JP2629960B2 - Operation control device for multiple unmanned vehicles - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation control device for a plurality of unmanned vehicles traveling along a predetermined traveling route, and more particularly, to an unmanned vehicle in a plurality of branch routes of the traveling route. The present invention relates to vehicle standby control.

2. Description of the Related Art Conventionally, an operation control method of an unmanned vehicle in which a plurality of unmanned vehicles travel along the same traveling route in place of a belt conveyor in a line work in a factory or the like has been adopted. An example will be described with reference to FIG.

A traveling route 3 on which the plurality of unmanned vehicles 1 and 2 travel is formed by a guide line, and branch routes 4 and 5 each including a branch guide line are formed at appropriate locations. Stations 6 and 7 are provided along each of the branch paths 4 and 5, and each of the branch paths 4 and 5 is provided with an exit path 8 and 9 including an exit guide line upstream of each of the stations 6 and 7. . Each of the unmanned vehicles 1 and 2 has the traveling route 3, the branch routes 4 and 5,
The vehicle travels in the direction of the arrow after detecting the guidance signal and the speed command signal flowing through 9. And each unmanned car 1,2 is at each station
Stop at 6, 7 and unload the luggage, exit route
Leave from 8,9.

Each of the unmanned vehicles 1 and 2 is provided with a pickup coil 15 on the left front side thereof, detects an entry permission command or an entry standby command from a command coil 16 buried at the side of the branch path entrance, and detects the entry permission command. The vehicle enters one of the branch routes 4 and 5, and does not enter any of the branch routes 4 and 5 when the approach standby command is detected.

A reed switch 10 is provided at one side of the traveling route 3 at the entrance of the branch route, and the reed switch 10 is turned on by a magnet 17 provided on the right front portion of each of the unmanned vehicles 1 and 2 so as to prevent passage of the unmanned vehicles. It is designed to detect. Reed switches 11 and 12 for detecting the presence of unmanned vehicles at the stations 6 and 7 are provided on one side of each of the branch routes 4 and 5, and unmanned vehicles pass and exit on one side of the exit routes 8 and 9. Reed switches 13 and 14 are provided, and detection signals from the respective switches 10 to 14 are output to a start controller 18 which controls permission of entry of unmanned vehicles into the two branch paths 4 and 5 or standby for entry at the branch path entrances. Have been.

Further, a destination indicating device 19 is disposed on the side of the branch route entrance, and the destination indicating device 19 communicates with the unmanned arriving vehicle, transmits the data of the destination station to the unmanned vehicle, and transmits the data of the data to the unmanned vehicle. Output to the start controller 18.

The start controller 18 includes an oscillator 20, and the command coil 16 is connected to the oscillator 20. Then, the start controller 18 turns on the current flowing through the command coil 16 to turn on the coil 16 when the passage of the unmanned vehicle is not detected by the reed switches 10 to 12 and there is no unmanned vehicle in any of the stations 6 and 7. Is generated, that is, an entry permission command is output, and when the destination station of the preceding unmanned vehicle 1 is, for example, the station 6, the vehicle enters the branch path 4. Next, when the passage of the unmanned vehicle 1 is detected by the reed switch 10, the start controller 18
The current flowing through the coil 16 is turned off to extinguish the magnetic field generated by the coil 16, that is, an entry standby command is output.

Further, when passage is detected by the reed switch 11 while the unmanned vehicle 1 is traveling toward the station 6, the start controller 18 determines that an unmanned vehicle is present at the station 6 and stores this.

Next, when the following unmanned vehicle 2 reaches the branch route entrance,
When the data of the destination station of the arriving unmanned vehicle 2 input from the destination indicating device 19 is the station 7, the start controller 18 turns on the current flowing through the command coil 16 to output an entry permission command, and 2 is entered into the branch path 5 where the station 7 is provided.

If the data of the destination station of the arriving unmanned vehicle 2 is the station 6, the start controller 18 turns off the current flowing through the command coil 16 and continues to output the approach standby command, and makes the arriving unmanned vehicle 2 stand by. When the unloading of the luggage to the preceding unmanned vehicle 1 at the station 6 is completed and the retreat switch 13 detects that the unmanned vehicle 1 has passed through, the start controller 18 sets the station 6
Is erased, the current flowing through the command coil 16 is turned on, an entry permission command is output, and the arriving unmanned vehicle 2 enters the branch path 4 provided with the station 6.

[Problems to be Solved by the Invention] However, a destination instruction device in the above operation control device
19 outputs data of the destination station of the unmanned unmanned vehicle 2 to the start controller 18, and the start controller 18 outputs an entry standby command based on the destination station of the unmanned unmanned vehicle 2 and the use state of the destination station, and arrives. Since the unmanned vehicle 2 is made to wait or an entry permission command is output to make the arriving unmanned vehicle 2 enter the branch route corresponding to the destination station, there is a problem that the standby control becomes complicated.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and has as its object to eliminate the need for data management of destination stations of unmanned vehicles, thereby simplifying standby control of a plurality of unmanned vehicles. An object of the present invention is to provide an operation control device for a driverless vehicle.

Means for Solving the Problems In order to achieve the above object, the present invention comprises a predetermined traveling route on which a plurality of unmanned vehicles travel, and a station that branches off the traveling route and stops each unmanned vehicle. In the operation control device of a plurality of unmanned vehicles, comprising a plurality of arranged branch routes, and a plurality of unmanned vehicles performing a predetermined travel along the travel route or the branch route based on a command from the ground side controller, The ground-side controller includes an unmanned vehicle detection unit that detects the presence of an unmanned vehicle at each of the stations, and an unmanned vehicle that goes to the station when the presence of the unmanned vehicle at each of the stations is detected by the unmanned vehicle detection unit. Output a unique approach standby command to each station, and if no presence of an unmanned vehicle is detected Command means for outputting a unique entry permission command for each unmanned vehicle, wherein each of the unmanned vehicles is capable of detecting an entry permission / entry standby command output from the command means, Only the entry permission / entry standby command corresponding to the destination station of the unmanned vehicle out of the respective entry permission / entry standby commands output by the command detection unit to the unmanned vehicle destined for each station. Mode switching means for switching to a detection mode for detecting the state, and entering or waiting for a branch route provided with a destination station based on an entry permission / entry standby command detected by the command detection means under the control of the mode switching means. The gist is an operation control device for a plurality of unmanned vehicles provided with start control means for performing the operation.

[Operation] When the presence of an unmanned vehicle in each station is detected by the unmanned vehicle detection means provided in the ground controller, the command means provided in the ground controller also controls the unmanned vehicle destined for the station. Outputs a unique approach standby command. If the presence of an unmanned vehicle is not detected at each station by the unmanned vehicle detection means, the command means outputs an entry permission command unique to each unmanned vehicle destined for the station.

On the unmanned vehicle side, the mode switching means corresponds to the destination station of the unmanned vehicle among the respective entry permission / entry standby commands output by the command means to the unmanned vehicle destined for each station. The mode is switched to a detection mode for detecting only an entry permission / entry standby command. In this detection mode, the access permission detected by the command detection means
The start control means causes the unmanned vehicle to enter or wait on the branch route provided with the destination station based on the approach standby command.

[Embodiment] An embodiment of the present invention will be described below with reference to FIGS. Note that the same components as those in FIG. 4 are denoted by the same reference numerals and description thereof is partially omitted.

As shown in FIG. 1, command coils 21 and 22 constituting command means are buried on both left and right sides of the traveling route 3 at the branch route entrance corresponding to each of the branch routes 4 and 5, respectively, as shown in FIG. It outputs an entry permission / entry standby command SG4 and an entry permission / entry standby command SG5. That is, the command coil 21 outputs the high-level entry permission command SG4 for permitting the entry of the unmanned vehicle into the branch path 4 by opening the normally closed contact 24 and closing the normally open contacts 25 and 26. By holding the closed contact 24 in the closed state and keeping the normally open contacts 25 and 26 in the open state, a low-level approach standby command SG4 for waiting for the unmanned vehicle to enter the branch path 4 is output. In addition, the command coil 22 opens the normally closed contact 27 and makes the normally open contact 2
By closing circuits 8 and 29, a high-level entry permission command SG5 for permitting the entry of unmanned vehicles into the branch route 5 is output, and the normally closed contact 27 is kept closed and the normally open contact is opened.
A low-level entry standby command that waits for unmanned vehicles to enter branch route 5 by holding 28 and 29 open.
Output SG5.

Each of the unmanned vehicles 30, 31 traveling along the traveling route 3 is provided with pickup coils 32, 33 as command detecting means at both ends on the front side thereof.
Detects the entry permission / entry standby command output from 1,22. Further, each of the unmanned vehicles 30, 31 has a magnet 17 at a right intermediate portion.

FIG. 2 shows the electrical configuration of the operation control device configured as described above.

The starting controller 23 as a ground-side controller constitutes command means, and reed switches 10 to 14 are connected to the input side of the controller 23. Command coils 21 and 22 are connected to the output side of the start controller 23.
In this embodiment, the reed switches 11 and 12 constitute an unmanned vehicle detecting means.

Each of the unmanned vehicles 30 and 31 includes a controller 34 that constitutes mode switching means and start control means.
Are connected to the pickup coils 32, 33.
The controller 34 validates only the entry permission / entry standby command corresponding to the destination station of the unmanned vehicle among the entry permission / entry standby commands SG4 or SG5 detected by the pickup coils 32, 33. That is, when the destination station of the unmanned vehicle is the station 6, only the pickup coil 32 can be detected, and when the destination station is the station 7, only the pickup coil 33 can be detected. When only the pickup coil 32 can be detected, the controller 34 detects the entry permission / entry standby command SG4 from the command coil 21 and detects this to provide a destination station for the unmanned vehicle. To enter the branch route 4 or wait. When the controller 34 makes only the pickup coil 33 detectable, when the command coil 22 outputs the entry permission / entry standby command SG5, the controller 34 detects this, and a destination station is provided for the unmanned vehicle. Branch route 5
To enter or wait.

Next, the operation of the operation control device configured as described above will be described. For convenience of explanation, a case where the destination station of the preceding unmanned vehicle 30 is the station 6 will be described.

If no unmanned vehicle is present on the branch routes 4 and 5, that is, if no detection signal is input from the reed switches 10 to 14, the start controller 23 opens the normally closed contacts 24 and 27 and opens the normally closed contacts 24 and 27. By closing the contacts 25, 26, 28 and 29, the two command coils 21 and 22 are connected to the oscillator 20 to output high-level entry permission commands SG4 and SG5 (shown in FIG. 3). , 5 to allow unmanned vehicles to enter.

At this time, since the destination station of the preceding unmanned vehicle 30 is the station 6, only the pickup coil 32 can be detected by the controller 34, and the command coil 21 outputs the high-level entry permission command SG4. Therefore, the unmanned vehicle 30 starts traveling toward the station 6. As the unmanned vehicle 30 travels, the reed switch 10 is turned on by the magnet 17, and a high-level passage detection signal SG1 (shown in FIG. 3) is output. The start controller 23 closes the normally closed contacts 24 and 27 based on the passage detection signal SG1, and also opens the normally open contacts 25, 26, 28 and 29.
, The two command coils 21 and 22 are separated from the oscillator 20, the magnetic fields of the coils 21 and 22 are extinguished, and low-level approach standby commands SG4 and SG5 (shown in FIG. 3) are output.

Then, as the unmanned vehicle 30 enters the branch path 4, the reed switch 11 is turned on by the magnet 17, and a high-level passage detection signal SG2 (shown in FIG. 3) is output.
The start controller 23 stores that an unmanned vehicle exists in the station 6 based on the passage detection signal SG2. At this time, the start controller 23 opens the normally closed contact 27 and closes the normally open contacts 28 and 29 to connect only the command coil 22 to the oscillator 20 to output the high-level entry permission command SG5.

Next, when the subsequent unmanned vehicle 31 arrives at the branch route entrance, if the destination station of the unmanned vehicle 31 is the station 7, the controller 34 controls the pickup coil 33.
Is in a detectable state, and the command coil 22 outputs a high-level entry permission command SG5.
The unmanned vehicle 31 starts running toward the station 7.

If the destination station of the unmanned vehicle 31 is the station 6, the controller 34 controls the pickup coil.
Only 32 is in a detectable state, and the unmanned vehicle 31 waits at the branch route entrance to detect the low-level approach standby command SG4 output from the command coil 21.

When the unloading of the unmanned vehicles 30 at the station 6 is completed and the vehicle travels along the exit route 8,
The reed switch 13 is turned on by the magnet 17, and a high-level passage detection signal SG3 (shown in FIG. 3) is output. The start controller 23 causes the station 6 to erase the memory indicating that there is an unmanned vehicle based on the passage detection signal SG3.
At this time, the start controller 23 opens the normally closed contact 24 and closes the normally open contacts 25 and 26, so that the command coil 21 is also connected to the oscillator 20 to output the high-level entry permission command SG4.

As a result, the following unmanned vehicle 31 starts traveling toward the station 6.

As described above, in this embodiment, the command coils 21 and 22 are respectively provided corresponding to the branch paths 4 and 5 branched from the traveling path 3, and when the unmanned vehicle does not exist in the station 6 or 7, the starting controller 23 Command coil 21 corresponding to branch path 4 or 5 where the station is located
Or, a higher-level entry permission command SG4 or a higher-level entry permission command SG5 is output from 22 and when an unmanned vehicle is present at the station 6 or 7, the start controller 23 causes the start controller 23 to output the branch path 4 or 5 where the station is located. Low-level approach standby command from the corresponding command coil 21 or 22
SG4 or low-level approach standby command SG5 is output. Each of the unmanned vehicles 30 and 31 is provided with a pickup coil 32 and 33 corresponding to each of the command coils 21 and 22, and a controller 34 mounted thereon can detect only the pickup coil corresponding to the destination station of the unmanned vehicle. Then, only the entry permission / entry standby command corresponding to the destination station is detected, and the unmanned vehicle is caused to wait or start. As a result, the destination data of the unmanned arriving vehicle is not transferred between the destination indicating device and the start controller as in the prior art shown in FIG. 4, and the start controller 23 manages the data of the destination station of the unmanned vehicle. It is not necessary, and the standby control of a plurality of unmanned vehicles can be simplified.

In the above-described embodiment, the case in which the number of branch paths branching from the travel path 3 is two has been described. However, the number of branch paths may be three or more. In this case, the same number of command coils as the number of branch paths are provided. An unmanned vehicle may be provided with the same number of pickup coils as the number of branch paths.

Further, in the above embodiment, two command coils 21 and 22 are provided and both coils 21 and 22 are connected or disconnected from the same oscillator 20 to output each entry permission / entry standby command, and each unmanned vehicle 30, 31 is output. Is provided with two pickup coils 32 and 33 so that only the pickup coil corresponding to the destination station of the unmanned vehicle can be detected. Only command was detected,
By providing only one pickup coil and connecting or disconnecting each command coil to or from an oscillator having a different frequency, each entry permission / entry standby command having a different frequency is output, and the mode in which the frequency that can be detected by the pickup coil is switched, Only the entry permission / entry standby command corresponding to the destination station of the unmanned vehicle may be detected.

[Effects of the Invention] As described above in detail, according to the present invention, it is not necessary to perform control of data management of a destination station of an unmanned vehicle and determination of entry / stop of an unmanned vehicle in a ground controller,
As a result, there is an excellent effect that the standby control of a plurality of unmanned vehicles can be simplified.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic configuration diagram showing an embodiment in which the present invention is embodied in an unmanned vehicle system, FIG. 2 is a block diagram showing an electrical configuration, and FIG. FIG. 4 is a schematic configuration diagram showing a conventional unmanned vehicle system. In the figure, 3 is a traveling route, 4 and 5 are branch routes, 6 and 7 are stations, 21 and 22 are command coils constituting command means, 23
Is a start controller constituting command means as a ground-side controller, 30 and 31 are unmanned vehicles, 32 and 33 are pickup coils as command detection means, and 34 is a controller as mode switching means and start control means.

Claims (1)

(57) [Claims] 1. A vehicle comprising: a predetermined traveling route on which a plurality of unmanned vehicles travel; and a plurality of branch routes branching from the traveling route and having stations each for stopping the unmanned vehicle. In an operation control device for a plurality of unmanned vehicles in which a plurality of unmanned vehicles perform a predetermined travel along the traveling route or the branch route based on a command from the side controller, the control ground side controller includes an unmanned vehicle in each of the stations. Unmanned vehicle detection means for detecting the presence of unmanned vehicles, and when the presence of unmanned vehicles in each of the stations is detected by the unmanned vehicle detection means, a unique approach standby command is output to the unmanned vehicles destined for the station. ,
Command means for outputting an entry permission command unique to each of the unmanned vehicles destined for the station when the presence of the unmanned vehicles is not detected at each station, and the unmanned vehicles output from the command means. Command detection means capable of detecting an entry permission / entry standby command to be executed, and the command detection means, among the approach permission / entry standby commands output by the command means to unmanned vehicles destined for each station. Mode switching means for switching to a detection mode for detecting only an entry permission / entry standby command corresponding to the destination station of the unmanned vehicle; and an entry permission / entry standby command detected by the command detection means under the control of the mode switching means. Start control means for entering or waiting on a branch route provided with a destination station based on the Line control device.