JP2001195128A - Operation management method and device for track traveling vehicle, and track traveling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a track traveling vehicle such as an automated guided vehicle capable of being traveled and operated without being affected by another preceding vehicle and preventing the processing load of an external device for instructing a destination, operation, etc., from being increased. SOLUTION: The automated guided vehicle 1 stores track layout information including places such as curve, transfer station, branch and junction where the vehicle 1 is to be decelerated or stopped, receives communication between another automated guided vehicle and a vehicle management device 2, decides whether or not the destination of the other vehicle is at a position before that of the present vehicle based on the traveling information and destination information of the other vehicle included in the communication since the other vehicle is traveling or may travel ahead in the traveling direction of the present vehicle, and directly communicates with the other vehicle so as to exchange the destination instructed from the device 2 with the other vehicle when the destination of the other vehicle comes before that of the present vehicle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, an orbital traveling such as an unmanned transport vehicle that travels along a track laid in a factory and loads and unloads a work at a transfer station provided on the track. The present invention relates to a vehicle, a method for managing the operation of the track traveling vehicle, and a device used for implementing the method.

[0002]

2. Description of the Related Art For example, in a production factory, a plurality of self-propelled automatic guided vehicles are traveling along a track laid along each production process in the factory, and correspond to each production process in the middle of the track. A predetermined task such as loading and unloading of a work is performed at a transfer station provided at a position.

[0003] Each unmanned guided vehicle is connected to a guided vehicle management device by a wireless LAN, and the guided vehicle management device is responsible for scheduling and instructing each operation such as running, loading and unloading of each unmanned guided vehicle. .

FIGS. 22 to 26 are explanatory diagrams for explaining the operation of a conventional automatic guided vehicle. First, in FIG. 22, one track 3 is connected to one unmanned carrier 1 called “B”.
Is running at a constant speed, and this unmanned carrier 1
In the traveling direction, two transfer stations ST1, ST
2 are provided in this order.

[0005] Generally, since it is necessary to decelerate or stop the automatic guided vehicle 1 at each point on the track 3 such as a curve, a transfer station, a branch point, and a confluence point, the path ahead of these points is required. The track 3 is provided with a bar code label called a fixed point BCL4. The fixed point BCL4 has a unique barcode on the track 3 facing the track 3 side, and the automatic guided vehicle 1 reads the barcode when passing through the fixed point BCL4, so that the unmanned guided vehicle 1 curves and moves forward. It recognizes that there are places such as a loading station, a branch point, and a merging point.

[0006] As shown in FIG.
It is assumed that the unmanned transport vehicle 1 is instructed by a transport vehicle management device (not shown) to have the transfer station ST2 as a destination and to load the work W at the transfer station ST2. It should be noted that the carrier management apparatus instructs the destination to the automatic guided vehicle 1 based on information on which route the automatic guided vehicle 1 actually travels.

The automatic guided vehicle 1 called "B" has a fixed point B
Upon reaching the position of CL4, the barcode of the fixed point BCL4 is read, and the transfer station ST1 in front is read.
And ST2. Since the automatic guided vehicle 1 is to load the work W at the transfer station ST2, "deceleration" starts from a point a predetermined distance before the transfer station ST2.

[0008] The automatic guided vehicle 1 shown in FIG.
As shown in (b), the “stop” is performed upon reaching the transfer station ST2, and the work W of the transfer station ST2 is “loaded”. Upon completion of the "loading", the automatic guided vehicle 1 moves to the next transfer station (FIG. 22 (c)) to which the work W is to be transported, as indicated by the transport vehicle management device, as shown in FIG. In ()), “acceleration” is started to move to the transfer station ST4).

The time required for a series of operations of the automatic guided vehicle 1 referred to as "B" is, for example, the "constant speed traveling" time from the position in FIG. 22A to the transfer station ST2. 6 seconds, the time required for "deceleration / acceleration" for one "stop" is 5 seconds, and the time required for "loading" is 10
In the case of seconds, "constant speed running (6 seconds)" + "deceleration / acceleration (5 seconds)" + "load (10 seconds)" = 21 seconds.

Now, as shown in FIGS. 23 and 24, two automatic guided vehicles 1, 1 of "A" and "B" are traveling on the track 3, and "A" Is instructed by a carrier management device (not shown) to set the transfer station ST1 as a destination and to load the work W at the transfer station ST1. It is assumed that the transfer station ST2 is set as a destination for the automatic guided vehicle 1 of “B” that is traveling, and that the same work W is instructed to be loaded at the transfer station ST2.

An unmanned guided vehicle 1 in front of "A"
The same operation as the automatic guided vehicle 1 called "B" as described above is performed for the transfer station ST1, and the time required for this operation is changed from the position of FIG.
The “constant speed running” time until 1 is 5 seconds, the time required for “deceleration / acceleration” with one “stop” is 5 seconds,
If the time required for "loading" is 10 seconds,
“Constant speed running (5 seconds)” + “deceleration / acceleration (5 seconds)” + “loading (10 seconds)” = 20 seconds.

On the other hand, the subsequent automatic guided vehicle 1 of "B" similarly starts "deceleration" in conjunction with the "deceleration" of the preceding automatic guided vehicle 1 of "A".
As shown in (a), the vehicle stops at the transfer station ST1 at the position "A" which is "stopped" at the rear position of the automatic guided vehicle 1 in the same manner. The automatic guided vehicle 1 called "B" is shown in FIG.
As shown in (b), the unmanned transport vehicle 1 of “A” waits at this position until completing the “loading” at the transfer station ST1, and the unmanned transport vehicle 1 of “A” transfers the “loading”. Once completed, "acceleration" is performed to move to the next transfer station (transfer station ST3 in FIG. 24A) to which the work W is to be transferred, which is instructed by the transfer vehicle management device.
In the same manner, the “acceleration” is started.

The automatic guided vehicle 1 "B" starts "deceleration" from a point a predetermined distance before the transfer station ST2, and "stops" at the transfer station ST2 as shown in FIG. " The unmanned guided vehicle 1 called “B”, after completing the “loading” of the work W at the transfer station ST2, performs the next transfer as the transfer destination of the work W specified by the transfer vehicle management device. Loading station (transferring station ST4 in FIG. 24B)
Start "acceleration" to head toward.

The presence or absence of such preceding unmanned guided vehicles 1 is obtained by each unmanned guided vehicle 1 by communication from the guided vehicle management device.

Accordingly, in this case, the time required for the operation of the automatic guided vehicle 1 called "B" is equal to the "constant speed traveling" time from the position shown in FIG. "Deceleration / acceleration" due to "stop"
10 seconds, the time required for “standby” during the “loading” of the automatic guided vehicle 1 “A” is 10 seconds, and the time required for “loading” at the transfer station ST2 is 10 seconds. Is "Constant speed running (3 seconds)" + "Deceleration
Acceleration (10 seconds) + standby (10 seconds) + loading (10
Second) = 33 seconds.

As shown in FIG. 25A, two automatic guided vehicles 1, 1 of "A" and "B" are traveling on the track 3, and these automatic guided vehicles 1, 1 The transfer stations ST1 and ST2 are designated as destinations by a carrier management device (not shown). Here, the automatic guided vehicle 1, 1
Current traveling position and transfer stations ST1, ST2
A transfer point ST1 is arranged on the curved side via the branch point Br, and the other transfer station ST2 is positioned straight on the straight side via the branch point Br. It is assumed that it is arranged in.

The unmanned guided vehicle 1 referred to as "A" determines the presence of the branch point Br in front of the fixed point BC as described above.
In order to be recognized by L4 and to reach the transfer station ST1, which is the destination of the vehicle, this branch point Br
Is determined based on the route instructed by the carrier management device. A local control device (not shown) for controlling the operation of the branch point Br
As the automatic guided vehicle 1 starts to receive the state signal of the branch point Br transmitted from the infrared communication or the like, the traveling direction of the own vehicle and the branch point Br, which are the above-described determination results.
If the state is different from the state described above, the automatic guided vehicle 1 transmits a switching request signal of the branch point Br to the local control device by infrared rays and, as shown in FIG. It stops at the operation waiting standby position that is a point before the predetermined distance, and waits until the switching of the branch point Br is completed.

At this time, the subsequent automatic guided vehicle 1 of "B" stops behind the automatic guided vehicle 1 of "A" following the preceding stop. Here, assuming that the branch point Br is in a straight-ahead state, the automatic guided vehicle 1 "A" having the transfer station ST1 on the curved side as its destination is located at the branch point Br. You cannot pass without switching to the leading side.

Then, the automatic guided vehicle 1 "A" starts accelerating as the completion of the switching of the branch point Br is recognized by the state signal from the local control device, and the branch point switched to the curving side. Curve Br and arrive at the transfer station ST1. On the other hand, the automatic guided vehicle 1 called "B"
26, the transfer station ST2 on the straight side is set as the destination, so that a signal for requesting the switching of the branch point Br is transmitted to the local control device by infrared rays.
As shown in (a), the operation stops at the operation waiting standby position and waits until the switching of the branch point Br is completed.

The automatic guided vehicle 1 starts accelerating with recognizing the completion of the switching of the branch point Br by the state signal from the local control device, and proceeds straight ahead at the branch point Br switched to the straight traveling side. It reaches the loading station ST2.

[0021]

However, as described above, when the preceding automatic guided vehicle decelerates or stops at a position ahead of the position at which the subsequent automatic guided vehicle decelerates or stops, There is a problem that the operation time of the succeeding automatic guided vehicle is delayed depending on the operation required time of the preceding automatic guided vehicle, and the operation efficiency of the entire system is reduced.

However, since such a positional relationship of the automatic guided vehicle is scheduled by the aforementioned guided vehicle management device,
In order to prevent such a problem from occurring, the schedule may be always set so that the preceding unmanned guided vehicle decelerates or stops at a position behind the position where the following unmanned guided vehicle decelerates or stops. One similar to this concept is disclosed in Japanese Patent Application Laid-Open No. 5-61544.

However, such scheduling is
This becomes more difficult as the number of automatic guided vehicles arranged on the track increases and the number of locations where the automatic guided vehicles must be decelerated or stopped, such as curves, transfer stations, junctions, and junctions. Therefore, the load on the carrier management device associated with the scheduling process increases, and the processing speed decreases. As a result, the operation efficiency of the entire system decreases.

Furthermore, in order to avoid the reduction in processing speed as described above, a carrier management apparatus capable of high-speed processing is introduced, and a computer program using an advanced algorithm capable of high-speed scheduling with low load is changed. However, not only does the cost of the entire system increase, but also sophisticated computer programs require complicated maintenance.

The present invention has been made in view of such circumstances, and each of the track traveling vehicles is based on traveling position information given from each of the track traveling vehicles such as a plurality of automatic guided vehicles traveling along the track. , Which manages the operation of the track traveling vehicle by instructing a route including a destination to the plurality of track traveling vehicles traveling on the same route of the track based on the traveling position information and the track layout information. Of the plurality of track vehicles is determined based on the specification result and the destination instructed to each track vehicle, the curve of the track, the transfer station, the branch point, and It is determined whether it is necessary to decelerate or stop at a predetermined point such as a junction, and at this point, the preceding vehicle needs to decelerate or stop, but the following vehicle does not need to decelerate or stop. If it is determined that both By exchanging the destination instructed, the vehicle can travel and operate without being affected by the preceding vehicle, and does not increase the processing load of an external device that instructs the destination and the operation. It is an object of the present invention to provide an operation management method for a traveling vehicle and a device used for implementing the method.

Another object of the present invention is to store track layout information including a location where the automatic guided vehicle should be decelerated or stopped, such as a curve, a transfer station, a branch point, and a merging point. Intercepts communication between the vehicle and an external device such as a carrier management device, and, based on the traveling position information and destination information of the other vehicle included in the communication, the other vehicle moves ahead of the traveling track of the own vehicle. There is a possibility of traveling or running, determine whether the destination of the other vehicle is a position before the destination of the own vehicle, and if so, the destination instructed by the external device By performing communication to exchange with another vehicle, the vehicle can travel and operate without being affected by the preceding vehicle, and does not increase the processing load of an external device for instructing a destination and an operation. To provide track-traveling vehicles such as transport vehicles That.

[0027]

According to a first aspect of the present invention, there is provided a method for managing the operation of a track traveling vehicle according to a first aspect of the present invention, wherein each track traveling vehicle is provided on the basis of traveling position information given from a plurality of track traveling vehicles traveling along a track. A method of managing the operation of a track traveling vehicle by instructing a route including a destination to the same route on the basis of traveling position information of each track traveling vehicle and track layout information stored in advance. The running order of the plurality of running track vehicles is specified, and based on the specification result and the destination instructed to each of the track vehicles, any two of the plurality of track vehicles are in the track. It is determined whether or not it is necessary to decelerate or stop at a predetermined location, and the preceding vehicle needs to decelerate or stop at the predetermined location, and the following vehicle needs to decelerate or stop at the predetermined location. If it is determined that there is no Characterized by replacing the destination that is shown.

According to a second aspect of the present invention, there is provided an operation control apparatus for a track traveling vehicle, wherein a route including a destination for each track traveling vehicle is determined based on traveling position information given from a plurality of track traveling vehicles traveling along the track. An apparatus for managing the operation of a track traveling vehicle by giving an instruction, comprising: layout information storage means for storing track layout information; and A traveling order specifying means for specifying a traveling order of a plurality of track traveling vehicles traveling on the same route, based on a result specified by the traveling order specifying means and a destination instructed to each track traveling vehicle,
Determining means for determining whether or not any two of the plurality of track traveling vehicles need to decelerate or stop at a predetermined location on the track; If it is determined that there is no need to decelerate or stop at the predetermined location, and it is determined that the following vehicle does not need to decelerate or stop at the predetermined location, a destination exchange means for exchanging the destination indicated to both vehicles is provided. It is characterized by the following.

According to a third aspect of the present invention, there is provided the track running vehicle operation management device according to the second invention, further comprising a status information storage unit for storing status information of the predetermined location, However, based on the result of the identification by the traveling order identification means and the destination instructed to each track traveling vehicle and the contents stored in the state information storage means, whether the two vehicles need to decelerate or stop at the predetermined location Or not.

The track running vehicle operation management device according to a fourth aspect of the present invention is the track running vehicle operation management device according to the third invention, wherein the predetermined location is a branch point or a junction of the track, and the state information storage means. However, the present invention is characterized in that information indicating a switching state of each branch point or each merging point is stored.

A track traveling vehicle according to a fifth aspect of the present invention transmits traveling position information to an external device, receives destination information specified by the external device based on the transmitted content, and receives a track based on the received destination information. A track traveling vehicle that travels on the vehicle, a storage unit that stores track layout information, an interception unit that intercepts communication between the other vehicle and the external device, and the other vehicle based on the content of the interception by the interception unit. Judgment means for judging whether or not there is a possibility that the other vehicle is traveling on or ahead of the traveling track of the own vehicle and the destination of the other vehicle is closer to the destination of the own vehicle, and judgment by the judgment means And a communication unit for performing communication to exchange a destination designated by the external device with the other vehicle based on the result.

A track running vehicle according to a sixth aspect of the present invention is the track running vehicle according to the fifth aspect of the present invention, wherein the traveling position information of the own vehicle is stored in a track near the track in order to indicate the location of the track on which the track running vehicle should decelerate or stop. It is characterized by further comprising an acquiring means for acquiring by reading when passing through the laid sign.

The track running vehicle according to a seventh aspect of the present invention is the track running vehicle according to the fifth or sixth aspect, wherein the communication means transmits a signal requesting destination exchange to the other vehicle; Receiving means for receiving a signal requesting destination exchange of the above.

The track running vehicle according to the eighth invention is characterized in that the
In the track traveling vehicle according to the invention, the communication means performs wireless communication.

In the method for managing the operation of a track running vehicle according to the first and second aspects of the present invention and the apparatus used for carrying out the method, the running provided by a track running vehicle such as a plurality of automatic guided vehicles running along a track is provided. Based on the position information, the operation of the track traveling vehicle is managed by instructing each track traveling vehicle of a route including a destination, and based on the traveling position information and the track layout information, the same route of the track is used. The traveling order of the plurality of track traveling vehicles running on the vehicle is specified, and based on the specification result and the destination indicated to each track traveling vehicle, any two of the plurality of track traveling vehicles curve,
It is determined whether or not it is necessary to decelerate or stop at a predetermined location such as a transfer station, a junction, and a junction. At this location, the preceding vehicle needs to decelerate or stop.
When it is determined that there is no need to decelerate or stop the following vehicle, the destination indicated to both vehicles is exchanged, so that the vehicle can travel and operate without being affected by the preceding vehicle. In addition, the processing load on the external device for instructing the destination and operation is not increased.

In the track traveling vehicle operation management device according to the third invention, for example, when the predetermined point is a branch point or a junction, the branch point or the junction is in a straight traveling state or a curve. The state information of the branch point or the merging point indicating whether the vehicle is in the state is stored, and the determination as to whether or not the two track traveling vehicles need to decelerate or stop at the branch point or the merging point is performed. Since the configuration is performed based on the traveling order of the traveling vehicles, the destination instructed to each of the traveling vehicles, and the stored state information, the traveling vehicles decelerate or stop under the conditions of the determination. State information of a movable portion such as a branch point or a junction point can be added, and by updating such state information periodically, a judgment closer to reality can be made.

In the track traveling vehicle operation management device according to a fourth aspect of the present invention, the predetermined location is a branch point or a junction of the track, and the state information is information indicating a switching state of each branch point or each junction. Is stored, so that the branch point or the confluence point as exemplified above can be considered as the location of the track where the track traveling vehicle needs to decelerate or stop.

In the track traveling vehicle according to the fifth invention, the traveling position information is transmitted to an external device such as a carrier management device,
The external device grasps the running position of each tracked vehicle based on the transmitted content, thereby instructs each tracked vehicle with destination information, receives the specified destination information, and A track traveling vehicle that travels on a track in which a track, a transfer station, a branch point, and a merging point, etc., stores the layout information of the track including the location where the automatic guided vehicle should be decelerated or stopped, and The communication between the external devices is intercepted, and there is a possibility that the other vehicle is traveling or traveling in front of the traveling track of the own vehicle based on the content of the interception, and the destination of the other vehicle is the destination of the own vehicle. A determination is made based on the layout information as to whether or not the vehicle is at a position closer to the vehicle, and communication is performed to exchange the destination specified by the external device with the other vehicle based on the determination result.

Therefore, even if there is a possibility that the other vehicle is traveling or traveling in front of the traveling track of the own vehicle and the destination of the other vehicle is a position before the destination of the own vehicle, Is replaced, the preceding track traveling vehicle does not estrange the running and operation of the following track traveling vehicle. Further, by intercepting the communication between the other vehicle and an external device for instructing a destination and an operation, etc., there is a possibility that the other vehicle is traveling or traveling in front of the traveling track of the own vehicle, Since the information for determining whether or not the destination of the vehicle is located before the destination of the own vehicle is obtained, the processing load on the other vehicle and the external device is not increased. Furthermore, at the time of destination exchange, processing is performed by direct communication only with another vehicle corresponding to the determination result, so that the processing load on the external device does not increase.

In the track traveling vehicle according to the sixth invention, the traveling position information of the own vehicle is indicated by a sign such as a fixed point BCL laid on a nearby track to indicate the location of the track on which the track traveling vehicle should decelerate or stop. Is obtained by reading when passing through the vehicle. Therefore, each track traveling vehicle can grasp the traveling position information of the own vehicle using the fixed point BCL of the conventional configuration. By intercepting the traveling position information transmitted to the carrier management device as an external device, it is possible to acquire traveling position information of another vehicle without alienating these communications.

In the track running vehicle according to the seventh invention, a signal requesting destination replacement is transmitted from a subsequent track running vehicle to a preceding track running vehicle, and the preceding track running vehicle receiving the signal transmits the signal. Is received, the processing for destination exchange is performed, so that it is avoided that a plurality of adjacent tracked vehicles communicate with each other unnecessarily.

In the track running vehicle according to the eighth aspect of the present invention, since communication with other vehicles is performed wirelessly, various types of communication such as communication using electromagnetic waves, communication using light such as infrared rays, communication using magnetism, communication using magnetic induction, etc. It is possible to perform communication between track traveling vehicles by wireless communication of various forms.
In this case, when communication between the track traveling vehicle and the carrier management device as an external device is performed wirelessly,
It is desirable to make the frequency and the like different so that communication between the track traveling vehicles is performed by a system different from this communication, and thereby, the processing of the carrier management device is not loaded.

The above-described track traveling vehicle according to the present invention is also described in the first embodiment described below. However, the communication range is limited to a certain extent by wireless communication, so that the communication range is limited. This may be one of the determination factors that the vehicle exists within a predetermined distance and that the other vehicle may be traveling or traveling on the front of the traveling track of the own vehicle.

In the above invention, the present invention is not limited to the use of an automatic guided vehicle as shown in the conventional configuration.
For example, the present invention can be applied to a vehicle in an ITS (Intelligent Transport Systems) concept, another railroad vehicle such as a monorail, or the like. That is, the track running vehicle of the present invention may be any vehicle that runs on a predetermined route (including a vehicle that is suspended on a track), and the “track” in the present invention may be, for example, on a road surface or the like. It may be an embedded magnetic material for vehicle guidance.

Further, in the above-described conventional configuration, the track running vehicle is shown to handle the same article (work). However, for example, even when different articles are handled, a portion corresponding to each transfer station is used. Needless to say, it is only necessary to have compatibility so as to correspond to these different articles, respectively.

[0046]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the drawings showing the embodiments.

Embodiment 1 FIG. 1 is a block diagram showing a configuration of an automatic guided vehicle as a track traveling vehicle according to the present invention. In FIG. 1, reference numeral 1 denotes an automatic guided vehicle as a track traveling vehicle according to the present invention.
Communication unit 11, load sensor 12, storage unit 13, and BCR
(Bar Code Reader) 14, etc.

The control unit 10 controls each unit of the own vehicle so as to run and operate based on an instruction given by communication from the carrier management device 2.

The communication section 11 has a function of enabling communication with the carrier management device 2 using a wireless LAN and intercepting communication between the other vehicle and the carrier management device 2.

The loading sensor 12 detects that a work is mounted on a loading portion (not shown) provided on the upper part of the automatic guided vehicle 1, and gives the detection result to the control unit 10.

The storage unit 13 stores databases such as a branch point order table 131, a station group (STG) order table 132, and another vehicle position information table 133 which will be described in detail later.

The BCR 14 optically reads a bar code of a fixed point BCL, which will be described later, and
Give to.

FIG. 2 is a schematic diagram showing a layout of a track 3 on which an automatic guided vehicle 1 as a track traveling vehicle according to the present invention travels. In the present embodiment, the track 3 includes a vertically long rectangular main line and a plurality of branch lines branched from the main line. The automatic guided vehicle 1 travels on the track 3 only in a predetermined direction, and a branch point from the main line to each branch line is provided at a branch point for switching the traveling route of the automatic guided vehicle 1 (FIG. 2). G1, G
2, and G3 are arranged respectively.

A transfer station (indicated by “○” in FIG. 2) S
T10, ST11, ST14, ST21, ST24, S
T31 and ST36 are arranged, and a plurality of fixed points BCL (“□” in FIG.
) Are attached.

More specifically, one branch line is configured to branch off from the main line via a branch point G1 and to join the main line again in a U-shape, and to connect the two transfer stations ST21 and ST24 to the main line. Prepared in order. In the present embodiment, one or a plurality of transfer stations arranged on one branch line are connected to one station group (S
TG), and the two transfer stations ST21 and ST24 arranged on the branch line.
Is a first station group (indicated by "(1)" in FIG. 2).

Similar to the above-described branch line, another branch line is configured to branch off from the main line via a branch point G2 and to join the main line again in a U-shape. The three transfer stations ST10 , ST11, and ST14 in this order. The three transfer stations ST10, ST11, and ST14 arranged on the branch line are a second station group (indicated by "(2)" in FIG. 2).
There is.

Still another branch line branches off from the main line via the branch point G3 between the two branch lines according to the traveling direction, and has no junction. This branch line includes two transfer stations ST31 and ST36 in this order, and the two transfer stations ST31 and ST36 arranged on the branch line are indicated by a third station group ("(3)" in FIG. 2). ).

FIG. 3 is a schematic diagram showing the structure of the branch point order table 131. This branch point order table 131
Has a record for each branch point indicating the arrangement order of the branch points G1, G2, and G3 arranged on the track 3 and the number of the station group (STG) corresponding to each of the branch points G1, G2, and G3. It is a data table.

More specifically, each record is represented by the branch points G1, G2, and G3 indicated by the attribute of the "branch point number", and the "next branch point" corresponding to the attribute of the "branch point number". Each attribute of “point number” and “station group number (STG number)” is provided.

The arrangement order of the branch points G1, G2, and G3 is indicated by a combination of attributes of "branch point number" and "next branch point number". For example, a branch point G2 is located after the branch point G3, and a branch point G1 is located after the branch point G2.
Are arranged, and after the branch point G1, the branch point G3 is again
It can be seen from the example of FIG. 3 that the trajectory 3 is laid out so as to draw a loop.

The station group (STG) corresponding to each of the branch points G1, G2, and G3 has a “station group number (S) corresponding to the attribute of the“ branch point number ”.
TG number) "attribute.

FIG. 4 shows a station group (STG).
FIG. 3 is a schematic diagram showing a configuration of an order table 132. The station group order table 132 is a data table having a station group unit record indicating the arrangement order of the transfer stations of each branch line.

More specifically, each record is represented by a station group indicated by an attribute of “station group number (STG number)”, and “# 1” indicating the order of transfer stations corresponding to the station group. ",
Number attributes such as "# 2",... Are assigned.

For example, as described above, ST21 and S21 are assigned to the station group having the STG number “(1)”.
The two transfer stations of T24 exist in this order, "
(2) "ST10, ST
11 and ST14 exist in this order, and the station group of “(3)” includes S
It can be seen that two transfer stations T31 and ST36 exist in this order. Since the number attribute indicating the order of the transfer stations is provided by the number of the maximum possible number of transfer stations that can exist in one station group, the number of the transfer stations less than the maximum number is set. "X" is indicated in the corresponding number attribute of the station group having.

FIG. 5 is a flow chart showing the processing contents of the control unit 10 of the automatic guided vehicle 1 as a track traveling vehicle according to the present invention accompanying the transmission of the destination exchange request. Here, for example, the automatic guided vehicle 1 called “B” shown in FIGS. 23 and 24
It is assumed that there is another vehicle (for example, the unmanned carrier 1 called “A”) preceding this. The control unit 10 of the automatic guided vehicle 1 called “B” communicates with another vehicle existing within the receivable range (the communication output of each automatic guided vehicle 1 is the same) via the communication unit 11. It is determined whether or not the transmission of the traveling position information (position report communication) to the carrier management device 2 when another vehicle has passed any one of the fixed points BCL on the track 3 has been intercepted (step). 1-1).

If the position report communication is intercepted, the contents of the intercepted message are decoded (step 1-2), and other information is read based on the running position information of the other vehicle included in the decoded position report communication message. The contents of the vehicle position information table 133 are updated (step 1-3).

FIG. 6 is a schematic diagram showing the configuration of the other vehicle position information table 133. The other-vehicle position information table 133 updated in step 1-3 described above stores information on the identification of the fixed point BCL that the other vehicle has passed, information on the passing time of the fixed point BCL, etc., with the other vehicles existing near the own vehicle. It is a data table which shows a positional relationship and the positional relationship between other vehicles.

More specifically, when the position report communication is intercepted in step 1-1, the "vehicle number" is specified based on the vehicle identification information included in the position report communication message. Orbit 3
Unique vehicle identification information is assigned to each of the automatic guided vehicles 1 traveling in advance. Then, by referring to the record corresponding to the specified “car number”, each attribute of “fixed point BCL”, “fixed point BCL passing time”, “next car number”, and “previous car number” provided in each record is referred to. Update.

The attribute of “fixed point BCL” indicates the identification information of the fixed point BCL passed by another vehicle performing the position report communication, and the attribute of “fixed point BCL passing time” is the attribute of the fixed point BCL.
Indicates the passing time of The attributes of “next vehicle number” and “front vehicle number” for indicating the positional relationship between other vehicles are “fixed point B”.
The "vehicle number" is assumed to exist immediately before and immediately after each "vehicle number" determined based on the "CL passing time".

For example, as shown in FIG. 6, the automatic guided vehicle 1 having the "vehicle number" of "1" has the identification information of "K002002".
The fixed point BCL indicated by “99” is set to “11:21:15 (1
1:21:15) ”, the vehicle management device 2
Indicates that the location report communication was performed with respect to. Also,
The automatic guided vehicle 1 whose “car number” is “4” has the identification information “H”.
0051299 ”is changed to“ 11: 2 ”.
1:31 (11:21:31) "indicates that a position report communication was transmitted to the carrier management device 2.

As described above, the passage of the other vehicle existing near the own vehicle through the fixed point BCL is monitored.
Each time L passes, the content is updated to new content. Note that the attribute content of the “fixed point BCL” is cleared as “xxxxxx” when the corresponding automatic guided vehicle 1 reaches the designated transfer station or the like, but the other attribute content is retained.

The “next vehicle number” and “front vehicle number” are
Each time the record content of any "car number" is updated,
All numbers are updated. That is, here, the “next car number” of the record having the latest “fixed point BCL passing time” and the “car number” of “4” is indicated by “x”, and it is determined that there is no other car thereafter. Is shown. On the contrary, the "previous car number" of the record having the earliest "fixed point BCL passing time" and the "car number" of "6" is also indicated by "x", and there is no other car before this. Is shown.

Step 1-1 to Step 1 as described above
The process of -3 is actually repeated each time the position report communication is intercepted. By the way, if the position report communication is not intercepted in step 1-1, or after the other vehicle position information table 133 is updated in step 1-3, this time, based on the detection result given from the BCR 14, Then, it is determined whether or not the vehicle has passed the fixed point BCL (step 1-4). The fixed point BCL
As described above, it is needless to say that the position report communication is performed to the carrier management device 2 as described above, and the communication at this time is similarly intercepted by other nearby vehicles.

In step 1-4, the fixed point BCL of the own vehicle
If the passage of the other vehicle is not detected, the present process is terminated. On the other hand, if the passage of the own vehicle at the fixed point BCL is detected, the other vehicle position information table 133 is stored based on the identification information read from the fixed point BCL. With reference to the attribute of "fixed point BCL", another vehicle passing through the same fixed point BCL is searched (step 1-5), and based on the search result, the preceding vehicle is referred to while referring to the "preceding car number" of the corresponding record. It is determined whether or not there is (Step 1-6). If there is no preceding vehicle, this processing ends.

If there is a preceding vehicle, the preceding vehicle is inquired via the communication unit 11 about the destination and whether or not the vehicle is empty (step 1-7). It is determined whether the vehicle is “empty” and the own vehicle is “empty” (step 1-8). In addition, "empty car"
The work is not loaded on the automatic guided vehicle 1 and is detected by the loading sensor 12 as described above.
If any one of the automatic guided vehicles 1 is not “empty”, the process ends.

In step 1-8, "both are empty"
If it is, the branch point order table 131 and the station group order table 132 are referred to based on the transfer station number as the destination of the preceding vehicle obtained by the inquiry in step 1-7, and The order of the destination of the vehicle on the branch line is evaluated (step 1-9).

Then, based on the evaluation result, it is determined whether or not the transfer station serving as the destination of the preceding vehicle is present before the transfer station serving as the destination of the own vehicle (step 1-10). If the destination of the preceding vehicle is before the destination of the own vehicle, the preceding vehicle will alienate the running of the own vehicle,
A predetermined destination exchange request is transmitted to the preceding vehicle via the communication unit 11 (step 1-11). Step 1-1
At 0, if the destination of the preceding vehicle is not before the destination of the own vehicle, this processing ends.

FIG. 7 is a flowchart showing the processing contents of the control unit 10 of the automatic guided vehicle 1 as a track traveling vehicle according to the present invention upon receiving the destination exchange request. Here, contrary to the above, for example, when there is another vehicle (for example, the automatic guided vehicle 1 called “B”) following this, such as the automatic guided vehicle 1 called “A” shown in FIGS. Is assumed. The control unit 10 of the automatic guided vehicle 1 of "A" determines whether or not there is an inquiry about a destination or the like from another vehicle (following vehicle) (step 2-1). This corresponds to step 1-7 shown in the flowchart of FIG.

When an inquiry is made, a response (transmission) is made to the inquiry source (subsequent vehicle) via the communication section 11 as to whether or not the destination is an empty vehicle (step 2-2). Then, if there is no inquiry in step 2-1,
Alternatively, after step 2-2, it is determined whether a destination exchange request has been received from another vehicle (follower vehicle) (step 2-
3). This corresponds to step 1-11 shown in the flowchart of FIG.

If no destination exchange request is received,
If the destination exchange request is received while ending this processing, the other vehicle (subsequent vehicle) is exchanged to exchange information regarding the destination.
Is communicated via the communication unit 11 (step 2).
-4). In this communication, it is desirable that each unmanned guided vehicle 1 transmits information on destination exchange to the guided vehicle management device 2 so that scheduling is not affected.

FIGS. 8 and 9 are explanatory diagrams for explaining the operation of the automatic guided vehicle 1 as a track traveling vehicle according to the present invention. FIG. 8A shows two automatic guided vehicles 1 and 1 in a state similar to FIG. 23A.

From this state, first, as shown in FIG. 8 (b), the unmanned guided vehicle 1 of "A" in front is fixed to the fixed point BCL.
4 and the automatic guided vehicle 1 moves to the fixed point BCL4
Is read, and travel position information based on the read result is transmitted to the carrier management device 2 (position report communication). At this time, the unmanned guided vehicle 1 at the rear "B"
The position report communication between the unmanned guided vehicle 1 and the guided vehicle management device 2 "A" is intercepted, and this is recorded in the other vehicle position information table 133.

Subsequently, the automatic guided vehicle 1 called "B" at the rear
Passes through the fixed point BCL4. At this time, the automatic guided vehicle 1 also reads the barcode of the fixed point BCL4 and transmits travel position information based on the read result to the carrier management apparatus 2 (position report communication). Needless to say, the unmanned guided vehicle 1 "A" in front also intercepts the position report communication between the unmanned guided vehicle 1 "B" and the guided vehicle management device 2, and reports this to the other vehicle position of the own vehicle. It is recorded in the information table 133.

In the automatic guided vehicle 1 of the rear "B", the automatic guided vehicle 1 of the front "A" is "empty", and the automatic guided vehicle 1 of "A" is the destination of the own vehicle. Transfer station ST before transfer station ST2
8 can be known from the communication between the automatic guided vehicles 1 and 1 and the layout information of the track 3 composed of the branch point order table 131 and the station group order table 132. As shown in b), the destination is exchanged between the two AGVs 1,1.

The two automatic guided vehicles 1 and 1 continue "constant speed traveling" while maintaining the traveling interval, and are located a predetermined distance before the transfer stations ST2 and ST1 that are the destinations after the exchange. "Deceleration" is started from the point of FIG.
As shown in the figure, "stop" is performed at each of the transfer stations ST2 and ST1. The two unmanned guided vehicles 1, 1
After the “loading” of the works W, W is completed at these transfer stations ST2, ST1, as shown in FIG. Next transfer stations ST4 and ST3
Start "acceleration" to head toward.

Therefore, in this case, the time required for the operation of the automatic guided vehicle 1 at the rear "B" is equal to the time at the front "A".
Is not affected at all by the traveling of the automatic guided vehicle 1, which is the same as the case of the automatic traveling of the automatic guided vehicle 1 called “B” shown in FIG.
This can be reduced by 12 seconds as compared with the conventional configuration.

In the above-described embodiment, each unmanned guided vehicle 1 is given only the task of “loading” from the guided vehicle management device 2. However, in the present invention, as described above, The content of such a task is not limited.

In the present embodiment, only the transfer station is taken as an example of the track 3 where the automatic guided vehicle 1 should be decelerated or stopped for simplicity of description. It is also possible to include locations such as a branch point, a curve, and an intersection of the track 3, and any location may be used as long as the automatic guided vehicle 1 decelerates or stops.

Embodiment 2 FIG. 10 is a block diagram showing a configuration of a track running vehicle operation management device according to the present invention and a relationship between the operation management device and another device to which the operation management device is connected.
In FIG. 10, reference numeral 22 denotes an operation management device of the present embodiment, which is configured as a part of the carrier management device 2 as described in the first embodiment. In this embodiment, the part corresponding to the carrier management device 2 is a host computer 2.
1, an operation management device 22, and a plurality of wireless stations 23, 23,
...

The host computer 21 loads (From) and loads the work at a certain transfer station without specifying any unmanned transport vehicle 1 (hereinafter, appropriately referred to as a transport vehicle). A general transfer request of transferring the work to another transfer station and unloading (To) is given to the operation management device 22.

The operation management device 22 is a host computer 2
1 is connected via a LAN or the like, generates a specific operation schedule based on a transfer request given from the host computer 21, and seems to be most suitable for executing the tasks included in this operation schedule. A specific task request including a destination or the like is given to the radio stations 23, 23,.

Each radio station 23 is connected to the operation management device 22 via a LAN different from the LAN, and wirelessly transmits the task request given from the operation management device 22 to the corresponding AGV 1. . Further, as described above, the traveling position information of each AGV 1 is provided from the AGV 1 to the operation management device 22 via the radio station 23 when passing through the fixed point BCL. Similarly, the state information of each branch point, each merge point, and the like are transmitted from the local control device (not shown) to the automatic guided vehicle 1 via the wireless station 23 and receive a state signal transmitted by infrared rays. To the operation management device 22. In addition,
The local control device may be connected to the operation management device 22 via a LAN or the like so as to directly receive the status signal.

The operation management device 22 as described above has a CPU
220, first communication processing unit 221, transport request buffer 22
2, a map information table 223, a transport vehicle position status table 224, a branching and merging status table 225, a transport vehicle traveling order table 226, a second communication processing unit 227, and the like.

The first communication processing unit 221 receives the transport request given from the host computer 21, decodes the content of the transport request, and supplies the decrypted request to the transport request buffer 222. The transport request buffer 222 stores the decryption result of the transport request each time it is provided from the first communication processing unit 221. The map information table 223 stores the automatic guided vehicle 1,
The layout information of the trajectory on which... Run is stored. The carrier position status table 224 stores travel position information and the like given from each unmanned carrier 1 via the wireless station 23. The branch / merge state table 225 stores the state information of the branch point and the merge point given from each of the AGVs 1 via the wireless station 23. Car carrier traveling order table 226
Stores the traveling order of each section of the track (referred to as a path in the present embodiment). Second communication processing unit 227
Is the operation management device 22 according to the present embodiment
, And a LAN I / F for communicating with 3, 23,.

The operation management device 22 is configured as described above, and the CPU 220 provided therein operates the map information table 22 based on the contents stored in the transfer request buffer 222.
3 and an operation schedule with reference to the carrier position status table 224 and the like, and the task request based on the generation result is provided to the automatic guided vehicle 1 via the second communication processing unit 227 and the wireless station 23. The automatic guided vehicle 1 executes predetermined tasks such as running, loading, and unloading based on a given task request. The task request includes information such as destination information, route information, and the type of target work.

The operation management device 22 of the present embodiment
After the task request described above, any one of the plurality of automatic guided vehicles 1, 1,... Traveling on the same route is decelerated or stopped, and the subsequent automatic guided vehicle 1, In the case where the traveling of the automatic guided vehicle 1 is hindered, the destinations of the automatic guided vehicles 1, 1 are exchanged only when a predetermined condition is satisfied, and the automatic guided vehicles 1, 1,. Has a management function. Next, such a management function of the operation management device 22 will be specifically described.

FIG. 11 is a layout diagram showing a specific configuration of a track and an automatic guided vehicle traveling on the track.
FIG. 13 is a diagram showing an example of storage contents of the transport request buffer 222 corresponding to the state of FIG. 11, FIG. 13 is a diagram showing an example of storage contents of the map information table 223 corresponding to the state of FIG. 11, and FIG. FIG. 15 is a diagram showing an example of the contents stored in the carrier position state table 224 corresponding to the state of FIG.
Is a branch / merge state table 22 corresponding to the state of FIG.
FIG. 16 is a diagram showing an example of the storage contents of the storage vehicle No. 5, and FIG. 16 is a diagram showing an example of the storage contents of the carrier traveling order table 226 corresponding to the state of FIG.

The track 3 as shown in FIG. 11 branches off from the main line formed in a track shape through the branch points Br1 and Br2, and merges again with the main line via the junctions Me1 and Me2. And a branch line formed in a loop shape as much as possible. Along the track 3 configured in this manner, four unmanned transport vehicles 1, 1,... Run one way clockwise in FIG. Nine transfer stations ST1 to ST9 and twelve fixed points BCL B01 to B12 are arranged at appropriate positions on the track 3.

The operation management device 22 divides and manages the trajectory 3 configured as described above into paths having a boundary between a branch point and a junction. For example, the first path from the junction Me1 to the branch point Br1 along the main line clockwise, the branch point Br
A second path from 1 to the junction Me1 along the branch line, a third path from the branch point Br2 to the junction Me2 along the branch line, and a fourth path from the branch point Br1 to the junction Me1 along the main line. A branch point Br2 from the point Me1 along the main line
Up to a fifth path, and a path from the branch point Br2 to the junction Me2 along the main line is a sixth path.

The transport request buffer 222 stores the transport request given from the host computer 21 in FIG.
And store it as shown in the following table.
m "," To "," work ", and" destination ".

The "transport request ID" is an ID given to each transport request. Here, a one-digit serial number is given. “From” indicates a transfer station where the work to be loaded as described above is arranged. "T
“o” indicates a transfer station that unloads the loaded work after transporting it. “Work” indicates the type of work to be transported. Here, only two types “X” and “Y” are shown. The “destination” includes “destination 1” to “destination 5” in the example of FIG. 12, and “From” and “To”
The branch points to be passed to reach the corresponding transfer station and the transfer station are shown in order.

For example, in the example in which the "transport request ID" is "1", the vehicle travels to the transfer station ST9 to load a work of the type "Y", and conveys the work to the transfer station ST5 to unload the work. Will do. At this time, the transfer station ST9 of the loading destination is located on the branch line of the third pass, and therefore, to reach the branch station, the preceding branch point Br2
It is essential to turn on. Similarly, since the transfer station ST5 at the unloading destination is located on the branch line of the second pass, it is essential to make a turn at the fork Br1 in order to reach this. Accordingly, “destination 1” to “destination 4” are respectively “Br2”, “ST9”, “Br1”, and “ST5”.

The layout information of the trajectory 3 as described above is stored in the map information table 22 in the form shown in FIG.
3 is stored. That is, the map information table 223
Are the “Branch and Merge Rear” and “Branch and Merge Fro” of each path.
nt "," Main line Rear "," Main line Front "," Branch rear "," Branch front ", and" Location information "
Each attribute is provided.

“Branch Merge Rear” and “Branch Merge Fr”
“ont” indicates a branch point or a junction corresponding to the clockwise start point and end point of the corresponding path, respectively. "Main line R
“ear” and “main line Front” indicate paths of the main line connected to the clockwise start point and end point of the corresponding path, respectively. "Branch Rear" and "Branch Front"
"t" indicates a branch line path connected to the clockwise start point and end point of the corresponding path, respectively. Therefore, in the configuration of the track 3 in the present embodiment, data is written only on a path corresponding to a main line part that does not have each branch line in parallel like a detour. In other words, the first and fifth paths in which the data is written are paths that the automatic guided vehicles 1, 1,. "Location Information"
In the example of No. 3, there are "1st location information" to "9th location information", and the transfer stations and the fixed points BCL existing in the corresponding path are shown in a clockwise order.

The traveling position information and the like of each automatic guided vehicle 1 on the track 3 are stored in the carrier position table 224 in the form shown in FIG. That is, the carrier position status table 224 includes “unmanned carrier” and “last-
The attributes include “BCL”, “BCL-Time”, “pass”, “transport request ID”, “next destination”, and “work”.

"Automated guided vehicle" indicates a name assigned to each automated guided vehicle 1, and here "A", "B",
It is assumed that there are four units “C” and “D”.
“Last-BCL” indicates a fixed point BCL that each automatic guided vehicle 1 has finally passed. "BCL-Time"
Indicates the elapsed time after passing through the fixed point BCL in seconds. “Pass” indicates a path on which each automatic guided vehicle 1 is traveling. The “transport request ID” indicates that the task request given to each automatic guided vehicle 1 is the host computer 2
The ID of the transfer request buffer 222 indicates which of the transfer requests given from No. 1 corresponds to the transfer request. "Next destination"
Indicates the next destination corresponding to each “destination” in the transport request buffer 222. “Work” indicates the presence / absence of the work being transported and its type.

Therefore, in the example of FIG. 14, the automatic guided vehicle 1 of “A” has passed the fixed point BCL of “B01” 200 seconds before, and is currently traveling on the first pass. Incidentally, although the automatic guided vehicle 1 is transporting the work "X", since the transport request or the task request corresponding thereto is not given, the attributes of the "transport request ID" and the "next destination" are blank. It has been.

Further, the automatic guided vehicle 1 called “B”
01 "passed the fixed point BCL 100 seconds ago,
You are currently running on the first pass. This automatic guided vehicle 1
Although the work “Y” is being conveyed, as in the example described above, since the conveyance request or the corresponding task request has not been given, the attributes of the “transport request ID” and the “next destination” are blank. Have been.

Also, the automatic guided vehicle 1 called “C”
11 ”passed the fixed point BCL 200 seconds ago,
You are currently running on the first pass. This automatic guided vehicle 1
A task request based on the transfer request of D = “3” has been given, and while it is on its way to the transfer station ST2, the work has not been transferred. That is, referring to the contents of the transfer request in the transfer request buffer 222 corresponding to this ID, the transfer station ST2 is “destination 1”,
That is, since the traveling is for “From”, it can be seen that the vehicle travels to the transfer station ST2 and loads the work “X”.

Further, the automatic guided vehicle 1 called "D"
The vehicle has passed the fixed point BCL “B11” 400 seconds ago and is currently traveling on the first pass. This automatic guided vehicle 1
Has been given a task request based on the transfer request with ID "4", and is on the way to the transfer station ST3, but has not transferred the work. That is, this I
Referring to the contents of the transfer request in the transfer request buffer 222 corresponding to D, the transfer station ST3 is “destination 1”, that is, it is running for “From”, so it travels to the transfer station ST3. It can be seen that the work “Y” is loaded.

As shown in FIG. 15, the branch / joining state table 225 indicates the state of each of the branch points Br1 and Br2 and each of the meeting points Me1 and Me2, ie, whether it is on the curved side or on the straight side. Is indicated by “song” or “straight”. In the example of FIG. 15, the branch point Br1 is “straight ahead”, the junction Me1 is “straight ahead”, the branch point Br2 is “curved side”,
The junction Me1 is "the straight side".

Further, the transporting vehicle traveling order table 226 is
As shown in FIG. 16, the table is generated based on the storage contents of the carrier position status table 224, and indicates the traveling order of the automatic guided vehicle 1 traveling in each path. That is, the “pass” of the carrier position status table 224
By referring to the attribute, it is possible to know which path each automatic guided vehicle 1 is traveling. Further, “last-BCL” and “BCL-
By referring to each attribute of “Time”, it is possible to specify the detailed position of each automatic guided vehicle 1 in the corresponding path. In this manner, the traveling order is determined based on the specified traveling position, and is shown in the carrier traveling order table 226. In the example of FIG. 14,
Since all the automatic guided vehicles 1, 1,... Of “A” to “D” were traveling on the first pass, in the example of FIG. , ... are "B car", "A
The driving order (arrangement order) of "car", "car C", and "car D" is shown.

The operation management device 22 according to the present invention has the above-described hardware configuration, and temporarily stores the transfer request given from the host computer 21 in the transfer request buffer 222 as described above, and based on the transfer request. hand,
An operation schedule is generated with reference to each storage information of the map information table 223 and the carrier position status table 224, and the operation of each unmanned carrier 1 is managed according to the operation schedule. Is described in detail with reference to a flowchart, the preceding unmanned guided vehicle 1 of the plurality of unmanned guided vehicles 1, 1,... Traveling on the same route is decelerated or stopped. In the case where the traveling of the subsequent automatic guided vehicle 1 is hindered, the automatic guided vehicle 1,
1 has a management function of exchanging the destination and running the automatic guided vehicles 1, 1,... Smoothly. The above-described functions including such a management function are provided by the operation management device 22.
This is executed by the PU 220.

FIG. 17 is a flowchart showing the processing contents of the CPU 220 of the operation management device 22 according to the present invention accompanying the destination exchange. The CPU 220 initializes a counter K preset in a memory (not shown) of the operation management device 22 to 1 (step 1). Then, the respective paths are checked sequentially as follows with reference to the transport vehicle traveling order table 226. First, when there are a plurality of automatic guided vehicles 1 traveling on a target path, the arrangement order is K
The second automatic guided vehicle 1 and the (K + 1) th automated guided vehicle 1 are specified, and the next destination of the two specified automatic guided vehicles 1, 1 is checked with reference to the transport vehicle position status table 224 (step 2). ).

Next, it is determined whether or not the next destination of both vehicles on the same path is on the same path with reference to the map information table 223 (step 3). Since the traveling mode of the automatic guided vehicle 1 is as described above, the destination exchange subroutine No. 1
(Step 4). On the other hand, if they are not on the same path, it is considered that they will pass through a branch point or the like before the next destination. 2 is executed (step 5).

After step 4 or step 5, 1 is added to the counter K (step 6), and it is determined whether or not the value of the counter K after the addition is equal to or less than the number of unmanned transport vehicles of the target path. (Step 7) If the number is less than or equal to the number of unmanned guided vehicles in the target path, it is determined that the check has been completed for all the unmanned guided vehicles 1 in the targeted path, and this processing ends. On the other hand, if the number of unmanned guided vehicles is not less than the number of unmanned guided vehicles on the target path, it is determined that the unmanned guided vehicle 1 to be checked still remains, and the processing from step 2 is repeated.

FIG. 18 shows a destination exchange subroutine No. 1
6 is a flowchart showing the processing contents of the CPU 220 of the operation management device 22 according to the present invention. In the present subroutine, first, the CPU 220 refers to the map information table 223 based on the next destination of the Kth and (K + 1) th unmanned transport vehicles 1, 1 checked in step 2, and executes the next destination of the Kth unmanned transport vehicle 1. That is, it is determined whether or not the next destination of the preceding vehicle is before the next destination of the following vehicle (step 4).
1).

If the next destination of the preceding vehicle is nearer, it is determined whether or not the destinations of these two automatic guided vehicles 1 and 1 can be exchanged, for example, by a transport vehicle position status table. A determination is made with reference to the attributes of the work 224 (step 42), and if destination exchange is possible, destination exchange is executed (step 43). The determination as to whether or not the destination exchange is possible is based on, for example, a condition that both vehicles are carrying the same type of work, and that both vehicles are not carrying a work, that is, a so-called empty state. Perform as In the destination exchange of step 43, the contents of each table are updated to the state after the exchange.

Then, the counter K is set to 0 (step 44), and this subroutine ends. This subroutine is also terminated when the next destination of the preceding vehicle is not closer in step 41, or when the destination cannot be replaced in step 42.

FIG. 19 shows a destination exchange subroutine No. 2
6 is a flowchart showing the processing contents of the CPU 220 of the operation management device 22 according to the present invention. In this subroutine, the CPU 220 first checks the next destination of the K-th automatic guided vehicle 1 checked in step 2 with reference to the transport vehicle position status table 224, and here, the next destination is a branch point. Therefore, by checking the next destination of the automatic guided vehicle 1 with reference to the transport request buffer 222, the traveling direction of the automatic guided vehicle 1 at this branch point is determined. State table 2
By comparing with the traveling direction with reference to 25,
It is determined whether or not the traveling direction matches the state of the branch point (step 51).

When the next destination is a junction, when the AGVs 1 are not traveling on the same path, when the two AGVs 1 and 1 arrive at the junction, etc. Therefore, only the case of a branch point will be described here for clarity of description. However,
It goes without saying that the destination can be exchanged at the junction based on the same concept.

If the traveling direction does not match the state of the branch point, it is determined whether or not the destinations of the two automatic guided vehicles 1 and 1 can be exchanged, for example, by determining whether or not the destinations can be exchanged. Judgment is made by referring to the attribute of the work in the position state table 224 (step 52), and when the destination can be exchanged,
A destination exchange is performed (step 53). The determination as to whether or not the destination exchange is possible is based on, for example, a condition that both vehicles are carrying the same type of work, and that both vehicles are not carrying a work, that is, a so-called empty state. Perform as In the destination exchange in step 53, the contents of each table are updated to the state after the exchange.

Then, the counter K is set to 0 (step 54), and this subroutine is terminated. This subroutine is also terminated when the traveling direction of the preceding vehicle and the state of the branch point match in step 51, or when the destination exchange is not possible in step 52.

Next, the destination exchange realized by the above-described processing of the CPU 220 will be specifically described with reference to the explanatory diagrams of FIGS. 20 and 21. FIGS. 20 and 21 are explanatory diagrams for explaining the operation of the automatic guided vehicles 1 and 1 whose destinations are exchanged by the operation management device 22 according to the present invention. First, two automatic guided vehicles 1, 1 of "A" and "B" are traveling on the track 3 in FIG. 20 (a), and these automatic guided vehicles 1, 1 are transferred to the operation management device 22. Station ST
1 and ST2 are designated as destinations. here,
A branch point Br is present in the current traveling position of the automatic guided vehicles 1, 1 and in the middle of the transfer stations ST1, ST2, and one transfer station ST1 is arranged on the curved side via the branch point Br. And the other transfer station ST
It is assumed that 2 is disposed on the straight traveling side via the branch point Br.

The preceding automatic guided vehicle "A" determines the existence of the branch point Br in front of it by the fixed point BC as described above.
In order to be recognized by L4 and to reach the transfer station ST1, which is the destination of the vehicle, this branch point Br
It is determined based on the route instructed by the operation management device 22 whether to make a turn or go straight. This branch point Br
As the automatic guided vehicle 1 starts receiving the state signal of the branch point Br transmitted by infrared communication or the like from a local control device (not shown) for performing the operation control of the automatic control, the above-described determination result, It is determined whether or not the traveling direction of the vehicle matches the state of the branch point Br.

Such a determination is also made in the operation management device 22 as described above. If the two do not match, the automatic guided vehicle 1 switches the branch point Br to the local control device. Without transmitting the request signal by infrared rays, as shown in FIG. 20 (b), the operation management device 22 re-instructs the destinations to exchange the destinations of both the automatic guided vehicles 1,1. This eliminates the need for the preceding unmanned guided vehicle “A” to stop at the operation waiting standby position, which is a point a predetermined distance before the branch point Br, and wait until switching of the branch point Br is completed. , FIG. 2
As shown in FIG. 1 (a), the vehicle travels straight through the branch point Br to reach the transfer station ST2.

On the other hand, in the case of the automatic guided vehicle 1 called “B”, it is necessary to switch the branch point Br to the curving side. The switching request signal of FIG.
As shown in FIG. 1 (a), it stops at the operation waiting standby position,
It waits until the switching of the branch point Br is completed.

Then, the automatic guided vehicle 1 of "B" starts accelerating with recognizing the completion of the switching of the branch point Br by the state signal from the local control device, and switches to the turning side. Curving Br, FIG. 21 (b)
As shown in (1), the process reaches the transfer station ST1.

As described above, conventionally, these two automatic guided vehicles 1, 1 perform the same task, so that the branch point Br
Need to be switched twice, if the destination exchange is performed by the operation management device 22 according to the present invention, only one switching is required, and the waiting time of the automatic guided vehicle 1 accompanying the switching of the branch point Br Can be halved.

[0130]

As described above in detail, in the method for managing the operation of a track traveling vehicle according to the present invention and the apparatus used for carrying out the method, the method is applied to each of a plurality of track traveling vehicles such as automatic guided vehicles traveling along a track. Based on the obtained travel position information, the operation of the track traveling vehicle is managed by instructing each track traveling vehicle on a route including a destination, and based on the travel position information and the track layout information, Of the plurality of track vehicles traveling on the same route is specified, and any two of the plurality of track vehicles are determined based on the specification result and the destination indicated to each track vehicle. Determines whether it is necessary to decelerate or stop at predetermined points, such as a track curve, a transfer station, a junction, and a junction, at which point the preceding vehicle needs to decelerate or stop. There is a following car When it is determined that it is not necessary to stop at the speed or stop, the destination indicated to both vehicles is exchanged, so that traveling and operation can be performed without being affected by the preceding vehicle, and There is no increase in the processing load on the external device for instructing the operation or the like.

Further, for example, when the predetermined point is a branch point or a junction, the branch point or the junction indicating whether the branch point or the junction is in a straight traveling state or a curved state is indicated. The state information is stored, and the determination of whether or not it is necessary for the two track vehicles to decelerate or stop at a junction or a junction is given to the specified order of the track vehicles and to each track vehicle. Is performed based on the destination and the stored state information, so that the condition information of the movable point such as a branch point or a junction where the track traveling vehicle decelerates or stops is included in the determination condition. It can be added, and by updating such state information periodically, it is possible to make a judgment closer to reality.

Further, the predetermined location is a branch point or a junction of a track, and information indicating a switching state of each branch point or each junction is stored as the state information. Alternatively, the branch point or the confluence point as exemplified above can be considered as the location of the trajectory that needs to be stopped.

Further, in the track traveling vehicle according to the present invention, the traveling position information is transmitted to an external device such as a carrier management device, and the external device grasps the traveling position of each track traveling vehicle based on the transmitted content. In this way, each track traveling vehicle is instructed with destination information, the designated destination information is received, and the track traveling vehicle traveling on the track based on the information is provided with a curve, a transfer station, and a branch. It stores track layout information including points where the automatic guided vehicle should decelerate or stop, such as points and junctions, intercepts communications between other vehicles and the external device, and performs other operations based on the intercepted contents. Based on the layout information, it is determined whether or not the vehicle is traveling or traveling in front of the traveling track of the own vehicle and the destination of the other vehicle is a position before the destination of the own vehicle. Based on the result, the external device A destination that is instructed has a configuration that performs communication in order to exchange with the other vehicle.

Therefore, even if there is a possibility that another vehicle is traveling or running on the traveling track of the own vehicle and the destination of the other vehicle is a position before the destination of the own vehicle, Is replaced, the preceding track traveling vehicle does not estrange the running and operation of the following track traveling vehicle. Further, by intercepting the communication between the other vehicle and an external device for instructing a destination and an operation, etc., there is a possibility that the other vehicle is traveling or traveling in front of the traveling track of the own vehicle, Since the information for determining whether or not the destination of the vehicle is located before the destination of the own vehicle is obtained, the processing load on the other vehicle and the external device is not increased. Furthermore, at the time of destination exchange, processing is performed by direct communication only with another vehicle corresponding to the determination result, so that the processing load on the external device does not increase.

Further, by reading the traveling position information of the own vehicle when passing through a sign such as a fixed point BCL laid on a nearby track to indicate the location of the track on which the track traveling vehicle should be decelerated or stopped, Since the configuration is to acquire the information, each track traveling vehicle can grasp the traveling position information of the own vehicle by using the fixed point BCL of the conventional configuration, and at this time, the track traveling vehicle transfers to the carrier management device as an external device. By intercepting the traveling position information to be transmitted, it is possible to acquire traveling position information of another vehicle without alienating these communications.

Further, a signal for requesting destination exchange is transmitted from the following track traveling vehicle to the preceding track traveling vehicle, and the preceding track traveling vehicle receiving the signal receives the signal, thereby receiving the signal. , It is possible to prevent a plurality of adjacent track vehicles from communicating with each other unnecessarily.

Further, since communication with other vehicles is performed wirelessly, the track running vehicle can be controlled by various forms of wireless communication, such as communication using electromagnetic waves, communication using light such as infrared rays, communication using magnetism, and communication using magnetic induction. It is possible to communicate with each other. In this case, when communication between the track traveling vehicle and the carrier management device as an external device is performed wirelessly, the communication between the track traveling vehicles is performed in a different system from the communication. It is desirable to make the frequency and the like different, so that the present invention has an excellent effect such that a load is not applied to the processing of the carrier management device.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an automatic guided vehicle as a track traveling vehicle according to the present invention.

FIG. 2 is a schematic diagram showing a layout of a track on which an automatic guided vehicle as a track traveling vehicle according to the present invention travels.

FIG. 3 is a schematic diagram showing a configuration of a branch point order table.

FIG. 4 is a schematic diagram showing a configuration of a station group (STG) order table.

FIG. 5 is a flowchart showing a processing content of a control unit of the automatic guided vehicle as a track traveling vehicle according to the present invention in response to transmission of a destination exchange request.

FIG. 6 is a schematic diagram showing a configuration of another vehicle position information table.

FIG. 7 is a flowchart showing processing contents of a control unit of the automatic guided vehicle as a track traveling vehicle according to the present invention upon receiving a destination exchange request.

FIG. 8 is an explanatory diagram for explaining an operation of the automatic guided vehicle as a track traveling vehicle according to the present invention.

FIG. 9 is an explanatory diagram for explaining an operation of the automatic guided vehicle as a track traveling vehicle according to the present invention.

FIG. 10 is a block diagram showing a configuration of an operation management device for a track traveling vehicle according to the present invention and a relationship with another device to which the operation management device is connected.

FIG. 11 is a layout diagram showing a specific configuration of a track and an automatic guided vehicle traveling on the track.

FIG. 12 is a diagram showing an example of the contents stored in a transport request buffer corresponding to the state of FIG. 11;

FIG. 13 is a diagram showing an example of storage contents of a map information table corresponding to the state of FIG. 11;

14 is a diagram showing an example of storage contents of a carrier position state table corresponding to the state of FIG. 11;

FIG. 15 is a diagram showing an example of the contents of a branch / joining state table corresponding to the state of FIG. 11;

16 is a diagram showing an example of contents stored in a carrier traveling order table corresponding to the state of FIG. 11;

FIG. 17 is a flowchart showing the processing contents of the CPU of the operation management device according to the present invention accompanying the destination exchange.

FIG. 18 shows a destination exchange subroutine No. 4 is a flowchart showing the processing contents of the CPU of the operation management device according to the present invention accompanying 1;

FIG. 19 shows a destination exchange subroutine No. 6 is a flowchart showing the processing contents of the CPU of the operation management device according to the present invention accompanying No. 2;

FIG. 20 is an explanatory diagram for explaining an operation of the automatic guided vehicle whose destination is exchanged by the operation management device according to the present invention.

FIG. 21 is an explanatory diagram for explaining an operation of the automatic guided vehicle whose destination is exchanged by the operation management device according to the present invention.

FIG. 22 is an explanatory diagram for explaining an operation of a conventional automatic guided vehicle.

FIG. 23 is an explanatory diagram for explaining an operation of a conventional automatic guided vehicle.

FIG. 24 is an explanatory diagram for explaining an operation of a conventional automatic guided vehicle.

FIG. 25 is an explanatory diagram for explaining an operation of a conventional automatic guided vehicle.

FIG. 26 is an explanatory diagram for explaining an operation of a conventional automatic guided vehicle.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 automatic guided vehicle 2 carrier management device 3 track 10 control unit 11 communication unit 13 storage unit 14 BCR 22 operation management device 131 branch point order table 132 station group (STG) order table 133 other vehicle position information table 220 CPU 223 map information Table 224 Car carrier position status table 225 Branch merging condition table 226 Car carrier traveling order table

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Makoto Ono 4-17-17, Tsurumi, Tsurumi-ku, Osaka-shi, Osaka F-term in Tsubakimoto Chain Co., Ltd. (Reference) 5H301 DD01 DD07 DD17 EE02 FF06 FF16 FF17 FF18 JJ01 KK04 KK03 KK04 KK08 KK18 KK19

Claims (8)

[Claims] An operation of a track traveling vehicle is managed by instructing each track traveling vehicle to a route including a destination based on traveling position information given from each of a plurality of track traveling vehicles traveling along a track. A method, based on travel position information of each track traveling vehicle and track layout information stored in advance, specifies a traveling order of a plurality of track traveling vehicles traveling on the same route of the track, and specifies And determining whether any two of the plurality of track vehicles need to decelerate or stop at a predetermined location on the track based on the destinations instructed to the respective track vehicles. ,
When it is determined that the preceding vehicle needs to decelerate or stop at the predetermined location and the subsequent vehicle does not need to decelerate or stop at the predetermined location, the destination indicated to both vehicles is exchanged. An operation management method of a track traveling vehicle characterized by the following. 2. The operation of a track traveling vehicle is managed by instructing each track traveling vehicle to a route including a destination based on traveling position information given from each of a plurality of track traveling vehicles traveling along a track. An apparatus, comprising: layout information storage means for storing track layout information; and a plurality of track traveling vehicles traveling on the same route of the track based on the layout information storage means and traveling position information of each track traveling vehicle. A traveling order identifying means for identifying the traveling order of the vehicle, and any two of the plurality of track traveling vehicles are controlled based on a result specified by the traveling order identifying means and a destination instructed to each of the track traveling vehicles. Determining means for determining whether it is necessary to decelerate or stop at a predetermined location on the track, and the determining means determines that the preceding vehicle needs to decelerate or stop at the predetermined location, Predetermined If it is determined that there is no need to slow down or stop at Tokoro, operation control device of the track traveling vehicle, characterized in that it comprises a destination exchange means for exchanging a destination that is instructed in both vehicles. 3. A status information storage unit for storing status information of the predetermined location, wherein the determination unit determines a result specified by the travel order specifying unit, a destination indicated to each track traveling vehicle, and the status information. The operation management device for a track traveling vehicle according to claim 2, wherein it is determined whether or not the two vehicles need to decelerate or stop at the predetermined location based on the contents stored in the storage means. 4. The method according to claim 3, wherein the predetermined location is a branch point or a junction of the trajectory, and the state information storage unit stores information indicating a switching state of each branch point or each junction. An operation management device for a tracked vehicle according to the description. 5. A track traveling vehicle that transmits traveling position information to an external device, receives destination information specified by the external device based on the transmitted content, and travels on a track based on the received destination information. Storage means for storing track layout information; interception means for intercepting communication between another vehicle and the external device; and, based on the content of the interception by the interception means, the other vehicle moves ahead of the traveling track of the own vehicle. Determining means for determining whether or not the destination of the other vehicle is a position in front of the destination of the own vehicle during running or running, and based on a determination result by the determining means, the external device And a communication means for communicating to exchange the destination designated by the vehicle with the other vehicle. 6. Acquisition means for acquiring travel position information of an own vehicle by reading the travel position information when the track traveling vehicle passes a sign laid on a nearby track to indicate a location of a track to be decelerated or stopped. The track traveling vehicle according to claim 5, further comprising: 7. The communication device according to claim 5, wherein the communication unit includes a transmission unit that transmits a signal requesting destination exchange to the other vehicle, and a reception unit that receives a signal requesting destination exchange from another vehicle. The tracked vehicle described. 8. The track running vehicle according to claim 5, wherein the communication unit performs wireless communication.