute position on the guide rail 50. Therefore, in order to obtain the absolute position of each track bogie 51 on the guide rail 50, on the guide rail 50,
For example, one reference position HP and a plurality of confirmation positions CP1
To CP6. The reference position HP is a position serving as a reference for the absolute position, and each of the confirmation positions CP1 to CP
Reference numeral 6 denotes a position at which the absolute position based on the reference position HP is known in advance.

The bogie-side control device 55 of each tracked bogie 51
Detects the reference position HP during traveling and detects each of the confirmation positions CP1 to CP6 without distinction. The position at which each of the confirmation positions CP1 to CP6 is detected is defined as the number of the confirmation position CP1 from the reference position HP.
ＣＰCP6 to determine the absolute position of the determined confirmation position from the reference position HP. In addition, the bogie-side control device 55 determines the amount of movement after passing through each of the confirmation positions CP1 to CP6 based on the detected value of the encoder. Then, the bogie-side control device 55 outputs the confirmation position C detected last.
Absolute positions of P1 to CP6 and their confirmation positions CP1 to CP6
From the relative position from, the current position is obtained as an absolute position with reference to the reference position HP. This means that the absolute position on the guide rail can be detected with high accuracy even if the detection error of the encoder increases due to wear or the like, or even if there is a detection error due to slippage of the guide roller connected to the output shaft of the encoder. That's why.

[0006] Each bogie-side control device 55 sequentially transmits the grasped current position to the ground-side control device 54. The ground-side control device 54 grasps the current position transmitted from each of the tracked vehicles 51, and sequentially transmits a traveling command signal to each of the tracked vehicles 51. The bogie-side control device 55 causes the tracked bogie 51 to operate based on the sequentially transmitted travel command signals.

[0007] The ground-side control device 54 of the transport system 52 is supplied with power from a power supply device different from the external power supply 53 for supplying power to each tracked truck 53. Therefore, in the case of a power failure, emergency stop, etc., the ground-side control device 5
4 is still operating, and each tracked truck 5
1 may be stopped.

By the way, even if the power supply to each tracked truck 51 is stopped, each tracked truck 51 does not stop immediately, but runs for a while by inertia. The bogie-side control device 55 sequentially stores the current position in the non-volatile memory, but cannot measure the amount of movement since the power supply was stopped, so that there is a difference between the stored position and the actual position. As a result, even if the power supply from the external power supply 53 to each of the tracked vehicles 51 is restarted, the position stored in the bogie-side control device 55 is not correct. Can not control the operation of the aircraft correctly. In such a case, the operator operates the ground-side control device 54 so that each of the tracked vehicles 54
Are sequentially moved to the reference position HP, and the bogie-side control device 55
After that, the absolute position must be grasped again, and thereafter, the ground-side control device 54 must again control the operation of each tracked bogie 54 according to a predetermined operation procedure.

In order to prevent such a situation, a battery is mounted on each tracked bogie 51 so that the actual position can be grasped by measuring the amount of movement even when power supply is stopped.

[0010]

However, when a battery is mounted on each tracked truck 51, the tracked truck 51 cannot be reduced in size and the floor area through which the tracked truck 51 passes increases. As a result, there is a problem that the installation area of the entire transport system 52 increases. Further, a transport system 52 used in a clean factory such as a liquid crystal panel manufacturing process.
In this case, there is a problem that the gas generated from the battery lowers the cleanliness in the clean factory.

Therefore, as a method that can be performed without mounting a battery on each tracked carriage 51, the following control method is also conceivable. That is, when the power supply to each tracked bogie 51 is stopped, the position detection signal from the bogie side control device 55 is not transmitted to the ground side control device 54. Therefore,
The state in which the position detection signal from each bogie-side control device 55 is no longer received is regarded as a power supply stop state, and when the position detection signal is received again with the restart of power supply, the ground-side control device 54 Moves each tracked bogie 51 to the reference position HP, so that each bogie-side control device 55 can obtain a correct position again. According to such a control method, there is no need to mount a battery on each tracked truck 51, and it is not necessary for an operator to operate the ground-side control device 54 when power supply is resumed.

However, in the above-described method, it is difficult to distinguish a state in which the position detection signal is not input due to a communication error or a loss of a communication carrier from a state in which the position detection signal is not transmitted due to the stop of power supply. It is. As a result, at the time of communication abnormality or temporary disappearance of the communication carrier, despite the fact that the power is normally supplied and the operation can be continued, the ground-side control device 54 has the same power supply as when the power supply is stopped. There is a problem that the operation of the track bogie 51 is stopped and moved to the reference position HP. Therefore, there is a problem that the operation is interrupted even though the power supply is performed normally.

[0013] The same problem is not limited to the transport system of a tracked vehicle, but also includes, for example, an automatic guided vehicle, an unmanned towing vehicle,
This is also a problem that can be considered in a transfer system using an unmanned forklift or the like.

The present invention has been made to solve the above problems, and an object of the present invention is to eliminate the need to mount a battery in an unmanned vehicle and to reduce the installation area of an operation system. Operation of unmanned vehicles that can be installed in a clean environment and that allows unmanned vehicles to regain the correct position only when power supply to the unmanned vehicles from the outside is interrupted due to a power outage etc. It is to provide a system.

[0015]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, an invention according to claim 1 controls an unmanned vehicle traveling along a traveling route by power supply from an external power supply and operation control of the unmanned vehicle. An operation system of an unmanned vehicle having a ground-side control device, wherein the unmanned vehicle has a reference position detecting unit for detecting an absolute position on the traveling route, and a measuring unit for measuring a traveling distance of the unmanned vehicle. Travel distance detecting means, and a position calculating means for determining the current position of the unmanned vehicle from the detected value of the absolute position and the measured value of the travel distance,
The external power supply outputs a power supply signal for notifying whether or not power is being supplied to the ground-side control device, and the ground-side control unit supplies power to the unmanned vehicle based on the power supply signal. When recognizing that the power supply has been interrupted, when the power supply to the unmanned vehicle is resumed, an instruction is given to perform the work of correcting the current position.

According to the second aspect of the present invention, a guideway provided along a predetermined traveling route, an unmanned vehicle provided so as to be able to run by itself along the guideway, and power supply to the unmanned vehicle An external power supply for outputting a power supply signal indicating that power is being supplied; power supply means for supplying power supplied from the external power supply to the unmanned vehicle; and A reference position detection means for detecting a reference position provided on a road, a travel distance detection means provided for the unmanned vehicle, for detecting a travel distance of the unmanned vehicle, and a reference position based on the travel distance from the reference position. A position calculating means for determining an absolute position on the guideway with reference to a reference position and sequentially outputting the position as a detected position value; and moving the unmanned vehicle to the reference position so that the reference position is detected. Let Both are operation control means for sequentially outputting a traveling command signal using the absolute position for causing the unmanned vehicle to travel based on the position detection value, and an operation control means provided in the unmanned vehicle and sequentially outputting the traveling command signals. Input, traveling control means for traveling the unmanned vehicle based on each traveling command signal, when the power supply signal disappears, when the power supply signal is input again, by running the unmanned vehicle, Position re-detecting means for allowing the position calculating means to obtain an absolute position of the unmanned vehicle on the guide path at that time.

According to a third aspect of the present invention, in the second aspect of the invention, the position re-detecting means controls the operation control means to move the unmanned vehicle to the reference position once. Control means.

According to the first or second aspect of the present invention, when the power supply from the external power supply to the unmanned vehicle is stopped due to a power failure, emergency stop, or the like, the unmanned vehicle coasts in a state where the current position cannot be detected. Drive for a while. as a result,
Outside, the absolute position of the unmanned vehicle is unknown. At this time, it is determined that the power supply from the external power supply to the unmanned vehicle has stopped based on the power supply signal output from the external power supply,
When the power supply is restarted, the current position of the unmanned vehicle with respect to the reference position is obtained again by running the unmanned vehicle. Therefore, it is not necessary to mount a battery for supplying power for determining the position of the unmanned vehicle traveling by inertia when the power supply from the external power supply is stopped in the unmanned vehicle. Also, it is reliably determined that the power supply from the external power supply has stopped.

According to the invention of claim 3, according to claim 2,
In addition to the operation of the invention described in (1), when the interrupted power supply is restarted, the absolute position based on the reference position is grasped on the unmanned vehicle side by moving the unmanned vehicle to the reference position once. Therefore, using the reference position provided on the guideway, the absolute position is grasped again in the same manner as when the operation starts.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment in which the present invention is embodied in a transfer system provided with a tracked truck will be described below with reference to FIGS.
It will be described according to.

As shown in FIG. 1, a transport system 10 as an operation system includes a guide rail 1 provided along a predetermined traveling route adjacent to a plurality of article transfer sections P1 to P3.
1 is provided.

The guide rail 11 is provided with an unmanned vehicle and a plurality of tracked trucks 12a to 12c which are self-propelled along the guide rail 11 by power supply from the outside.

The transport system 10 includes each tracked truck 12a
-12c is provided with an external power supply 13. The guide rail 11 is provided with one reference position HP and a plurality of confirmation positions CP1 to CP6. The reference position HP is provided for each of the tracked trucks 12a to 12c to determine an absolute position on the guide rail 11. On the other hand, each of the confirmation positions CP1 to CP6 is
1 is a position where the absolute position with reference to the reference position HP is known, and each of the tracked trucks 12a to 12c that has moved from the reference position HP directly detects the amount of movement from the reference position HP. However, it is provided so that the absolute position can be detected with high accuracy. In the present embodiment, the reference position HP and each of the confirmation positions CP1 to CP6 are reference positions.

Each of the tracked trucks 12a to 12c is provided with a truck-side control device 14 as position calculating means and travel control means. In addition, the transport system 10
An operation control means for centrally controlling the operation of each of the tracked vehicles 12a to 12c, a position re-detection means, and a ground-side control device 15 as a re-operation control means are provided. In the present embodiment, the ground-side control device 15 controls each of the tracked vehicles 12
The transfer operations a to 12c are also centrally controlled.

As shown in FIGS. 2 and 3, the tracked truck 12a
A guide rail 11 is provided below the floor 16 on which the vehicle travels, and a travel rail 17 on which the tracked truck 12a runs is provided above the floor 16.

As shown in FIG. 3, the floor 16 above the guide rail 11 is provided with an opening 18 along the guide rail 11. The running rails 17 are provided as a pair on both sides of the opening 18.

A pair of front and rear traveling units 20 are provided on the bottom side of the vehicle body 19 of the tracked truck 12a. Each traveling unit 20 includes a traveling portion 22 rotatably supported in a horizontal plane on a support shaft 21 provided at the center of the width of the vehicle body 19, and rolls on the traveling rail 17 on both sides of the traveling portion 22. Running wheels 23 and 24 are supported. One traveling wheel 23 is provided with a traveling motor 25 provided in the traveling section 22.
And the other traveling wheel 24 is a driven wheel.

A support 26 is supported on the lower surface of the traveling portion 22 on a rotation axis thereof. A pair of guide rollers 27 for sandwiching the guide rail 11 is provided at a lower portion of the support 26 in two front and rear sets. I have. Four guide rollers 27 are used for the guide rail 11
, The traveling portion 22 is rotated along the guide rail 11 so that the traveling wheels 23 and 24 roll on the traveling rail 17.

The traveling tool 26 is provided with an encoder 28 for detecting one rotation of the guide roller 27. A power supply line 2 extending from one of the external power sources 13 along one side of the guide rail 11 and serving as a power supply unit to which a high-frequency current is supplied.
9 are erected. On the other hand, the support 26 is provided with a power receiving unit 30 that is provided so as to face the power supply line 29 and obtains power from the power supply line 29 in a non-contact manner by electromagnetic induction. In the present embodiment, the power supply line 29 and the power receiving unit 3
The power supply means is constituted by 0.

At the reference position HP, as shown in FIG. 2, a first detected portion 31 is provided on a side surface of the guide rail 11. As shown in FIG. As shown in FIG. 3, the second detection unit 3 is provided on each side of the guide rail 11 at each of the check positions CP1 to CP6.
2 are provided. On the other hand, the support 26
A first proximity sensor 33 that can detect the first detection unit 31 when the tracked truck 12a moves to the reference position, and a second proximity sensor that can detect the second detection unit 32 when it moves to each check position. 34 are provided. The other tracked trucks 12b and 12c have the same configuration as the tracked truck 12a.

In the present embodiment, the first detected part 31, the second detected part 32, the first proximity sensor 33 and the second proximity sensor 34 constitute a reference position detecting means. The traveling distance detecting means is constituted by 14 and the encoder 28.

The traveling motor 25 and the proximity sensors 33,
The power supplied from the external power supply 13 is supplied to the power receiving unit 3.
0. Next, the electrical configuration of the transport system configured as described above will be described.

As shown in FIG. 4, the external power supply 13 supplies a high-frequency current to the feed line 29 to
2c. The external power supply outputs a power supply signal Sd indicating that power is being supplied to the ground-side control device 15 during power supply.

The bogie-side control device 14 includes the first proximity sensor 3
It is determined based on the output value of No. 3 that the reference position HP has been detected. In addition, the bogie-side control device 14 determines that each of the confirmation positions CP1 to CP6 has been detected based on the output value of the second proximity sensor 34. And the cart-side control device 1
4, each time each of the confirmation positions CP1 to CP6 is detected, it is determined which of the confirmation positions CP1 to CP6 the detected confirmation positions CP1 to CP6 are from the reference position HP. The bogie control device 14 determines the last detected confirmation positions CP1 to CP
Based on the output value of the encoder 28 from P6, the amount of movement from the check positions CP1 to CP6 is obtained.

The absolute position based on the reference position HP of the check positions CP1 to CP6 stored in advance and the detected relative position based on the check positions CP1 to CP6 is used to determine the absolute position at that time. And transmits the obtained absolute position to the ground-side control device 15 sequentially.

The ground-side control device 15 controls the transport system 10
When the operation control is performed for the first time, each tracked truck 12a to
The truck-side control device 12c at the reference position HP
Are moved to the reference position HP so as to be able to detect. And the ground-side control device 1
5, after the bogie-side control device 14 detects the reference position HP, based on the absolute position detected along with the movement of the tracked bogies 12a to 12c, the tracked bogies 12a to 1c.
The travel command signal using the absolute position is sequentially output in order to travel the 2c.

The bogie-side control device 14 includes the ground-side control device 1
The traveling command signal transmitted from the vehicle 5 is sequentially input, and the operation of the traveling motor 25 is controlled based on the traveling command signal for the own vehicle.

The ground control device 15 is connected to the external power supply 1.
When the power supply signal Sd output by the third vehicle 3 disappears, after the power supply signal Sd is input again, each of the tracked vehicles 12a to 12c
Is once moved to the reference position HP.

In the present embodiment, a transmitting / receiving antenna (not shown) adjacent to the power supply line 29 is provided on the external power supply 13 side, and a transmitting / receiving antenna adjacent to the power supply line 29 is provided on each of the tracked vehicles 12a to 12c. Have been. Then, the external power supply 13 and each bogie-side control device 14 perform superimposed communication in which a command signal or a position detection signal is superimposed on the high-frequency current flowing through the power supply line 29.

Next, the operation of the transport system configured as described above will be described. When operating the transport system 10 for the first time, the ground-side control device 15 causes each of the tracked vehicles 12a to 12c to temporarily run to the reference position HP.
Then, the bogie-side control device 14 of each of the tracked bogies 12a to 12c detects the reference position HP.

The ground-side control device 15 includes the bogie control device 14
Detects the reference position HP, the tracked vehicles 12a to 12
The traveling command signal for controlling the traveling of the vehicle 12c based on the absolute position detected by the bogie-side control device 14 according to the predetermined operation control content is sequentially transmitted.

The truck-side control device 14 of the tracked trucks 12a to 12c sequentially inputs travel command signals transmitted using the power supply line 29, and travels the tracked trucks 12a to 12c based on each travel command signal. Let it. Then, the ground-side control device 15 transfers each of the tracked vehicles 12a to 12c to each of the article transfer units P.
The carriage control device 14 is stopped at 1 to P3, and the carriage control device 14 is controlled so as to perform an operation of transferring articles between the article transfer sections P1 to P3 during the stop.

Accordingly, each of the tracked trucks 12a to 12c is
The operation is controlled by the ground-side control device 15 based on the absolute position grasped by each carriage control device 14. When the power supply from the external power supply 13 to each of the tracked trucks 12a to 12c is stopped due to a power failure, an emergency stop, or the like, the tracked trucks 12a to 12c coast in a state in which the truck-side control device 14 cannot detect the absolute position. Drive for a while. For this reason, the positions of the tracked vehicles 12a to 12c known by the ground-side control device 15 deviate from the actual positions of the tracked vehicles 12a to 12c.

Here, the ground-side control device 15 determines that the power supply has been stopped because the power supply signal Sd from the external power supply 13 has disappeared, and when the power supply signal Sd is input again, The tracked carriages 12a to 12c are temporarily moved to the reference position HP. As a result, each tracked truck 12a
The carriage-side control devices 14 to 12c detect the reference position HP and can detect the absolute position again.
Then, each of the tracked vehicles 12a to 12c is operated according to predetermined operation control contents based on the absolute position that can be detected again.

Therefore, it is not necessary to mount a battery for supplying electric power for detecting the absolute positions of the tracked trucks 12a to 12c running by inertia after the power supply is stopped in each of the tracked trucks 12a to 12c. Also, it is reliably determined that the power supply from the external power supply 13 to each of the tracked vehicles 12a to 12c has been stopped.

As described in detail above, according to the present embodiment, the following effects can be obtained. (1) It is determined based on the power supply signal Sd output from the external power supply 13 that the power supply from the external power supply 13 to each of the tracked vehicles 12a to 12c is stopped, and when the power supply is restarted,
Each tracked carriage 12a to 12c is temporarily moved to the reference position HP. Therefore, when the power supply is stopped, batteries for supplying electric power for grasping the absolute position are supplied to each of the tracked vehicles 12a to 12a.
This eliminates the need to mount the transport system 12c, thereby reducing the installation area of the transport system 10 and enabling use in a clean environment, for example, in a clean factory. In addition, since it is reliably determined that the power supply of the external power supply 13 to each of the tracked trucks 12a to 12c has been stopped due to a power failure or the like and the tracked trucks 12a to 12c are returned to the reference position HP, a reduction in the transport efficiency is achieved. It can be prevented as much as possible.

(2) When the interrupted power supply is resumed,
The ground-side control device 15 temporarily moves each of the tracked vehicles 12a to 12c to the reference position HP, and
By detecting the reference position HP again, the absolute position can be grasped again. Therefore, it is not necessary to provide a new device in the transport system for causing the tracked vehicles 12a to 12c to recognize the absolute position when the interrupted power supply is resumed, and the conventional transport system can be used.

(3) Each of the tracked vehicles 12 from the external power source 13
A non-contact power supply is performed on the power supply line 29 using the power supply line 29, and the ground-side control device 15 and the bogie-side control device 14 of each of the tracked vehicles 12a to 12c are used by using the power supply line 29. The superimposed communication is performed between. Therefore, the reliability of power supply can be increased as compared with the trolley wire power supply system, and the size of a device required for communication can be reduced as compared with the wireless communication system.

The embodiment is not limited to the above, but may be modified as in the following different examples. ○ The absolute positions of the check positions CP1 to CP6 are stored, and the check positions CP1 to CP6 can be determined and detected. Then, at the time of resumption after the interruption of the power supply, when the tracked vehicles 12a to 12c are moved to the nearest reference position HP or the confirmation positions CP1 to CP6, the bogie-side control device 14 can grasp the absolute position again. It can be so. In this case, it is possible to shorten the traveling time until the bogie control devices 14 of all the tracked bogies 12a to 12c grasp the absolute positions again. Can be.

The present invention is not limited to a transport system in which a tracked vehicle travels along a guideway closed in a loop shape, but may be implemented in a transport system including a guideway that is not closed so that a tracked vehicle reciprocates. Is also good.

The transport system is not limited to a transport system that allows a tracked vehicle to travel along a guide rail provided on the ground side, but a transport that allows a tracked vehicle (an overhead travel vehicle) to travel along a guide rail that is installed on the ceiling side. The system may be implemented.

The present invention is not limited to an unmanned vehicle guided along a travel route by a guide path such as a guide rail, but is applied to a transport system including an unmanned vehicle guided by a guide line buried in a running floor.

The communication between the ground-side control device 15 and each bogie-side control device 14 is not limited to the superimposed communication system using a non-contact power supply line, but may be a wireless communication system, an optical communication system, or the like. Is also good.

The power supply method from the external power supply to each unmanned vehicle is not limited to the non-contact power supply method, but may be a trolley wire power supply method or the like. The present invention is not limited to the transport system of the tracked truck, and may be applied to a transport system using, for example, an unmanned transport vehicle, an unmanned tow truck, an unmanned forklift, and an unmanned vehicle operation system other than those transport vehicles.

Hereinafter, in addition to the inventions described in the claims, the technical ideas grasped from the above-described embodiments and the respective examples will be described together with their effects. (1) In the invention according to any one of claims 1 to 3, the guide path is a guide rail, and the external power supply is installed along the guide rail with respect to the unmanned vehicle. In addition to the non-contact power supply using the power supply line, the communication between the position calculation unit, the operation control unit, and the travel control unit is performed by superimposed communication using the power supply line.

According to such a configuration, the reliability of power supply can be increased as compared with the trolley wire power supply system, and the size of the device required for communication can be reduced as compared with the wireless communication system. Can be.

(2) The operation system according to any one of claims 1 to 3, wherein the unmanned vehicle is a carrier. According to such a configuration, the effects described in the above (1) to (3) can be obtained in the automatic guided vehicle.

[0058]

According to the first to third aspects of the present invention, it is not necessary to mount a battery on each unmanned vehicle, and the installation area of the operation system can be reduced. And make sure that the external power supply to each unmanned vehicle has stopped due to a power failure, etc., and return each unmanned vehicle to the reference position,
A reduction in transport efficiency can be prevented as much as possible.

According to the third aspect of the present invention, it is not necessary to provide a new device in the operation system for causing the unmanned vehicle to recognize the absolute position when the interrupted power supply is resumed.
Most of the facilities of the conventional operation system can be used.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a transport system.

FIG. 2 is a schematic side view in which a part of a tracked bogie and a guide rail are cut away.

FIG. 3 is a schematic front view of the same.

FIG. 4 is an electric block diagram of a transport system.

FIG. 5 is a schematic configuration diagram of a conventional transport system.

[Explanation of symbols]

11: guide rails as guide routes, 12a to 12c ...
Tracked truck as an unmanned vehicle, 13: external power supply, 14: bogie-side control device as travel calculation means and travel control means constituting travel distance detection means, 15: operation control means, position re-detection means, and re-run control Ground-side control device as means, 28... Encoder constituting travel distance detecting means and position calculating means, 29... Feed line constituting power feeding means, 30
.. Similarly a power receiving section, 31... A first detected section constituting reference position detecting means, 32... A second detected section, 33... A first proximity sensor, 34.
Reference position, CP1 to CP6 ... Confirmation position as reference position, Sd ... Power supply signal.

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B60M 7/00 B60M 7/00 X

Claims (3)

[Claims] 1. An unmanned vehicle operation system comprising: an unmanned vehicle that travels along a traveling route by power supply from an external power supply; and a ground-side control device that controls the operation of the unmanned vehicle. Reference position detection means for detecting the absolute position on the travel route, travel distance detection means for measuring the travel distance of the unmanned vehicle, and the detected value of the absolute position and the measured value of the travel distance Position calculation means for obtaining a current position of the unmanned vehicle, wherein the external power supply outputs a power supply signal for notifying whether power is being supplied to the ground side control device, and the ground side control The means, when recognizing that the power supply to the unmanned vehicle has been interrupted based on the power supply signal, instructs the correction of the current position to be performed when the power supply to the unmanned vehicle is resumed. Car operation system. 2. An unmanned vehicle provided so as to be able to travel by itself along a predetermined traveling route, an external power source provided for supplying power to the unmanned vehicle, and outputting a power supply signal indicating that power is being supplied, Power supply means for supplying electric power supplied from the external power supply to the unmanned vehicle, reference position detection means provided on the unmanned vehicle and detecting a reference position provided on the traveling route, provided on the unmanned vehicle Travel distance detection means for detecting a travel distance of the unmanned vehicle; position calculation means for obtaining an absolute position on the guideway based on the reference position based on the travel distance from the reference position; A traveling finger using the absolute position for traveling the unmanned vehicle based on the position detection value, while moving the unmanned vehicle to the reference position so that the reference position is detected. An operation control means for sequentially outputting signals; a drive control means provided in the unmanned vehicle, for sequentially inputting each of the traveling command signals, and for causing the unmanned vehicle to travel based on each of the traveling command signals; and When the power supply signal is lost, when the power supply signal is input again, the unmanned vehicle is caused to travel, so that the position calculation means can obtain the absolute position of the unmanned vehicle on the guide path at that time. An unmanned vehicle operation system including position re-detection means. 3. The unmanned vehicle operation system according to claim 2, wherein the position re-detection unit is a re-operation control unit that controls the operation control unit so as to temporarily move the unmanned vehicle to the reference position.