JP2000330633A - Operation managing device for automatic guided vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely prevent the collision of plural automatic guided vehicles on a course while efficiently executing the operations of the automatic guided vehicles. SOLUTION: This device is provided with an intrusion limiting area setting means 16 which sets an entering liming area in a course for automatic guided vehicle traveling, one vehicle limiting area setting means 17 which sets an area where the entering of the automatic guided vehicles should be limited to one vehicle among the entering limiting areas, a moving path setting means 23 which sets the moving path of the automatic guided vehicle, a monitoring means 24 which monitors the position or the like of each automatic guided vehicle, an overlap judging means 25 which judges whether or not the overlapped part of the moving path of the automatic guided vehicle to be controlled and the moving path of another automatic guided vehicle exists in the entering limiting area, and an operation controlling means 26 which judges the permission/inhibition of the entering of the automatic guided vehicle to be controlled into the entering limiting area based on the data of those means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation management device for an automatic guided vehicle that manages a plurality of automatic guided vehicles so that they can operate on a course for traveling of the automatic guided vehicle without colliding with each other.

[0002]

2. Description of the Related Art Conventionally, in a transport system in which a plurality of automatic guided vehicles are arranged on an automatic guided vehicle traveling course, operation management for managing the automatic guided vehicles so that they can operate without colliding with each other. Various devices have been proposed.

For example, in an operation management system disclosed in Japanese Patent Application Laid-Open No. 6-208413, a plurality of automatic guided vehicles arranged on a guide line (automatic guided vehicle traveling course) communicate with a fixed station. Communication device, and a position detector for detecting a section position where the guide line is arbitrarily sectioned, and sends an inquiry signal to the fixed station when the automatic guided vehicle reaches the first section position on the guide line. A fixed station transmitting and receiving the signal determines whether or not another unmanned guided vehicle is present in a second section following the first section, and if not, sends a traveling permission signal to the unmanned guided vehicle. Send to And
The automatic guided vehicle continues to travel in response to the traveling permission signal, and stops traveling if there is no traveling permission signal.

[0004]

According to the apparatus disclosed in the above publication, if another automatic guided vehicle is present in the second section, which is an area in front of the automatic guided vehicle in the moving direction, the automatic guided vehicle is not used. The collision is avoided by stopping the running of the vehicle. However, even when there is no other automatic guided vehicle in the area ahead of the automatic guided vehicle in the moving direction, there is a possibility that a collision with another automatic guided vehicle may occur near a branch point or a junction. In addition, even if there is no other AGV on the route of the AGV on the map showing the course for the AGV, the AGV is actually relatively large and the bumper overhangs. In such a case, it may collide with another automatic guided vehicle outside the moving route. In these cases, the device disclosed in the above publication cannot reliably avoid a collision.

Therefore, an area where a collision is likely to be set in the automatic guided vehicle traveling course is set in advance, and if another automatic guided vehicle exists in this area, the automatic guided vehicle must enter the area. Although it is conceivable to reduce the possibility of collision by setting the area to be prohibited and setting the area large, it is often the case that the automatic guided vehicle stops before the area just by doing so. Therefore, there is a problem that the operation efficiency is reduced.

The applicant of the present invention has previously filed Japanese Patent Application No.
In the specification and the drawings of JP-A-310740, means for creating a map of an automatic guided vehicle traveling course by a combination of a plurality of address marks and routes between the address marks, and a division chart (top map) based on the map Means for obtaining one or more traveling routes (moving routes) from the starting point to the ending point of traveling of the automatic guided vehicle on the course, and an optimal method when a plurality of traveling routes are obtained. There is described an automatic guided vehicle traveling program creation device that has means for extracting a route and is capable of rationally creating an automated guided vehicle traveling course and a traveling route. In this device,
A waiting zone (restricted entry area) is set based on a junction, a branch point, etc. in the automatic guided vehicle traveling course, and when an unmanned guided vehicle is present in the area, other unmanned guided vehicles heading to that area are set. It is also described that a control for making the vehicle stand by is performed.

However, there is room for improvement in order to more reliably avoid the collision of the automatic guided vehicles while suppressing the decrease in the operation efficiency of each automatic guided vehicle.

The present invention has been made in view of the above circumstances, and it is possible to reliably prevent a collision of an automatic guided vehicle while enabling efficient operation of a plurality of automatic guided vehicles on an automatic guided vehicle traveling course. It is an object of the present invention to provide an operation management device for an automatic guided vehicle.

[0009]

SUMMARY OF THE INVENTION The present invention relates to an apparatus for managing a plurality of automatic guided vehicles so that they can travel on a course for traveling the automatic guided vehicles without colliding with each other. Entry-restricted area setting means for setting an entry-restricted area in which it is necessary to restrict the entry of the automatic guided vehicle in order to avoid collision in the course of the course, and only one entry of the automatic guided vehicle in the entry restricted area One-car limited area setting means for setting an area to be limited, moving path setting means for setting a moving path of an automatic guided vehicle having a designated moving destination position, and real-time communication with each automatic guided vehicle on a course. Monitoring means for monitoring the position and state of each AGV, and whether an overlapping portion of the movement route of the AGV to be controlled and the movement route of another AGV exists in the above-mentioned entry restricted area. or not Based on the duplication determination means to be determined, the current position of each unmanned guided vehicle checked by the monitoring means, and the data of the entry restricted area setting means, the one limited area setting means, and the duplication determination means, the unmanned transport to be controlled An operation control unit for determining whether to permit or prohibit the vehicle from entering the restricted area.

According to this apparatus, an area where there is a possibility of collision of the automatic guided vehicle is set as an entry restriction area, and in particular, an area where collision cannot be avoided if two or more automatic guided vehicles enter. It is an area limited to cars. And, based on the current position of each automatic guided vehicle and each data of the entry restricted area setting means, the one limited area setting means, and the duplication determination means, permitting the automatic guided vehicle to enter,
By performing the prohibition determination, the operation is controlled such that the collision of the automatic guided vehicle is reliably avoided and the automatic guided vehicle is not stopped unnecessarily.

In the present invention, the operation control means includes:
When there is another unmanned guided vehicle in the limited vehicle area, and when the moving path of the unmanned guided vehicle to be controlled in the restricted access area other than the one limited area overlaps with the moving path of the other unmanned guided vehicle It is preferable that, when another automatic guided vehicle is present, entry of the automatic guided vehicle into the area is prohibited.

With this configuration, the collision of the automatic guided vehicle is reliably avoided. And, when there is no overlap with the movement route of another automatic guided vehicle in the entrance restricted area other than the one-limited area, or when there is no other automatic guided vehicle in the overlapping part,
Since the entry of the automatic guided vehicle into the area is permitted, the automatic guided vehicle is not stopped unnecessarily, and a decrease in the operation efficiency is prevented.

[0013] The automatic guided vehicle traveling course has a number of points whose positions are specified by address marks and a traveling path connecting the points. The above-mentioned entry restricted area travels over a plurality of points. It is only necessary to include the road.

Each of the automatic guided vehicles has an obstacle sensor for detecting an obstacle present in front of the vehicle and a safety device for automatically stopping traveling in response to the detection by the obstacle sensor. The access restriction area setting means may be provided so as to set the access restriction area except for an area where a collision is avoided by the obstacle sensor and the safety device and a normal operation is secured.

With this configuration, the automatic guided vehicle does not stop in the area where the collision is avoided by the obstacle sensor and the safety device and the normal operation is ensured.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 schematically shows an unmanned transport system provided with an operation management device according to an embodiment of the present invention. In this drawing, reference numeral 1 denotes a traveling program creating device for setting a course and the like. Reference numeral 2 denotes a central control panel for performing overall control of the automatic guided vehicle system, reference numeral 3 denotes an automatic guided vehicle (AGV), and a plurality of AGVs 3 are provided on an AGV traveling course. The central control panel 2 and each AGV 3 can communicate in real time by communication means 20 and 30 such as wireless communication and optical communication. The traveling program creating device 1 and the central control panel 2 are recording media such as a floppy disk, and the traveling program creating device 1 and each AGV 3 can exchange programs by communication.

The running program creating apparatus 1 is composed of a personal computer, and has a CPU 11, input means 12 such as a keyboard and a mouse, display means 13 such as a CRT, and a memory 14. CPU 1
1 is a course creating means 15 and an access restriction area setting means 1
6 and one unit limited area setting means 17 are functionally included.

The course creating means 15 responds to an input operation by
A number of points whose positions (addresses) are specified by address marks arranged on the course display screen, a straight or curved running path connecting the points, and the AGV moving direction of each running path. Then, a map of the AGV running course is created by combining these elements, and the map is stored in the memory 14. Preferably, after such a map of the AGV running course is created, for each address mark in the course, a division is indicated by a symbol indicating the address mark and the next address mark that can be moved from that position. A map (hereinafter referred to as a "top map") is obtained, and this top map is also stored in a memory. The map of the automatic guided vehicle traveling course and the top map are described in Japanese Patent Application No. 9-310740. This is performed in the manner shown below.

The entry restriction area setting means 16 sets an entry restriction area for restricting the entry of the AGV for avoiding a collision in the course of the AGV traveling. The restricted entry area is set to include a travel path extending over a plurality of points (address marks). Further, the one-car limited area setting means 17 sets an area in which the entry of the automatic guided vehicle is limited to only one car from among the above-mentioned restricted areas.

The data (and the top map data) indicating the map of the AGV driving course are given to the central control panel 2 from the driving program creating device 1 in FIG.
The data is also sent to the GV 3, and the data of the above-mentioned entry restricted area and the one-car limited area is also sent to the central control panel 2.

The central control panel 2 is provided with the communication means 20.
, A CPU 21, a memory 22, and input means and display means (not shown). The memory 22 includes data indicating a map of an unmanned guided vehicle traveling course sent from the traveling program creation device 1. (And top map data), data of the restricted entry area and data of the one-car limited area are stored. The CPU 21 includes a moving route setting unit 2
3. It functionally includes a monitoring means 24, an overlap determination means 25, and an operation control means 26.

The travel route setting means 23 provides a travel start point (current position of the AGV) and a travel end point (travel destination position) for the AGV 3 whose travel destination position is specified by an input operation or the like.
The moving route is obtained according to As a method of obtaining the moving route, for example, one or more moving routes from the traveling start point to the traveling end point are obtained by searching the route while tracing the position indicated by the address mark based on the top map data. Further, when a plurality of moving routes are obtained, an optimum route having the shortest traveling distance or required time is extracted.

The monitoring means 24 comprises communication means 20 and 30
The position and state (running, stop, etc.) of each AGV 3 are monitored based on data transmitted in real time from each AGV 3 via the.

The duplication determining means 25 is to be controlled based on the current position of the AGV 3 monitored by the monitoring means 24, the moving route set by the moving route setting means 23, and the data of the entry restriction area. It is determined whether or not an overlapping portion of the movement route from the current position of the AGV 3 to the movement destination position and the movement route of another AGV 3 exists in the above-mentioned entry restricted area.

The operation control means 26 includes a monitoring means 24
A to be controlled based on the current position of the AGV monitored by the above, the data of the above-mentioned entry restriction area and the one-car limited area, and the data of the judgment by the above-mentioned duplication judgment means 25.
It is determined whether the GV3 is allowed to enter the restricted access area or is prohibited from entering and waits.

More specifically, another AGV is located in an area limited to one vehicle.
3 exists, and the movement route of the AGV 3 to be controlled in the entry restricted area other than the one-car limited area and another AG
When another AGV3 exists in the overlapping portion with the movement route of the V3, entry of the AGV3 into the area is prohibited, and otherwise entry of the AGV3 is permitted.

Each of the AGVs 3 includes a communication unit 30, a CPU 31, a memory 32 for storing data such as an AGV running course map and a top map downloaded from the running program creating unit 1, and an actual course. A sensor 33 for magnetically or optically reading an address mark disposed on the vehicle, and a motor 34 as a drive source for traveling or the like.

The CPU 31 detects the current position based on the reading of the address mark by the sensor 33, and transmits data such as the current position and the operating state of the AGV 3 to the central control panel 2 via the communication means 30. In response to a signal sent from the central control panel 2 to the AGV 3, control such as driving and stopping of the motor 34 is performed.

Here, specific examples of the above-mentioned AGV traveling course, the restricted entry area in this course, and the limited area for one vehicle are shown below.
This will be described with reference to FIGS. Note that the symbol marks in FIGS. 2 and 3 represent the meanings as shown in FIG.

The maps of the AGV running courses shown in FIGS. 2 and 3 include station marks 101 to 108 indicating stations for performing operations such as loading and unloading, and station address marks 201 indicating addresses of various positions on the course. To 208, general address marks 301 to 3
18. Dummy address marks 401 and 4 for spin turn
02 and dummy address marks 501 and 502 for horizontal movement
And a traveling route between each address mark.

Then, in the illustrated example, 306-201-
301-302-401-202-303-304-3
05-402-306, the orbit and the spin-turn position in this orbit, 402-203-307-
The route 401 and the route 306 branch from the position 306 in the circuit route and merge at the position 302 306-308-2.
The route of 04-309-302 and the dead end (dead end) connected to the position of 305 in the above-mentioned orbital route
5-205-310 and 501-206-311-302 extending on both sides through a part of the circuit route
-401-202-502 linear route and parallel route 501-212-208-313-314-315
-207-316-317-318-502 and a horizontal movement area (501,5) between the two straight routes.
02), an AGV running course is configured.

As the above-mentioned entry restriction area, an area where a collision problem occurs unless entry of the AGV is restricted is set. Here, the problem of collision includes not only a case where a physical collision actually occurs but also a case where AGVs interfere with each other.

More specifically, the AGV is generally provided with a safety device that detects an obstacle in front of the vehicle and automatically stops the obstacle by using an obstacle sensor. The collision of the AGV is avoided by the action of, but there is a possibility of the collision on the curve where the AGV ahead may deviate from the detection area of the obstacle sensor.
In addition, branch, merging, dead end, single-track round-trip route area,
Collision problems can also occur in lateral movement, spin turns, elevator areas, and the like.

Therefore, as shown by the bold lines in FIGS. 2 and 3, the branches (202-303, 202-502, 306-
201, 306-308, etc.), confluence (301-302, 309-302, etc.), dead end (305-205-3)
10), single-track round-trip route area (501-206-3)
11), an area having a lateral movement (501, 502), a spin turn (401, 402), a curve, or the like is an entry restriction area.

The area shown by the bold line in FIG. 2 is a normal entry restriction area, and this normal entry restriction area is an AGV.
It is automatically obtained from the conditions such as the branching and merging based on the setting of the traveling course.

On the other hand, the area shown by the bold line in FIG. 3 is a special limited area where only one AGV is allowed to enter, and this one limited area has a practical AGV shape, It is set by an input operation performed by a designer or the like in consideration of a traveling situation or the like. That is, an area is set such that a collision (or a state in which the operation of each other is hindered) cannot be avoided if two or more AGVs enter, such as a dead end (dead end) area. Further, for example, when it is assumed that one AGV is stopped at the station 105 and another AGV passes through the section 304-305, the collision does not occur because the routes do not overlap in the drawing. Although it can be seen, in the case where bumpers may collide with each other due to the relatively large size of the AGV actually used, only one area including such an area is considered in consideration of this. It is said.

FIG. 5 is a flowchart showing a specific example of control for operation management mainly performed by the central control panel 2. In the flowchart and the following description, the movement route for the AGV 3 is called a path.

When this flowchart is started, the central control panel 2 first determines, based on information sent from each AGV 3, an AGV waiting for a dispatch instruction or a waiting instruction.
Is determined (step S1), and the process ends if the determination is NO.

If the determination in step S1 is YES, a path for that AGV3 is created for an AGV waiting for a dispatch instruction or a waiting instruction (step S2). Subsequently, the first entry restricted area in the created path is searched (step S3).

Then, it is determined whether or not another AGV exists in the access restriction area, and if so, it is determined whether or not the access restriction area is a limited area for one vehicle. If the entry restriction area is a one-car limited area, the determinations in steps S4 and S5 are performed for a series of one-car limited areas covering not only the part inside the path but also the part outside the path connected to the part. Do. In other words, in the case of the one-car limited area, if another AGV exists in a series of one-car limited areas connected to the portion inside the pass, even if it is outside the pass, step S
4 and S5 are both YES.

If the restricted area is not a limited area, the own vehicle (target AGV) in the restricted area
Pass and other vehicles (other AG existing in the above-mentioned approach area)
It is determined whether or not the path V) overlaps (step S)
6). If the paths overlap, it is determined whether or not the other AGV has passed through the area where the paths in the entry restricted area overlap with each other (step S7).

Based on the determinations in steps S4 to S7,
If another AGV exists in the one-car limited area (steps S4 and S5 are YES), or the own-vehicle path overlaps with the other-car path in the restricted access area, which is not the one-car limited area, and the overlap If another AGV has not passed through the area yet (NO in step S5, YES in step S6, NO in step S7), the process shifts to step S8 to prohibit entry into the entry restricted area.

On the other hand, if another AGV
Does not exist (NO in step S4), or even if there is another AGV in the restricted area, the restricted area is not limited to one vehicle, and the own vehicle path and the other path are limited in the restricted area. If the car path does not overlap (step S4
Is YES, step S5 is NO, step S6 is NO)
Then, the process proceeds to step S9, and a signal for permitting entry into the entry restriction area is output to the target AGV.
If the own vehicle path and the other vehicle path overlap in the entry restricted area and another AGV passes through the overlap area (YES in step S7), the process also proceeds to step S9, and the entry restricted area is moved. A signal that permits entry into the vehicle is output to the target AGV.

If entry is permitted and the target AGV is waiting for a dispatch instruction, dispatch processing is performed (step S).
10).

The above control will be described with reference to some specific examples. (Specific Example 1) FIG. 6 shows a specific example 1, in which the AG
1st car 3A and 2nd car 3B of AGV on V course
Exists. The first car 3A has the station 105 as a destination, and is in a state of waiting for entry permission at the position of the address mark 301 on the way to the destination. On the other hand, the second car 3B completes the transfer processing of the conveyed goods at the station 107, and is in a state of requesting the next conveyance instruction, that is, a state of waiting for the vehicle allocation instruction. Also, the central control panel 2
The next transfer instruction to the second car 3B of the GV is prepared for the station 105.

Focusing on the first car 3A in this situation, FIG.
The path of the first car 3A created in step S2 in the flowchart of the above is 301-302-401-202-303.
−304−305−205. The first entry restricted area in this path is 301-302-401.
−202-303 (see FIG. 2).

Since the second car 3B has not received a dispatch instruction yet, it is stopped at the position 207 corresponding to the station 107, and no other AGV exists in the first restricted area of the pass of the first car 3A. . Therefore, the determination in step S4 in the flowchart is NO, and the process proceeds to step S9, where an entry permission signal is transmitted to the first car 3A. The first car 3A receives this signal and starts running.

Thereafter, the central control unit 2 completes the preparation for the transfer instruction for the second car 3B and executes the vehicle allocation processing.

At this stage, focusing on the second car 3B, the path is 207-316-317-318-502-20.
2-303-304-305-205. And
The first restricted area on this pass is 207-31
6-317-318-502-202-303 (see FIG. 2).

The restricted area of the second car 3B and another A
The entry restricted area of the first car 3A, which is a GV, is 202-
303 overlaps. Therefore, the determination in step S6 in the flowchart is YES, and the dispatch instruction to the second car 3B is interrupted until the first car passes this overlapping area. Thereafter, when it is confirmed that the first car 3A has passed through the overlapping area, YES in step S7.
By the processing of steps S8 and S9 based on the determination of the above, the vehicle allocation processing to the second car 3B is restarted, and the traveling of the second car 3B is started.

As described above, in a situation where the destination directions of the AGVs 3A and 3B are the same and the paths overlap, and there is a possibility that the AGVs 3A and 3B may enter the overlapping area at the same time, entry permission is given to only one AGV, and The entry permission and the vehicle allocation timing are adjusted such that the entry permission is given to the other AGV after one of the AGVs passes through the overlapping area, so that the collision of the AGVs is reliably avoided. (Specific Example 2) FIG. In this example, AG
1st car 3A and 2nd car 3B of AGV on V course
And the first car 3A is stopped at the position of the address mark 206 because the car is being transferred at the station 106. The first car has not been given a transfer instruction, so there is no pass. On the other hand, the second car 3B has the station 102 as a destination, and on the way to the destination, the address mark 30
It is in a state of waiting for entry permission at position 1.

Focusing on the second car 3B in this situation, the path is 301-302-401-202. The first entry restricted area in this path is 301-302-401-202 over the entire path (see FIG. 2).

Now, the first car 3A is located at the position 206,
There is no overlap of paths with other AGVs in the restricted area of the car 3B. Therefore, an entry permission signal is output to the second car 3B, and the traveling of the second car 3B is started. (Specific Example 3) FIG. 8 shows a specific example 3, in which the AG
AGV's first car 3A, second car 3B,
There is a third car 3C and a fourth car 3D. Since the first car 3A is being transferred at the station 105, the address mark 205
It is stopped at the location. Car 2 3B is station 1
01 is a destination, and on the way to the destination, the vehicle is waiting for entry permission at the position of the address mark 304. In addition, car 3C is stopped at the position of the address mark 206 because the car is being transferred at the station 106, and car 4D is permitted at the position of the address mark 309 on the way to the destination with the station 102 as the destination. You are waiting.

Focusing on the second car 3B in this situation, the path is 304-305-402-306-201. And the first restricted area in this pass is 30
4-305-402-306 (see FIG. 2).

Here, the current position address of the first car 3A is 205 and does not exist in the path of the second car 3B, but the above-mentioned entry restricted area in the path of the second car 3B is registered in the one-car limited area. As the one-unit limited area, in addition to the above-described portion extending from 304 to 305 to 402-306, the following portions 305 to 205 to 310 and 402 to 203 are included in the same area (FIG. 3).
reference). Since the first car 3A exists in the one-car limited area including these parts, the first car 3A is moved from this area.
Until the vehicle disappears, no entry permission signal is given to the second car 3B, and the state where the second car 3B is stopped at the position of the address mark 304 is maintained.

As described above, even if no other AGV exists in the path of the target AGV, the second car 3B, the other AGV ( If the first car 3A) exists, the second car 3
If B enters the one-car limited area in the pass, there is a possibility that the first car 3A and the bumper collide, so the entry permission timing for the second car 3B is delayed until the first car 3A disappears from this area. You.

In other words, if there is a possibility that a plurality of AGVs may actually collide even if it seems that a collision does not occur simply by searching for the moving route of each AGV, a limited area for one AGV is set in advance. If it is set, the collision is reliably avoided by adjusting the timing of permitting the entry of the AGV so that two or more AGVs do not enter the area.

The specific configuration and control method of the apparatus of the present invention are not limited to the above-described embodiment, but can be variously changed.

For example, it is assumed that the data of the AGV traveling course and the top map also include the distance and traveling speed data of all the routes in advance, and the own vehicle path in the entry restricted area and other data in the flowchart of FIG. When examining the overlap with the car path, it is also possible to estimate the time when the vehicle passes through the overlap area, and to permit entry if the time is shifted between the own vehicle and another vehicle. In this way, the operation efficiency is further improved.

Further, the AGV running course, the entry restriction area within the course, and the limited area for one vehicle are not limited to those shown in FIGS. 2 and 3, but may be changed as appropriate.

[0061]

As described above, according to the present invention, an entry-restricted area for restricting the entry of an automatic guided vehicle in an automatic guided vehicle traveling course, and the entry of the automated guided vehicle is limited to one vehicle among them. A limited area is set in advance, the current position of each AGV is checked, and the overlapping area between the movement path of the AGV to be controlled and the movement path of the other AGVs is within the entry restricted area. Is determined, and based on these data, whether or not the unmanned guided vehicle to be controlled is allowed to enter the restricted entry area. For this reason, it is possible to surely avoid the collision of the automatic guided vehicle and to control the operation so that the automatic guided vehicle is not stopped unnecessarily, so that each automatic guided vehicle can be operated smoothly and efficiently.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of the apparatus of the present invention.

FIG. 2 is an explanatory diagram showing an automatic guided vehicle traveling course and an entry restricted area in the course.

FIG. 3 is an explanatory diagram showing an area limited to one vehicle in an automatic guided vehicle traveling course.

FIG. 4 is a table showing the meanings of the symbol marks in FIGS. 2 and 3;

FIG. 5 is a flowchart illustrating an example of control for operation management.

FIG. 6 is an explanatory diagram showing a specific example 1 for specifically explaining the above control.

FIG. 7 is an explanatory diagram showing a specific example 2;

FIG. 8 is an explanatory diagram showing a specific example 3;

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 travel program creation device 2 central control panel 3 automatic guided vehicle 15 course creation means 16 approach area setting means 17 one-unit limited area setting means 23 travel route setting means 24 monitoring means 25 duplication determination means 26 operation control means 20, 30 communication means

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Tadayoshi Takayama 3-1 Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda Plantech Co., Ltd. F-term (reference) 5H301 AA02 AA09 BB05 CC03 CC06 DD01 DD07 DD17 EE03 EE12 EE18 FF02 FF05 FF11 FF16 FF18 FF23 GG07 HH01 HH10 KK02 KK03 KK04 KK07 KK18 KK19 LL03 LL04 LL06 LL08 LL12

Claims (4)

[Claims] An apparatus for managing a plurality of automatic guided vehicles so that they can operate on a course for traveling of an automatic guided vehicle without colliding with each other. Entry restriction area setting means for setting an entry restriction area in which entry of the automatic guided vehicle must be restricted, and setting an area in which the entry of the automatic guided vehicle is limited to only one of the entry restriction areas. Vehicle-limited area setting means, moving path setting means for setting the moving path of the automatic guided vehicle whose moving destination position is specified, and real-time communication with each automatic guided vehicle on the course, Monitoring means for monitoring the state; and overlap determining means for determining whether or not an overlapping portion of the movement path of the automatic guided vehicle to be controlled and the movement path of another automatic guided vehicle is present in the above-mentioned entry restricted area. Based on the current position of each automatic guided vehicle checked by the monitoring means and the data of the entry restricted area setting means, the single vehicle limited area setting means, and the duplication determination means, entry control is performed for the automatic guided vehicle to be controlled. An operation management device for an automatic guided vehicle, comprising: operation control means for determining whether to permit or prohibit entry into an area. 2. The operation control means according to claim 1, wherein another unmanned guided vehicle is present in the one-car limited area, and the movement route of the unmanned guided vehicle to be controlled in the restricted access area other than the one-car limited area. 2. An automatic guided vehicle is prohibited from entering the area when another automatic guided vehicle is present in an overlapping portion with the moving path of the automatic guided vehicle. Operation management control device for automatic guided vehicles. 3. The automatic guided vehicle traveling course has a number of points whose positions are specified by address marks and a traveling path connecting the points, and the entry restricted area travels over a plurality of points. The operation management control device for an automatic guided vehicle according to claim 1 or 2, wherein the operation management control device includes a road. 4. An automatic guided vehicle includes an obstacle sensor for detecting an obstacle present in front of the automatic guided vehicle, and a safety device for automatically stopping traveling in response to the detection by the obstacle sensor. Equipped, the above-mentioned entry restriction area setting means,
The automatic guided vehicle according to any one of claims 1 to 3, wherein an entry restricted area is set except for an area where a normal operation is secured by avoiding a collision by the obstacle sensor and the safety device. Operation management control device.