JP2611569B2 - Operation control method for automatic guided vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation control method for operating an automatic guided vehicle based on route data for instructing a transfer operation of the automatic guided vehicle.

[0002]

2. Description of the Related Art Conventionally, an unmanned guided vehicle has been used to instruct an operation of an unmanned guided vehicle between stations on an operation route, between stations, between stations and junctions, or between junctions. Each divided route data (route unit) is stored in the storage unit of the operation control device of the transport vehicle. FIG.
Is an example of an operation route of an automatic guided vehicle,
A, B, C, D, E and F indicate stations, and SP indicates a branch point. (1) to (6) show the divided route data (root unit). Then, an unmanned guided vehicle (not shown) is moved from station A to station B based on the divided route data.
, The automatic guided vehicle is operated in accordance with the divided route data (1). Split route data (1)
Are, for example, the start, acceleration (acceleration), and station B when starting the automatic guided vehicle from station A.
It has various operation commands such as deceleration and stop at the time of stopping, and further, station operation such as transfer or automatic charging while stopped at the station B, and these operation commands are sequentially performed. The operation of the automatic guided vehicle is controlled by applying the operation to a drive unit of an operation control device.

The divided root data (2) is a
The divided route data (3) has an operation command from the station A to the branch point SP, and has an operation command from the branch point SP to the station C, and has the divided route data (4).
Has an operation command from the branch point SP to the station E. Further, the divided route data (5) has an operation command from the branch point SP to the station D,
The divided route data (6) has an operation command from the branch point SP to the station F. Therefore, when the automatic guided vehicle is operated from the station A to the station C, the divided route data (2) and the divided route data (3) are connected to each other. When the station D is operated, the divided route data (2) and the divided route data (5) are connected, and the automatic guided vehicle is operated from the station A to the station F. In that case,
By connecting the route data (2) and the divided route data (6), the operation commands of the respective divided route data are sequentially given to the drive unit of the operation control device.

[0004]

In the above-mentioned conventional operation route, when the automatic guided vehicle is operated from the station A to the station F, for example, the station B and the station B are operated.
It is necessary not to stop at the option D. Therefore, the divided route data is not used without using the divided route data (1).
Not to stop at station B using data (2), and to stop at station D using divided route data (6) without using divided route data (5). I try not to let them. As is apparent from the operation route shown in FIG. 6, the divided route data (1) and the divided route data (2) are used when the automatic guided vehicle is started from the station A. Start and acceleration (acceleration) operation commands are included as common commands, and divided route data (5)
Also, the divided route data (6) includes a common command. On the other hand, in order to stop the automatic guided vehicle at the station B and the station D, it is necessary to use the divided route data (1) and the divided route data (5). As described above, in the conventional operation control, separate divided route data having a common command as described above must be provided, and therefore, the divided route data is stored in the storage unit of the operation control device of the automatic guided vehicle. However, there is a problem in that the number of divided route data increases, it takes time and effort to input the data, and it is necessary to increase the data area of the storage unit.

Therefore, in the present invention, each of the divided routes between the stations on the operation route, between the stations, between the stations and the branch points, or between the branch points and the branch points.
With one data, aiming at an automated guided vehicle (destination)
When the vehicle is to be operated, the divided route data is stored in the storage unit of the operation control device of the automatic guided vehicle by connecting the divided route data and not stopping the station on the way. An object of the present invention is to reduce the cost of the storage unit by reducing the divided route data and the data area of the storage unit.

[0006]

The technical means for solving the above-mentioned problems are as follows: between each station on the operation route, between stations, between stations and branch points, or between branch points and branch points. Divided route data for instructing the operation of the automatic guided vehicle in each section between the points is provided in the storage unit of the operation control device of the automatic guided vehicle, and is provided between the start station and the destination station. In the process of operating the automatic guided vehicle to the destination station while connecting the divided route data, each of the divided routes between the intermediate stations between the starting station and the destination station. Using an automatic guided vehicle operation control method in which the automatic guided vehicle stop mode in the training data is canceled so that the automatic guided vehicle travels without stopping at the respective intermediate stations. It is.

[0007]

According to the operation control method of the automatic guided vehicle, when the automatic guided vehicle is started with the target destination station set, the operation control device mounted on the automatic guided vehicle stores the data. The operation of the automatic guided vehicle is controlled based on the divided route data of each section stored in the section, and the set destination state is set.
Service. In the course of the operation, the operation control device outputs the stop mode data in each of the divided route data between the intermediate stations between the start station and the destination station. The automatic guided vehicle is caused to travel based on the traveling mode data for canceling and continuing the traveling operation, and the stop mode is determined when the next station is determined to be the target destination station. The vehicle is decelerated based on the data and stopped at the destination station to perform a station operation such as transfer or automatic charging.

[0008]

Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows an example of an operation route of an automatic guided vehicle for briefly explaining the gist of the present invention.
In FIG. 1, A, B, and C indicate stations, and (1) is provided for instructing the operation of the automatic guided vehicle between the stations A and B. Divided root data (route unit), and (2)
Is a divided route data (route unit) provided for instructing the operation of the automatic guided vehicle between the station B and the station C.

FIG. 2 shows the contents of the divided route data (1) between the station A and the station B.
Is the divided route data between station B and station C.
3 shows the contents of the data (2). As apparent from FIGS. 2 and 3, since the divided root data (1) and (2) have the same contents, the divided root data (1) is used.
The contents will be described with reference to an example. At Station A,
When the target destination station is set, the operation control device mounted on the automatic guided vehicle (not shown) first issues a start command based on the divided route data (1) stored in the storage unit. (Command) to start the automatic guided vehicle. Next, a speed increase command is given to accelerate the automatic guided vehicle, and when approaching the first curve, a turn signal is given to activate the left turn signal. When the next curve is approached, the next turn signal is given and the right turn signal is operated. When the AGV arrives at the deceleration position of the station B, a deceleration command is given to decelerate the vehicle, and when the AGV arrives at the stop position, a stop command is given to stop the AGV. Then, a transfer command is given in a state where the automatic guided vehicle is stopped, and a load is transferred to or from the station B.

FIG. 4 shows divided route data in the case where the automatic guided vehicle travels from the station A to the station C without stopping at the station B on the way. Things. In FIG. 4, the divided root data of (1)
The data form a command sequence in which the general mode (a) and the stop mode (b) are added to the divided route data shown in FIG. 2, and the divided route data of (2) is A command sequence is formed by adding the general mode (c) and the stop mode (d) to the divided route data shown in FIG. The stop mode means that a command relating to the stop is given from this point on, and the general mode means that the mode is shifted from the stop mode to the normal traveling and a command relating to the normal traveling is given. Means. When the unmanned guided vehicle is operated from the station A to the station C without stopping at the station B on the way, the target destination station in the station A, that is, the station C is set. When done
The operation control device mounted on the automatic guided vehicle can recognize that the destination is the station C. By connecting the divided route data (1) and (2), the operation of the automatic guided vehicle is controlled from station A to station C by controlling as follows.

By connecting the divided route data (1) and (2), when the operation of the automatic guided vehicle is controlled from the station A to the station C, the operation mounted on the automatic guided vehicle is controlled. Since the control device recognizes that the destination is the station C, the divided route data (2) is obtained from the divided route data (1) (b) stored in the storage unit. The commands of deceleration, stop, transfer, start, and speed increase until (c) are canceled and commands are given from the blinker data after passing (c), and the stop mode of (d) is performed. Thereafter, the command of deceleration and stop data is given to decelerate and stop the automatic guided vehicle. Then, while the automatic guided vehicle is stopped, a transfer command is given, and the load is transferred to or from the station C.

FIG. 5 shows the operation of the automatic guided vehicle from the start station to the destination (destination) station by connecting a plurality of divided route data as shown in FIG. 5 is a flowchart showing a control operation of an operation control device mounted on an automatic guided vehicle. Step S1 in FIG.
In step S2, it is determined whether the command is the stop mode. If the result of the determination is that the command is not the stop mode, the process proceeds to step S2. And set the following command,
Then, the process returns to step S1. Step S1
If it is determined that the command is in the stop mode in step S4, the flow shifts to step S4 to determine whether or not the command is the target station. If the result of the determination is that the station is the target station, the flow shifts to step S6 to set the next command, and then returns to step S1. on the other hand,
If the result of the determination in step S4 is that the target station is not the target station, in step S5, scanning is performed up to the general mode command, the flow proceeds to step S6, the next command is set, and the flow returns to step S1. .

As described above, when the command is the stop mode and it is determined that the automatic guided vehicle is approaching the target station, the vehicle is decelerated and stopped, and at that station, While a station operation such as transfer or automatic charging is performed, the general mode is executed when the automatic guided vehicle has not reached the target station, and the automatic guided vehicle is caused to travel normally.

[0014]

As described above, according to the present invention, of the divided route data stored in the storage unit of the operation control device mounted on the automatic guided vehicle, the start station to the destination station are obtained. When the unmanned guided vehicle is operated to the destination station while connecting the divided route data until the station,
Of the divided route data between each intermediate station between the starting station and the destination station,
A stop mode for stopping the automatic guided vehicle at each station on the way to operate the station.
Since the automatic guided vehicle is caused to travel based on the traveling mode data for canceling the data and continuing the traveling operation, the respective stations on the operation route and the respective stations are arranged. The divided route data stored in the storage unit does not require common data for each divided route data in each section, between the station and the branch point, or in each section between the branch point and the branch point. Since the number of data is reduced and the data area of the storage unit can be reduced, the cost of the storage unit can be reduced.

[Brief description of the drawings]

FIG. 1 is an operation route diagram of an embodiment of the present invention.

FIG. 2 is an array diagram showing contents of divided route data.

FIG. 3 is an array diagram showing the contents of another divided route data.

FIG. 4 is an array diagram showing the contents of two divided root data to be connected.

FIG. 5 is a flowchart showing a control operation of the operation control device.
FIG.

FIG. 6 is an operation route diagram for explaining the contents of conventional divided route data.

[Explanation of symbols]

 1 Split route data 2 Split route data A Station B Station C Station a General mode command b Stop mode command c General mode command d Stop mode command

Claims (1)

(57) [Claims] 1. An operation instruction of an automatic guided vehicle in each section between stations on an operation route, between stations, between stations and branch points, or between sections of branch points. Is provided in the storage unit of the operation control device of the automatic guided vehicle, and the automatic routed vehicle is connected to each of the divided route data from the start station to the destination station. In the process of driving to the destination station, the automatic guided vehicle stop mode in each divided route data between each intermediate station between the starting station and the destination station. An operation control method for an automatic guided vehicle, in which the automatic guided vehicle travels without stopping at each of the above-mentioned stations by canceling the data.