JP2008257522A - Controller and control method for automated guided vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform operation of a ground control device on a suitably timely basis even when a device for detecting a passage of an automated guided vehicle cannot be properly installed. <P>SOLUTION: A controller for an automated guided vehicle for controlling operation of a ground control device installed in a traveling road where the automated guided vehicle travels, includes: a predetermined position passage detecting means for detecting that the automated guided vehicle has passed through a predetermined position; an elapsed time management means for managing an elapsed time after the automated guided vehicle passes through the predetermined position; and an operation control means for operating the ground control device based on the elapsed time managed by the elapsed time management means. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a control device for an automatic guided vehicle and a control method for the automatic guided vehicle, and more particularly to a technique suitable for use in controlling the operation of the automatic guided vehicle and the ground control device at an optimal timing according to a use situation.

  2. Description of the Related Art In recent years, unmanned transport carts for unattended transport of parts and the like have been used in production factories and the like for labor saving. This automatic guided vehicle may travel in a plurality of partitioned rooms in a production factory, or travel outdoors where other traveling vehicles and people come and go. In such a case, the automatic guided vehicle passes through a ground control device such as an automatic door provided in a room partition or a breaker provided in a road.

  The operation of the ground control device is performed at the timing when it is detected that the automatic guided vehicle has passed a predetermined location near the ground control device (see, for example, Patent Document 1). The passage detection of the automatic guided vehicle is generally performed by using a fixed point arrival signal sent from the automatic guided vehicle. However, since the location where the fixed point arrival signal can be transmitted is limited, if the ground control device is operated immediately upon arrival, a person or other equipment may be caused to wait for an unmanned transport cart more than necessary.

In addition, in order to prevent the automatic guided vehicle from colliding with an obstacle, a sensor having a function of decelerating and stopping when the sensor in the traveling direction is operated and detecting the obstacle is proposed (for example, (See Patent Document 2).
JP 2002-47861 A Japanese Patent Laid-Open No. 2001-60111

  When an automatic guided vehicle is installed indoors, in general, since the vehicle travels so as to sew a narrow indoor space, products, materials, and the like may be placed in the immediate vicinity of the automatic guided vehicle. In such a case, the automatic guided vehicle often detects it as an obstacle on a curve or the like.

  In addition, when an automatic guided vehicle is installed outdoors, the vegetation growing at the end of the light path grows and often detects the vegetation as an obstacle. As described above, if an object that is not originally required to be detected as an obstacle is erroneously detected, the automatic guided vehicle is decelerated.

  At that time, as described above, if control is performed so that the ground control device is operated at the timing when it is detected that the automatic guided vehicle has passed through a predetermined location, people and other facilities are more than necessary. You may be forced to wait for an automated guided vehicle.

In view of the above-described problems, the first object of the present invention is to allow the operation of the ground control apparatus to be performed at an appropriate timing even when an apparatus for detecting the passage of the automatic guided vehicle cannot be properly installed. And
It is a second object of the present invention to enable the operation of the ground control device to be performed at an optimal timing that matches the current state in which the automatic guided vehicle travels.

A control device for an automatic guided vehicle according to the present invention is a control device for an automatic guided vehicle for controlling the operation of a ground control device installed on a travel path on which the automatic guided vehicle travels, and the automatic guided vehicle is predetermined. Predetermined position passage detecting means for detecting that the predetermined position has been passed, elapsed time management means for managing an elapsed time since the automatic guided vehicle has passed the predetermined position, and the elapsed time management means And an operation control means for operating the ground control device based on the elapsed time managed by.
Further, another feature of the control device for the automatic guided vehicle of the present invention is that arrival confirmation means for confirming that the automatic guided vehicle has arrived at an arrival confirmation position set before the ground control device, Error detection means for detecting an error between the arrival time confirmed by the arrival confirmation means and the elapsed time managed by the elapsed time management means, and the elapsed time management means is detected by the error detection means. The tendency of the error to be reflected is reflected in the managed elapsed time.
According to another aspect of the control device for the automatic guided vehicle of the present invention, the ground control device includes a circuit breaker and a man door.

The control method of the automatic guided vehicle of the present invention is a control method of the automatic guided vehicle for controlling the operation of the ground control device installed on the travel path on which the automatic guided vehicle travels, and the automatic guided vehicle is predetermined. A predetermined position passage detecting step for detecting that the predetermined position has been passed, an elapsed time management step for managing an elapsed time since the automatic guided vehicle has passed the predetermined position, and the elapsed time management step. And an operation control step of operating the ground control device based on the elapsed time managed by.
Another feature of the control method of the automatic guided vehicle of the present invention is that an arrival confirmation step of confirming that the automatic guided vehicle has arrived at an arrival confirmation position set before the ground control device, An error detection step of detecting an error between the arrival time confirmed by the arrival confirmation step and the elapsed time managed by the elapsed time management step, and the elapsed time management step is detected by the error detection step. The tendency of the error to be reflected is reflected in the managed elapsed time.
According to another aspect of the control method for the automatic guided vehicle of the present invention, the ground control device includes a breaker and a man door.

The program of the present invention is a program for causing a computer to execute a step of controlling an unmanned transport cart for controlling the operation of a ground control device installed in a travel path on which the unmanned transport cart travels, the unmanned transport cart being A predetermined position passage detecting step for detecting passage through a predetermined position, an elapsed time management step for managing an elapsed time since the automatic guided vehicle has passed through the predetermined position, and the elapsed time An operation control step of operating the ground control device based on an elapsed time managed by the management step is executed by a computer.
Another feature of the program of the present invention is that the arrival confirmation step for confirming that the automatic guided vehicle has arrived at the arrival confirmation position set before the ground control device and the arrival confirmation step. An error detection step of detecting an error between the confirmed arrival time and the elapsed time managed by the elapsed time management step, wherein the elapsed time management step is a tendency of errors detected by the error detection step. Is reflected in the managed elapsed time.

According to the present invention, since it has been detected that the automatic guided vehicle has passed a predetermined position, the elapsed time is managed, and the ground control device is operated based on the elapsed time. Even when a device for detecting the passage of the automatic guided vehicle cannot be properly installed, the operation of the ground control device can be executed at an appropriate timing.
According to another feature of the present invention, an error between the elapsed time and the elapsed time from when the automatic guided vehicle passes through a predetermined position to arrive before the ground control device is calculated. Since the detected error tendency is reflected in the managed elapsed time, the timing for operating the ground control device can be changed when the same tendency continues for a certain period of time. The ground control device can be operated at an appropriate timing suitable for the site.

(First embodiment)
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram illustrating an example of a schematic configuration of a traveling system for an automatic guided vehicle according to the present embodiment.
In FIG. 1, reference numeral 10 denotes a control device. The control device 10 is connected to a first sequencer 14 and a second sequencer 15 via a network 13. As the network 13, Ethernet (registered trademark) or the like is used.

  The first sequencer 14 and the second sequencer 15 are connected to a ground control device such as a communication device 21, a circuit breaker 17, and a man door 19 that communicate with the AGV via a communication line 18. In the present application, the ground control device is a device that is disposed in the vicinity of the traveling path of the automatic guided vehicle, and that contributes to the operation and safety of other mobile devices such as the automatic guided vehicle, the worker, and the production plant, and the fixed device. It is. And the control process requested | required from the control apparatus 10 is implement | achieved by communicating with the communication apparatus 21 and the circuit breaker 17 with AGV. For this purpose, the first sequencer 14 and the second sequencer 15 communicate with the control device 10, the first sequencer 14, and the second sequencer 15 every predetermined time, and operate appropriately for the circuit breaker 17 and the man door 19. An operation that gives instructions is performed.

  11 and 12 are automatic guided vehicles (AGV). In the present embodiment, a state is shown in which the automatic guided vehicle 11 is positioned immediately before passing through the circuit breaker 17 and the automatic guided vehicle 12 is positioned immediately before passing through the man door 19. In addition, F in FIG. 1 has shown the fence installed in the both sides of the traveling path where the automatic guided vehicle 11 and the automatic guided vehicle 12 drive | work. Reference numeral 20 denotes a person passing through the mandrel 19.

Next, an example of operation | movement of the traveling system of the automatic guided vehicle of this embodiment is demonstrated.
FIG. 2 is a diagram for explaining an example of processing that is performed when the automated guided vehicle 11 passes through the circuit breaker 17.
As shown in FIG. 2, when the automatic guided vehicle 11 comes to the position indicated by “11 a”, that is, the position passing through the communication point 21 a two before the breaker 17, the breaker 17 is closed. An instruction is issued from the first sequencer 14. This position is a position that requires “+ α seconds” until the automatic guided vehicle 11 arrives at the circuit breaker 17. If the “two previous communication points” are not in time, the previous communication point is set as a reference point. That is, the circuit breaker 17 is closed after “α seconds” have elapsed from the reference communication point.

  When the automatic guided vehicle 11 travels as indicated by the arrow and the position indicated by “11b”, that is, when it arrives at the previous communication point 21b from the circuit breaker 17, it is confirmed that the circuit breaker 17 is closed. To do. If the checker 17 is not closed as a result of this confirmation, the automatic guided vehicle 11 is stopped. When the circuit breaker 17 is closed, the automatic guided vehicle 11 is allowed to travel as it is and the circuit breaker 17 is passed.

  Then, after the automatic guided vehicle 11 passes through the circuit breaker 17, when the first sequencer 14 arrives at the position indicated by "11c", that is, the first communication point 21c after passing through the circuit breaker 17, the first sequencer 14 An instruction is given to open the circuit breaker 17.

  In this way, by controlling the opening / closing operation of the breaker 17 and the man door 19 which are the ground control devices, the other vehicle 16 passing through the breaker 17 and the person 20 passing through the man door wait for the unmanned conveyance cart to pass. It is possible to minimize the time required for the process.

  By the way, the automatic guided vehicle 11 (the same applies to the automatic guided vehicle 12 but only the automatic guided vehicle 11 will be described in the following description) may include an obstacle detection sensor. FIG. 3A shows an example in which an obstacle detection sensor is provided on the front.

  This example shows an example in which obstacle detection sensors are provided on both sides of the front of the automatic guided vehicle 11, and long-distance obstacle detection sensors 31 a and 31 b and short-distance obstacle detection sensors 32 a and 32 b are provided. An example is shown. These obstacle detection sensors 31a, 31b, 32a, and 32b irradiate infrared rays in order to detect the obstacles, receive the reflected light, and detect the presence or absence of the obstacles.

  In FIG. 3B, the obstacle detection sensors 31a and 31b for long distance radiate infrared rays 33 for long distance, and the obstacle detection sensors 32a and 32b for short distance irradiate infrared rays 34 for short distance. Is shown. FIG. 3B shows a state in which the long-distance infrared ray 33 is detecting the person 20.

  FIG. 3C shows a state in which the product 35 placed near the traveling road is detected as an obstacle when the automated guided vehicle 11 turns around the corner of the traveling road. In this embodiment, the automatic guided vehicle 11 is decelerated to a speed at which it can be safely stopped at the timing when the obstacle detection sensors 31a and 31b for long distance detect the obstacle. The short distance obstacle detection sensors 32a and 32b are controlled to stop at the timing when the obstacle is detected.

  FIG. 3D shows a state in which the vegetation 36 growing at the end of the light path is detected as an obstacle. As shown in FIG. 3D, when the vegetation 36 is small, it is not detected as an obstacle. However, when the vegetation 36 grows and becomes large, the vegetation 36 that originally does not need to be detected as an obstacle is erroneously detected. As a result, the automatic guided vehicle 11 decelerates.

  When the automatic guided vehicle 11 decelerates due to the above-described cause, as shown in FIG. 4, after passing through the communication point 21a two before the circuit breaker 17, the communication point 21b one before the circuit breaker 17 is moved to. The time until arrival becomes longer, and a deviation occurs in the optimally set time (α seconds). For this reason, the time during which the circuit breaker 17 is closed is lengthened, and the waiting time of the other vehicle 16 waiting for the circuit breaker 17 to open and the person 20 waiting for the mandoor 19 to open is increased. Inconvenience occurs. In the present embodiment, in order to prevent such inconvenience, the above-described optimum time (α seconds) is made variable in accordance with the current situation. In this way, the deviation time is calculated, and the next circuit breaker opening / closing timing is automatically corrected.

Next, an example of the control method for the automatic guided vehicle of the present embodiment will be described with reference to the flowcharts of FIGS. 5 and 6.
The flowchart of FIG. 5 is a flowchart for explaining a basic processing procedure for performing operation control of the ground control device such as the circuit breaker 17 and the man door 19.

  As shown in FIG. 5, in step S 51, the automatic guided vehicle 11 (12) waits for the communication point 21 a two before from the circuit breaker 17 to pass. Then, when it is confirmed that the automatic guided vehicle 11 (12) has passed the communication point 21a two before the circuit breaker 17, the process proceeds to step S52 and sleeps for a predetermined time (α seconds).

  When the sleep for the predetermined time (α seconds) elapses, the process proceeds to step S53, and an operation instruction is given to the ground control device such as the breaker 17 and the man door 19. When this operation instruction is performed, the ground control devices such as the circuit breaker 17 and the man door 19 perform a closing operation, and when the automatic guided vehicle 11 (12) passes through the circuit breaker 17, it collides with another vehicle 16 or the like. It is possible to pass safely without touching the person 20 passing through the mandoor.

Next, an example of a procedure for optimally adjusting the above-described fixed time (α seconds) according to the situation in which the automatic guided vehicle 11 (12) travels will be described with reference to the flowchart of FIG.
First, in step S61, it is determined whether the automatic guided vehicle 11 (12) is waiting at the communication point 21b immediately before the circuit breaker 17.

  As a result of this determination, if the automatic guided vehicle 11 (12) is not waiting, the process proceeds to step S62, and the waiting time of another device (the other vehicle 16 in the embodiment) is acquired. If the result of determination in step S61 is that the automatic guided vehicle 11 (12) is waiting at the communication point 21b immediately before the circuit breaker 17, the process proceeds to step S63, where the automatic guided vehicle 11 (12) waits. Get time.

  Next, in step S64, it is determined whether it was the same device that was waiting in the previous time. If the result of this determination is that they are different, the process proceeds to step S69, and a value for correcting the fixed time (α seconds) (referred to as a correction candidate value) is reset. If the result of determination in step S64 is that the same device has been on standby, the process proceeds to step S65 to determine whether the error between the correction candidate value and the current waiting time is large.

  As a result of the determination in step S65, if the error is large, the process proceeds to step S70. If it is determined in step S65 that the error between the correction candidate value and the current waiting time is not large, the process proceeds to step S66, and processing for reflecting the current waiting time in the correction candidate value is performed.

  Next, in step S67, it is determined whether or not the same tendency continues. If this is not the case, the process proceeds to step S70. If the same tendency continues as a result of the determination in step S67, the process proceeds to step S68 to perform a process of reflecting the correction candidate value in the predetermined time (α seconds) described above. Thereafter, the process proceeds to step S69 to reset the correction candidate value.

  In step S70, it is determined whether or not to end the process. If not, the process returns to step S61 to repeat the above-described process. If it is determined in step S70 that the process is to end, the process ends.

  In the present embodiment, the learning process is performed in accordance with the current state of the surroundings where the automatic guided vehicle 11 (12) travels for a certain time (α seconds) in this way, so that the automatic guided vehicle 11 (12) The waiting time can be minimized, and the waiting times of the ground control devices such as the breaker 17 and the man door 19 can be minimized.

  Next, a configuration example of a computer system capable of configuring the control device 10 of the present embodiment will be described with reference to FIG.

  In FIG. 7, reference numeral 700 denotes a computer PC. The PC 700 includes a CPU 701, executes device control software stored in a ROM 702 or a hard disk (HD) 711, or supplied from a flexible disk drive (FD) 712, and collects all devices connected to the system bus 704. To control.

  Each functional unit of the present embodiment is configured by a program stored in the CPU 701, the ROM 702, or the hard disk (HD) 711 of the PC 700.

  Reference numeral 703 denotes a RAM that functions as a main memory, work area, and the like of the CPU 701. Reference numeral 705 denotes a keyboard controller (KBC), which controls to input a signal input from the keyboard (KB) 709 into the system main body. A display controller (CRTC) 706 performs display control on the display device (CRT) 710. A disk controller (DKC) 707 is a hard disk (boot program (start program: a program for starting execution (operation) of personal computer hardware and software)), a plurality of applications, editing files, user files, a network management program, and the like. HD) 711 and flexible disk (FD) 712 are controlled.

  A network interface card (NIC) 708 performs bidirectional data exchange with a network printer, another network device, or another PC via the LAN 720.

  In the above-described embodiment, the example in which the control device 10 controls the ground control devices such as the breaker 17 and the man door 19 via the first sequencer 14 and the second sequencer 15 has been described. However, the control device 10 may be configured to directly control the ground control devices such as the breaker 17 and the man door 19. Moreover, you may make it comprise the control system of an automatic guided vehicle using the sequencer which performs the control sequence mentioned above for a control apparatus, without providing the control apparatus 10. FIG.

(Another embodiment according to the present invention)
Each means which comprises the control apparatus of the automatic guided vehicle in embodiment of this invention mentioned above is realizable by the program memorize | stored in RAM, ROM, etc. of computer operating. This program and a computer-readable recording medium recording the program are included in the present invention.

  In addition, the present invention can be implemented as a system, apparatus, method, program, storage medium, or the like, and can be applied to a system composed of a plurality of devices. Moreover, you may apply to the apparatus which consists of one apparatus.

  In the present invention, a software program (in the embodiment, a program corresponding to the flowcharts shown in FIGS. 5 and 6) for realizing the functions of the above-described embodiments is directly or remotely supplied to the system or apparatus. . In addition, this includes a case where the system or the computer of the apparatus is also achieved by reading and executing the supplied program code.

  Accordingly, since the functions of the present invention are implemented by computer, the program code installed in the computer also implements the present invention. In other words, the present invention includes a computer program itself for realizing the functional processing of the present invention.

  In that case, as long as it has the function of a program, it may be in the form of object code, a program executed by an interpreter, script data supplied to the OS, and the like.

  Various recording media can be used as a recording medium for supplying the program. For example, floppy (registered trademark) disk, hard disk, optical disk, magneto-optical disk, MO, CD-ROM, CD-R, CD-RW, magnetic tape, nonvolatile memory card, ROM, DVD (DVD-ROM, DVD- R).

  As another program supply method, a browser on a client computer is used to connect to an Internet home page. The computer program itself of the present invention or a compressed file including an automatic installation function can be downloaded from the homepage by downloading it to a recording medium such as a hard disk.

  It can also be realized by dividing the program code constituting the program of the present invention into a plurality of files and downloading each file from a different homepage. That is, a WWW server that allows a plurality of users to download a program file for realizing the functional processing of the present invention on a computer is also included in the present invention.

  In addition, the program of the present invention is encrypted, stored in a storage medium such as a CD-ROM, distributed to users, and key information for decryption is downloaded from a homepage via the Internet to users who have cleared predetermined conditions. Let It is also possible to execute the encrypted program by using the key information and install the program on a computer.

  In addition to the functions of the above-described embodiments being realized by the computer executing the read program, the OS running on the computer performs part or all of the actual processing. Also, the functions of the above-described embodiments can be realized.

  Further, the program read from the recording medium is written in a memory provided in a function expansion board inserted into the computer or a function expansion unit connected to the computer. Thereafter, the CPU of the function expansion board or function expansion unit performs part or all of the actual processing based on the instructions of the program, and the functions of the above-described embodiments are realized by the processing.

  Further, the program read from the storage medium is written in a memory provided in a function expansion board inserted into the computer or a function expansion unit connected to the computer. Thereafter, the CPU of the function expansion board or function expansion unit performs part or all of the actual processing based on the instructions of the program, and the functions of the above-described embodiments are realized by the processing.

It is a block diagram which shows embodiment of this invention and shows the structural example of the control system of an automatic guided vehicle. It is a figure explaining a mode that an automated guided vehicle passes in front of a circuit breaker. (A) is a figure explaining the obstacle detection sensor arrange | positioned in the front of an automatic guided vehicle, (b) is a figure which shows a mode that the infrared rays for long distance are detecting the person, (c) is an unmanned conveyance The figure which shows a mode that a trolley | bogie bends the corner | angular part of a traveling path, (d) is a figure which shows a mode that the vegetation growing on the edge part of a traveling path is detected as an obstruction. It is a figure for demonstrating the timing which an automatic guided vehicle passes a circuit breaker. It is a flowchart explaining the basic processing procedure which performs operation | movement control of ground control apparatuses, such as a circuit breaker and a man door. It is a flowchart explaining an example of the procedure which adjusts a fixed time (alpha second) optimally according to the condition where the automatic guided vehicle drive | works. It is a block diagram explaining the structural example of the computer system which can comprise the control apparatus of embodiment.

Explanation of symbols

10 Controller 11 Automated guided vehicle (AGV)
12 Automated guided vehicle (AGV)
13 Network 14 First Sequencer 15 Second Sequencer 16 Other Vehicle 17 Breaker 18 Communication Line 19 Man Door 20 Person 21 Passing through Man Door 21 Communication Device with AGV

Claims (8)

A control device for an automatic guided vehicle for controlling the operation of a ground control device installed in a travel path on which the automatic guided vehicle travels,
A predetermined position passage detecting means for detecting that the automatic guided vehicle has passed a predetermined position;
Elapsed time management means for managing an elapsed time since the unmanned transport cart has passed through the predetermined position;
A control device for an automatic guided vehicle, further comprising operation control means for operating the ground control device based on the elapsed time managed by the elapsed time management means. The arrival confirmation means for confirming that the automatic guided vehicle has arrived at the arrival confirmation position set in front of the ground control device, the arrival time confirmed by the arrival confirmation means and the elapsed time management means Error detecting means for detecting an error with the elapsed time being,
2. The control device for an automatic guided vehicle according to claim 1, wherein the elapsed time management unit reflects a tendency of an error detected by the error detection unit in the managed elapsed time.   The control device for an automatic guided vehicle according to claim 1, wherein the ground control device includes a circuit breaker and a man door. A control method for an automatic guided vehicle for controlling the operation of a ground control device installed on a travel path on which the automatic guided vehicle travels,
A predetermined position passage detection step for detecting that the automatic guided carriage has passed a predetermined position;
An elapsed time management step of managing an elapsed time since the automatic guided vehicle passes the predetermined position; and
An operation control step of operating the ground control device based on the elapsed time managed by the elapsed time management step. The arrival confirmation step for confirming that the automatic guided vehicle has arrived at the arrival confirmation position set before the ground control device, the arrival time confirmed by the arrival confirmation step, and the elapsed time management step An error detection step of detecting an error with the elapsed time being,
5. The control method for an automatic guided vehicle according to claim 4, wherein the elapsed time management step reflects the tendency of the error detected by the error detection step in the managed elapsed time.   The method for controlling an automatic guided vehicle according to claim 4, wherein the ground control device includes a circuit breaker and a man door. A program for causing a computer to execute a step of controlling an unmanned transport cart for controlling the operation of a ground control device installed in a travel path on which the unmanned transport cart travels,
A predetermined position passage detection step for detecting that the automatic guided carriage has passed a predetermined position;
An elapsed time management step of managing an elapsed time since the automatic guided vehicle passes the predetermined position; and
A program causing a computer to execute an operation control step of operating the ground control device based on an elapsed time managed by the elapsed time management step. The arrival confirmation step for confirming that the automatic guided vehicle has arrived at the arrival confirmation position set before the ground control device, the arrival time confirmed by the arrival confirmation step, and the elapsed time management step An error detection step of detecting an error with the elapsed time being,
The program according to claim 7, wherein the elapsed time management step reflects the tendency of the error detected by the error detection step in the managed elapsed time.

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