JP2001125639A - Travel condition setting device for automated guided vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily set and change travel conditions of an automated guided vehicle. SOLUTION: Identification information for uniquely specifying respective unmanned carriages, travel speeds at respective addresses, stop positions of various operations, the sensitivity of an obstacle sensor for detecting an obstacle at the periphery of an automated guided vehicle 26, the position of the vehicle 26 on a travel path, etc., can be set by operating a touch panel 26g mounted on the vehicle 26 traveling along the travel path given the addresses and then travel conditions can be set and altered without modifying a ladder program wherein the travel conditions of the vehicles 26 are described.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling condition setting device for an automatic guided vehicle, and more particularly to a technique for easily setting and changing traveling conditions.

[0002]

2. Description of the Related Art In recent years, in a product manufacturing factory or the like, the transfer of parts and the like is performed by automated guided vehicles (Automated Guided Vehicles;
AGV). The automatic guided vehicle travels by a traveling electric motor while being guided by a guideway provided on a floor, using a mounted storage battery as a drive source. An address for specifying the current position of the automatic guided vehicle is attached to the taxiway.

By the way, as conditions necessary for the traveling of the automatic guided vehicle, it is necessary to set a traveling speed at each address, a current position, conditions for detecting an obstacle on a traveling course, and the like.
For this reason, in the related art, the setting of the traveling conditions is performed by a ladder program that describes the sequence control contents of the programmable controller mounted on the automatic guided vehicle.

[0004]

However, when the traveling course of the automatic guided vehicle is changed, the ladder program has to be changed in the prior art even if the change is small. Rewriting of the ladder program is impossible only by those who have specialized knowledge, and it was not possible to flexibly cope with the addition or modification of the system.

[0005] In view of the above problems, the present invention provides a traveling system in which traveling conditions of an automatic guided vehicle can be easily set and changed without changing a ladder program describing the contents of sequence control. It is an object to provide a condition setting device.

[0006]

According to a first aspect of the present invention, there is provided a travel speed setting means for setting a travel speed at each address in a travel route to which a plurality of addresses are assigned; A stop position setting means for setting the vehicle to stop at an address, and a traveling condition setting device for the automatic guided vehicle, comprising: a traveling speed setting means and a stationary position setting means, provided in the automatic guided vehicle. The driving speed and the stop position can be set by operating the touch panel provided.

With this configuration, the traveling speed and the stop position at each address on the traveling route are set through the traveling speed setting means and the stop position setting means by operating the touch panel provided on the automatic guided vehicle. You. In this case, since the setting of the traveling condition can be performed only by operating the touch panel, it is not necessary to change the ladder program describing the traveling condition of the automatic guided vehicle, and no special knowledge about the ladder program is required. Also, an editing device for the ladder program is not required.

According to a second aspect of the present invention, an obstacle detecting means for detecting an obstacle around the automatic guided vehicle and an obstacle detecting means at each address in the traveling route by operating the touch panel. And a detection sensitivity setting means for setting the obstacle detection sensitivity.

According to this configuration, for example, the obstacle detection sensitivity can be reduced only by operating the touch panel so as not to detect an object having no possibility of contact at the corner of the traveling route. The running conditions according to the running state of are easily set.

According to a third aspect of the present invention, there is provided an identification information setting means for setting identification information for uniquely specifying the automatic guided vehicle, and an own vehicle position setting means for setting an address of the own vehicle position on the traveling route. Wherein the identification information setting means and the vehicle position setting means are configured to be able to set the identification information and the vehicle position, respectively, by operating the touch panel. I do.

According to this configuration, for example, when the operation control of the automatic guided vehicle is performed by the centralized control panel, the identification information for uniquely identifying the automatic guided vehicle may be set by the identification information setting means. Further, for example, when a new automatic guided vehicle is added to the traveling route, the address of the own vehicle position on the traveling route may be set by the own vehicle position setting means. Thus, by providing the identification information setting means and / or the vehicle position setting means, it is possible to easily cope with a change in the production system or the like using the automatic guided vehicle.

The invention according to claim 4 is characterized in that a brake release means for forcibly releasing the brake of the automatic guided vehicle by operating the touch panel is provided.

According to this configuration, for example, if a trouble occurs in the automatic guided vehicle and it becomes impossible to travel by itself, the brake of the automatic guided vehicle is forcibly released by the brake release means, and the worker can be automatically guided. You only have to push the car off the running route. Therefore, even if a trouble occurs in the automatic guided vehicle, the automatic guided vehicle can be quickly moved off the traveling route, and the deviation of the production plan can be minimized.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the attached drawings. FIG. 1 shows a layout of an engine assembly line constructed by using a plurality of automatic guided vehicles.

The engine assembly line includes an engine loading step 10, an MRG loading step 12, an MRG loading step 14, a standby step 16, a working step 18, and an engine unloading step 20.

Engine loading process 10, MRG loading process 1
2. In the MRG loading step 14 and the engine unloading step 20, the engine or its components are lowered from the AGV to another process (not shown), or the engine assembled in another process is loaded into the AGV. Is performed. The standby process 16 is a process that includes three processes 16a to 16c and adjusts the number of automatic guided vehicles entering the work process 18, which is a subsequent process. The work process 18 includes five processes 18a to 18e, and is a process in which an operator actually performs an engine assembling work. In addition,
In the work process 18, the automatic guided vehicle is used as a work table.

On the floor of the factory, the traveling path of the automatic guided vehicle is connected to the engine loading step 10, the MRG loading step 12, the MRG loading step 14, the standby step 16, the working step 18 and the engine loading step 20. Is buried in a loop. Examples of the guide path 22 include a guide wire used in an electromagnetic induction system, a route tape used in an optical induction system, and a magnetic material used in a magnetic tape system. In the present embodiment, the magnetic tape guiding system is adopted in consideration of the fact that the floor surface is contaminated with oil or the like and heavy objects are conveyed. A magnetic tape (not shown) representing an “address” for specifying the current position of the automatic guided vehicle is embedded on the floor along the taxiway 22.

Further, the engine assembly line is provided with a central control panel 24 for centrally controlling the operation of the automatic guided vehicle. The central control panel 24, as shown in FIG.
A configuration including a wireless transceiver 24a for wirelessly transmitting and receiving control commands and the like to and from the automatic guided vehicle 26, a programmable controller 24b having a built-in microcomputer, and a monitor 24c for displaying an operation state and the like of an engine assembly line. Is done.

The taxiway 2 buried on the floor of the factory
An automatic guided vehicle 26 as shown in FIG. The automatic guided vehicle 26 includes a guide sensor 26a for detecting the guide path 22, an address sensor 26b for detecting the address,
Bumper switch 2 that senses the contact of workers etc.
6c, an obstacle sensor 26d (obstacle detection means) provided on the left and right in front of the vehicle to sense an obstacle ahead, and a wireless transceiver 26e for wirelessly transmitting and receiving control commands and the like between the central control panel 24 And the programmable controller 26f
And a touch panel 26g. The programmable controller 26f includes a guide sensor 26a,
Based on a control command and the like received by the address sensor 26b, the bumper switch 26c, the obstacle sensor 26d, and the wireless transceiver 26e, the traveling control and the like of the automatic guided vehicle 26 are performed according to a ladder program stored in the memory. The touch panel 26g provides a function of displaying various screens to be described later and setting various traveling conditions of the automatic guided vehicle 26 while checking the screen on the screen.

The programmable controller 26f mounted on the automatic guided vehicle 26 and the touch panel 26g cooperate to form a traveling speed setting means, a stop position setting means, a detection sensitivity setting means, an identification information setting means, an own vehicle position setting. Means and brake release means are realized.

Next, the touch panel 26 of the automatic guided vehicle 26
The details of setting various driving conditions using g will be described in detail below. FIG. 3 shows a hierarchical structure of a screen displayed on the touch panel 26g of the automatic guided vehicle 26.

When the automatic guided vehicle 26 is started, a main menu 30 as shown in FIG. 4 is displayed. The main menu 30 includes a "remaining battery" button 30a, a "various setting" button 30b, and a "brake release" button 30c.
"Signal list" button 30d and "lamp check"
It is configured to include a button 30e and an "alarm display" button 30f.

When the "remaining battery" button 30a is pressed in the main menu 30, a remaining battery display screen 32 as shown in FIG. 5 is displayed. The battery remaining amount display screen 32 displays the remaining amount of the battery mounted on the automatic guided vehicle 26, and includes a car display unit 32a, a battery remaining amount display unit 32b, and a "menu" button 32c. You. The car display section 32a displays a car number for identifying each of the automatic guided vehicles 26 in the engine assembly line. Here, the car number is the central management board 2
This information is indispensable for wirelessly transmitting and receiving control commands and the like between the automatic transmission 4 and the plurality of automatic guided vehicles 26. The battery terminal voltage display section 32b displays the voltage between the battery terminals divided into five. By displaying the remaining battery level in this way, the remaining battery level can be confirmed reliably and easily. Then, when the confirmation of the remaining battery level is completed, the user presses the “menu” button 32c to display FIG.
Return to the main menu 30 shown in FIG.

In the main menu 30, "various settings"
When the button 30b is pressed, various setting screens 34 as shown in FIG. 6 are displayed. The various setting screens 34 provide a function of selecting setting items, and include a “car setting” button 34a,
"Address setting" button 34b and "Speed setting" button 34
c, "address condition setting" button 34d, and "running state"
A button 34e, a "fault sensor sensitivity" button 34f,
It includes a “completion setting” button 34g, a “station setting” button 34h, a “line participation” button 34i, and a “menu” button 34j.

When the "car setting" button 34a is pressed on the various setting screens 34, a car setting screen 36 as shown in FIG. 7 is displayed. The car setting screen 36 provides a function of setting a "car number", which is identification information for uniquely identifying each unmanned guided vehicle 26, in order to enable wireless communication with the central control panel 24. The function provided by the car setting screen 36 corresponds to an identification information setting unit. The car setting screen 36 includes a current value display section 36a, a set value display section 36b, a numeric keypad 36c, and a "write" button 36d.
And a "previous screen" button 36e.
The current value display section 36a displays the currently set car number, while the set value display section 36b displays the car number input via the numeric keypad 36c. When setting the car number, the following is performed.

(1) The operation mode of the automatic guided vehicle 26 is set to be independent. (2) Enter the number of the car to be set using the numeric keypad 36c. Here, the input car number is displayed on the set value display section 36b.

(3) Press the "write" button 36d. Here, the car number is actually set based on the car number displayed on the set value display section 36b, and the set car number is displayed on the current value display section 36a. That is, the numeric keypad 36
Only by inputting the car number from c, the setting of the car number is not completed, but is completed only by pressing the "write" button 36d.

When the "previous screen" button 36e is pressed on the car setting screen 36, the screen returns to the upper hierarchy screen, that is, the various setting screens 34 shown in FIG. When the "address setting" button 34b is pressed on the various setting screens 34,
An address setting screen 38 as shown in FIG. 8 is displayed. The address setting screen 38 displays, for example, the automatic guided vehicle 2 due to noise or the like.
When the current address of No. 6 is deleted, a function of forcibly setting the position of the own vehicle is provided. The function provided by the address setting screen 38 corresponds to the vehicle position setting means. The address setting screen 38 includes a current value display section 38a, a set value display section 38b, a numeric keypad 38c, a "address data clear" button 38d, a "write" button 38e, and a "previous screen" button 38f. It is comprised including. Current value display section 38
In a, the currently set address is displayed, while on the set value display section 38b, the address input via the numeric keypad 38c is displayed. When setting an address, the following is performed.

(1) The operation mode of the automatic guided vehicle 26 is made independent. (2) Enter the address to be set using the numeric keypad 38c. Here, the input address is the set value display section 38b.
Will be displayed.

(3) Press the "write" button 38e. Here, the address is actually set based on the address displayed on the set value display section 38b, and the set address is displayed on the current value display section 38a. That is, similar to setting the car number,
The address setting is not completed only by inputting the address from the numeric keypad 38c, but is completed only by pressing the "write" button 38e.

When the "previous screen" button 38f is pressed on the address setting screen 38, the screen returns to the upper hierarchy screen, that is, the various setting screens 34 shown in FIG. The "address data clear" button 38d is pressed when address data is cleared to zero.

When the "speed setting" button 34c is pressed on the various setting screens 34, a speed setting screen 40 as shown in FIG. 9 is displayed. The speed setting screen 40 has a function of setting the traveling speed of the automatic guided vehicle 26 at each address, and
A function of disabling the obstacle sensor 26d as necessary is provided. The function provided by the speed setting screen 40 corresponds to a part of the traveling speed setting means and the detection sensitivity setting means. The speed setting screen 40 includes a digital switch 40a for inputting an address, a current value display section 40b, a set value display section 40c, a numeric keypad 40d, and a "write" button 40e.
, An obstacle sensor invalid setting section 40f, and a “previous screen” button 40g. Current value display section 40b
Displays the currently set traveling speed at the address set in the digital switch 40a (hereinafter referred to as the "set address"), while the set value display section 40c inputs the set address via the numeric keypad 40d. The displayed traveling speed is displayed. When setting the traveling speed, the following is performed.

(1) The operation mode of the automatic guided vehicle 26 is made independent. (2) The address at which the traveling speed is to be set is input by the digital switch 40a.

(3) The running speed is input from the numeric keypad 40d. (4) Press the "write" button 40e. Here, the travel speed is actually set based on the travel speed displayed on the set value display section 40c, and the set travel speed is displayed on the current value display section 4c.
0b. That is, similarly to the setting of the car number, the setting of the traveling speed is not completed only by inputting the traveling speed from the numeric keypad 40d, but is completed only by pressing the "write" button 40e.

On the other hand, when disabling the obstacle sensor 26d, the following is performed. (1) The operation mode of the automatic guided vehicle 26 is made independent. (2) Obstacle sensor 26d by digital switch 40a
Enter the address to disable.

(3) In the obstacle sensor invalidation setting section 40f, an "L" or "R" button representing an obstacle sensor to be invalidated is pressed. Then, the button flashes. (4) When the set address approaches the corner, press the "corner" button. Then, the button flashes.

(5) When stopping the setting of the obstacle sensor or the corner, the blinking button and the "CAN" button are simultaneously pressed for a predetermined time (for example, three seconds). In the speed setting screen 40, a “previous screen” button 40g
When the button is pressed, the screen returns to the upper layer screen, that is, the various setting screen 34 shown in FIG.

When the "address condition setting" button 34d is pressed on the various setting screens 34, an address condition setting screen 42 as shown in FIG. 10 is displayed. Address condition setting screen 4
Reference numeral 2 provides a function of associating an address with a process, for example, stopping the automatic guided vehicle 26 at each process, or easily coping with an addition or change of an address. The function provided by the address condition setting screen 42 corresponds to a stop position setting unit. Address condition setting screen 4
2 includes a digital switch 42a for inputting an address, a process setting section 42b, an area setting section 42c, a "clear" button 42d, a "register" button 42e, and a "previous screen" button 42f. Is done. Here, in the process setting section 42b, a corresponding process is set for the set address, and whether or not the automatic guided vehicle 26 is stopped at the set address is set. The area setting unit 42
c, the automatic guided vehicle 26 in a predetermined section of the taxiway 22
For the control of the number of sections for controlling the number of seats, an area obtained by dividing the guideway 22 into a predetermined number is set for the set address. When associating an address with a process, the following is performed.

(1) The operation mode of the automatic guided vehicle 26 is made independent. (2) Input an address for which an address condition is to be set by the digital switch 42a.

(3) While pressing the "register" button 42e,
Each process button and stop position button in the process setting section 42b and each area button in the area setting section 42c are pressed. Then, the button flashes.

(4) To cancel the setting, click "Clear"
The button 42d and the stop button are simultaneously pressed for a predetermined time (for example, 3 seconds). When the "previous screen" button 42f is pressed on the address condition setting screen 42, the screen returns to the upper layer screen, that is, the various setting screens 34 shown in FIG.

When the "running state" button 34e is pressed on the various setting screens 34, a running state display screen 44 as shown in FIG. 11 is displayed. The driving state display screen 44 is
A function of displaying the traveling state of the automatic guided vehicle 26 at the time when the "traveling state" button 34e is pressed is provided, and an address display section 44a, a traveling speed display section 44b, an obstacle sensor setting condition display section 44c, Start time remaining display section 44d
And a "previous screen" button 44e.
Here, when the automatic guided vehicle 26 is in each work process, the remaining time of the tact time is displayed in the next start remaining time display section 44d. Then, when the "previous screen" button 44e is pressed, the screen returns to the upper layer screen, that is, the various setting screens 34 shown in FIG.

When the "obstruction sensor sensitivity" button 34f is pressed on the various setting screens 34, an obstacle sensor sensitivity setting screen 46 as shown in FIG. 12 is displayed. Note that the function provided by the obstacle sensor sensitivity setting screen 46 corresponds to a part of the detection sensitivity setting function. The obstacle sensor sensitivity setting screen 46 provides a function of setting the sensitivity of the obstacle sensor 26d of the automatic guided vehicle 26 at each address.
When the automatic guided vehicles 26 are connected, the interval between the vehicles is adjusted. The obstacle sensor sensitivity setting screen 46 includes a digital switch 46a for inputting an address and a sensitivity setting section 46b.
, "Clear" button 46c, and "Previous screen" button 46
d. And the obstacle sensor 26
When setting the sensitivity of d, the following is performed.

(1) The operation mode of the automatic guided vehicle 26 is made independent. (2) Obstacle sensor 26d by digital switch 46a
Enter the address for which you want to set the sensitivity.

(3) The sensitivity setting section 46b sets the sensitivity of the obstacle sensor 26d. Here, the obstacle sensor 2
The sensitivity of 6d is set by, for example, pressing a sensitivity button displayed in six steps as shown in the figure. Then, the sensitivity button blinks.

(4) To change or cancel the setting of the obstacle sensor sensitivity, simultaneously press the "clear" button 46c and the blinking button for a predetermined time (for example, three seconds). In the obstacle sensor sensitivity setting screen 46, the “previous screen” is displayed.
When the button 46d is pressed, the screen returns to the upper layer screen, that is, the various setting screen 34 shown in FIG.

When the "completion setting" button 34g is pressed on the various setting screens 34, a work completion screen 48 as shown in FIG. 13 is displayed. The work completion screen 48 is, for example,
When maintenance and work delays occur during automatic operation, a function is provided for forcibly completing the work at the stop position of the automatic guided vehicle and starting the automatic guided vehicle. The work completion screen 48 includes an address display section 48a, a work completion lamp 48b, a “RESET” button 48c,
"SET" button 48d and "Menu" button 48e
And is comprised. The address indicating the current position of the automatic guided vehicle 26 is displayed on the address display section 48a. Then, when the work is completed, the following is performed.

(1) It is confirmed that the automatic guided vehicle 26 stops and the work is completed. (2) The operation mode of the automatic guided vehicle 26 is set to be independent. (3) Press the "SET" button 48d. Then, the work completion lamp 48b is turned on.

(4) To forcibly reset the work completion, press the "RESET" button 48c. Then, the work completion lamp 48b turns off. Work completion screen 4
When the "previous screen" button 48e is pressed in step 8, the screen returns to the upper layer screen, that is, the various setting screen 34 shown in FIG.

When the "station setting" button 34h is pressed on the various setting screens 34, a station setting screen 50 as shown in FIG. 14 is displayed. The station setting screen 50 has a function of performing information setting for operation control corresponding to a work delay in cooperation with the centralized control panel 24 in view of the fact that the automatic guided vehicle 26 is operated while traveling in the work process 18. provide.

That is, in the related art, when a work delay occurs in the work process 18, the state is determined by the obstacle sensor 26d, and the automatic guided vehicle 26 is stopped by connecting beads. However, when such a state occurs, there is a problem that traffic of another work vehicle or the like is obstructed and production efficiency is reduced.

On the other hand, in the centralized control panel 24, the number of sections is controlled by setting areas where the guideway 22 is divided into predetermined sections and controlling the number of automatic guided vehicles 26 that can be enrolled in each area. Therefore, in order to exchange information with the centralized control panel 24 and confirm that the automatic guided vehicle 26 is not present in the preceding process, a station number for specifying where the automatic guided vehicle 26 is on the guide path 22 is set. I set it. That is, the station number is information for associating the position of the automatic guided vehicle 26 with the address.

The station setting screen 50 includes a digital switch 50a for inputting an address and a registered value display section 50b.
, Set value display section 50c, current value display section 50d, numeric keypad 50e, "write" button 50f, "previous screen"
And a button 50g. Registered value display 5
0b displays the station number registered at the set address set by the digital switch 50a, while the set value display section 50c displays the station number input via the numeric keypad 50e at the set address. You. Further, the current station number where the automatic guided vehicle 26 is located is displayed on the current value display section 50d.
When setting a station number, the following is performed.

(1) The operation mode of the automatic guided vehicle 26 is made independent. (2) Input the address to which the station number is to be set by the digital switch 50a.

(3) Input the station number from the numeric keypad 50e. (4) Press the "write" button 50f. Here, the station number is actually registered based on the station number displayed on the set value display section 50c, and the set station number is displayed on the registered value display section 50b. That is, similarly to the setting of the car number, the registration of the station number is not completed only by inputting the station number from the numeric keypad 50e, but is completed only by pressing the "write" button 50f.

When the "previous screen" button 50g is pressed on the station setting screen 50, the screen returns to the upper layer screen, that is, the various setting screens 34 shown in FIG. When the "line participation" button 34i is pressed on the various setting screens 34, the centralized line operation setting screen 5 as shown in FIG.
2 is displayed. The centralized line operation setting screen 52 provides a function for setting whether to automatically operate each automatic guided vehicle 26 according to an instruction from the centralized control panel 24 or to invalidate the instruction from the centralized control panel 24. The function of invalidating the instruction from the central control panel 24 is indispensable when the vehicle is removed from the engine assembly line in order to repair the automatic guided vehicle 26, for example. Centralized line operation setting screen 5
2 includes a “participation” button 52 a and a “non-participation” button 52
b and a “menu” button 52c. Then, when setting participation / non-participation in the line, the following is performed.

(1) The operation mode of the automatic guided vehicle 26 is made independent. (2) When participating in the line, the "participation" button 52a
push. Then, the "participation" button 52a lights up.

(3) If the user deviates from the line, the "non-participation" button 52b is pressed. Then, the "join" button 52
a is turned off, and the "non-participation" button 52b is turned on. In the centralized line operation setting screen 52, "Menu"
When the button 52c is pressed, the display returns to the main menu 30 shown in FIG.

When the "menu" button 34j is pressed on the various setting screens 34, the main menu 3 shown in FIG.
Return to 0. When the "brake release" button 30c is pressed in the main menu 30, a brake release screen 54 as shown in FIG. 16 is displayed. Brake release screen 5
4 provides a function of forcibly releasing the brake so that, when a trouble occurs in the automatic guided vehicle 26 and the vehicle becomes unable to travel, for example, it is manually pushed out of the line. The function provided by the brake release screen 54 corresponds to a brake release unit. The brake release screen 54
"Cancel" button 54a and "Menu" button 54b
And is comprised. When the brake is forcibly released, the following is performed.

(1) The operation mode of the automatic guided vehicle 26 is set to
Operation preparation "On", all home position state. (2) Press the "cancel" button 54a.

When the "menu" button 54b is pressed, the display returns to the main menu 30 shown in FIG. When the "signal list" button 30d is pressed in the main menu 30, a signal list screen 56 as shown in FIG. 17 is displayed. The signal list screen 56 displays the central control panel 2 via wireless.
And a function of displaying various signals from the control unit 4, input states of various sensors, and output signals of the automatic guided vehicle 26. The signal list screen 56 includes an “OTR signal” button 56a, a “wireless signal” button 56b, an “input signal” button 56c,
It is configured to include an “AGV status signal” button 56d and a “menu” button 56e. By pressing each button, disconnection or wireless signal / sensor ON / OFF
Etc. can be easily confirmed.

When the "menu" button 56e is pressed, the display returns to the main menu 30 shown in FIG. When the "lamp check" button 30e is pressed in the main menu 30, the indicator light provided on the control panel of the automatic guided vehicle 26 is turned on, and a lamp check such as whether the lamp is turned off can be performed.

When an "alarm display" button 30f is pressed on the main menu 30, an alarm history screen 58 as shown in FIG. 18 is displayed. Alarm history screen 5
8 shows the contents of the abnormality that occurred during the operation of the automatic guided vehicle 26,
Provides a function to display the date and time of occurrence in a history format. As the contents of the abnormality, a battery abnormality, an I / O error, a front derailment, an emergency stop, a low battery capacity, a bumper switch operation, a wireless communication abnormality, an abnormal stop, and the like are displayed. The alarm history screen 58 is configured to include an alarm history display section 58a and a “menu” button 58b. In the alarm history display section 58a, the content of the abnormality is displayed together with the date and time of occurrence.

When the "menu" button 58b is pressed, the display returns to the main menu 30 shown in FIG. According to the traveling condition setting apparatus described above, the operator can operate the automatic guided vehicle 26 on the touch panel 26g without changing the ladder program describing the sequence control content of the programmer controller 26f mounted on the automatic guided vehicle 26.
Can be set and changed. This eliminates the need for a ladder program editing device,
Various running conditions of the automatic guided vehicle 26 can be set and changed only by operating the touch panel 26g without any specialized knowledge regarding the ladder program. In addition, since it is easy to set and change various running conditions, it is possible to flexibly cope with expansion and remodeling according to needs of a production system using an automatic guided vehicle.

[0065]

As described above, according to the first aspect of the present invention, the driving conditions can be easily set only by operating the touch panel without changing the ladder program describing the driving conditions of the automatic guided vehicle. can do. For this reason, it is possible to flexibly cope with expansion and remodeling according to the needs of the production system using the automatic guided vehicle.

According to the second aspect of the present invention, the obstacle detection sensitivity can be increased / decreased only by operating the touch panel, so that it is possible to easily set a traveling condition corresponding to an actual traveling state.

According to the third aspect of the invention, it is possible to easily cope with a change in a production system or the like using an automatic guided vehicle. According to the fourth aspect of the present invention, even if a trouble occurs in the automatic guided vehicle, the automatic guided vehicle can be quickly moved off the traveling route, and the deviation of the production plan can be minimized.

[Brief description of the drawings]

FIG. 1 is a layout diagram of an engine assembly line.

FIG. 2 is a configuration diagram of an automatic guided vehicle and a centralized control panel

FIG. 3 is an explanatory diagram of a screen hierarchy for setting various driving conditions.

FIG. 4 is an explanatory diagram of a main menu.

FIG. 5 is an explanatory diagram of a battery remaining amount display screen.

FIG. 6 is an explanatory diagram of various setting screens.

FIG. 7 is an explanatory diagram of a car setting screen.

FIG. 8 is an explanatory diagram of an address setting screen.

FIG. 9 is an explanatory diagram of a speed setting screen.

FIG. 10 is an explanatory diagram of an address condition setting screen.

FIG. 11 is an explanatory diagram of a driving state display screen.

FIG. 12 is an explanatory diagram of an obstacle sensor sensitivity setting screen.

FIG. 13 is an explanatory diagram of a work completion screen.

FIG. 14 is an explanatory diagram of a station setting screen.

FIG. 15 is an explanatory diagram of a centralized line operation setting screen

FIG. 16 is an explanatory diagram of a brake release screen.

FIG. 17 is an explanatory diagram of a signal list screen.

FIG. 18 is an explanatory diagram of an alarm history screen.

[Explanation of symbols]

 22 Guideway 26 Automatic guided vehicle 26d Obstacle sensor 26f Programmable controller 26g Touch panel 36 car setting screen 38 address setting screen 40 speed setting screen 42 address condition setting screen 46 obstacle sensor sensitivity setting screen 54 brake release screen

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3F022 LL07 MM05 MM08 MM70 NN22 NN32 NN40 NN57 QQ04 5H301 AA02 AA09 BB05 CC03 DD01 EE06 EE12 FF04 GG05 GG29 KK02 KK04 KK08 KK09

Claims (4)

[Claims] 1. A traveling speed setting means for setting a traveling speed at each address in a traveling route provided with a plurality of addresses, and a stop position setting means for setting to stop at a predetermined address of the traveling route. An automatic guided vehicle traveling condition setting device configured to include: the traveling speed setting means and the stop position setting means, by operating a touch panel provided in the automatic guided vehicle, the traveling speed and the stop position The driving condition setting device for an automatic guided vehicle, wherein the driving condition setting device is configured to be able to set the respective driving conditions. 2. An obstacle detection means for detecting an obstacle around the automatic guided vehicle, and an obstacle detection sensitivity of the obstacle detection means at each address on the travel route is set by operating the touch panel. The travel condition setting device for an automatic guided vehicle according to claim 1, further comprising: a detection sensitivity setting unit configured to perform the detection sensitivity setting. 3. An identification information setting means for setting identification information for uniquely specifying the automatic guided vehicle; and a vehicle position setting means for setting an address of the vehicle position on the travel route. The said identification information setting means and the own vehicle position setting means are comprised so that the said identification information and the own vehicle position can be set by operating the said touch panel, respectively. Item 3. The traveling condition setting device for an automatic guided vehicle according to item 2. 4. By operating the touch panel,
4. A brake release means for forcibly releasing a brake of the automatic guided vehicle is provided.
The travel condition setting device for an automatic guided vehicle according to any one of the above.