JP2646737B2 - Charge area management device for unmanned vehicle system - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a charging area management device for an unmanned vehicle system equipped with a battery as a driving power source.

2. Description of the Related Art Conventionally, as an unmanned vehicle system used in place of a belt conveyor in a line work in a factory or the like, there is, for example, a part assembly line shown in FIG. The plurality of unmanned vehicles 2 on the component assembly line 1 are equipped with a battery as a driving power source and travel along a predetermined traveling route. That is, each unmanned vehicle 2 detects a direction instruction signal and a speed instruction signal flowing through the guide wire 3 laid on the floor, and travels in the direction of the arrow by driving a motor (not shown) based on the detected signals.

Parts assembly line 1 has charging area 4, parts loading area 5,
An assembling area 6 and the like are sequentially provided, and each unmanned vehicle 2 travels at a slow speed in a work area such as the parts loading area 5 and the assembling area 6. As each unmanned vehicle 2 travels, various parts are loaded on the unmanned vehicle 2 in the parts loading area 5, and the loaded various parts are subjected to assembling processing in the assembling area 6. Is completed at the end point. Then, after the completed parts are unloaded between the assembly area 6 and the charging area 4, the battery of each unmanned vehicle 2 is charged in the charging area 4.

If any abnormality occurs in a part of the parts assembly line 1, all unmanned vehicles on the parts assembly line 1 are stopped.

[Problems to be Solved by the Invention] However, if any abnormality occurs in a part of the conventional parts assembling line 1, all unmanned vehicles on the parts assembling line 1 are stopped. For example, when any abnormality occurs in the assembly area 6, the unmanned vehicle 2 in the parts loading area 5 is also stopped although only the unmanned vehicle 2 in the assembly area 6 needs to be stopped. However, there is a problem that the operation efficiency of the component loading area 5 is reduced.

The present invention has been made to solve the above problems, and an object of the present invention is to respond to an unmanned vehicle request from the next process area of a charging area by starting an unmanned vehicle charged to the next process area. Even if an abnormality occurs in another process area upstream of the charging area, as long as there is an unmanned vehicle being charged in the charging area, the driverless vehicle can be started and the next process area can be kept in operation, and the next process area can be operated An object of the present invention is to provide a charging area management device for an unmanned vehicle system that can prevent a reduction in efficiency.

Means for Solving the Problems In order to achieve the above object, the present invention provides a plurality of unmanned vehicles mounted on a battery as a driving power source and traveling along a predetermined traveling route, A charging area provided, a plurality of charging stations provided in the charging area and provided with a charger for charging the battery of each unmanned vehicle, and charging the unmanned vehicle arriving at the charging station with the charger. An unmanned vehicle request output unit that detects the presence or absence of an unmanned vehicle in the next process area of the charging area and outputs an unmanned vehicle request,
An unmanned vehicle having start control means for starting an unmanned vehicle having the longest charging time among unmanned vehicles charged at each charging station based on an unmanned vehicle request from the unmanned vehicle request output means to the next process area The gist is the charging area management device of the system.

[Operation] When the absence of an unmanned vehicle is detected in the next step of the charging area by the unmanned vehicle request output unit and the unmanned vehicle request is output, the charging time of the unmanned vehicles charged at each charging station by the start control unit is charged. The longest unmanned vehicle is launched to the next process area.

Embodiment An embodiment in which the present invention is embodied in a part assembling line will be described in detail below with reference to FIGS.

The configuration of the component assembly line is the same as that of the conventional example shown in FIG.

As shown in FIG. 1, chargers 7a and 8
First and second charging stations 7, 8 with a and chargers 9a, 1
The third and fourth charging stations 9 and 10 provided with 0a are arranged to face each other with the guide wire 3 interposed therebetween. A spin turn area 11 is provided between the first and third charging stations 7 and 9 and between the second and fourth charging stations 8 and 10, respectively, when the unmanned vehicle 2 enters each charging station or when When starting from the charging station, the unmanned vehicle 2 performs a spin turn in the spin turn area 11.

A control panel 12 is provided between the chargers 7a and 8a of the first and second charging stations 7 and 8 to control the chargers 7a to 10a of the charging stations 7 to 10 collectively. On one side of each charging station 7-10, charging optical communication units 13-16 are arranged, and these optical communication units 13-16 detect the presence or absence of the unmanned vehicle 2 in each charging station 7-10, and During the detection of the vehicle 2, a high-level charging station arrival detection signal SG4 shown in FIG.

An entrance optical communication unit 17 is provided on the entrance side (right side in FIG. 1) of the charging area 4, and the optical communication unit 1 arrives at the unmanned vehicle 2 at the charging area 4 and enters the charging area 4. Of the vehicle and the fifth
A high-level charging area arrival detection signal SG3 shown in the figure is output to the control panel 12.

A reed switch 18 is provided on the exit side (left side in FIG. 1) of the charging area 4 to detect the passage of the unmanned vehicle 2 which has started charging after charging from any charging station, and During detection, a high-level unmanned vehicle passage detection signal SG5 shown in FIG.

Further, a reed switch 19 as an unmanned vehicle request output means is provided in the parts loading area 5 which is the next process area of the charging area 4, and the switch 19 detects passage of the unmanned vehicles 2 in the parts loading area 5, and During detection of the vehicle 2, a high level unmanned vehicle request signal SG1 shown in FIG.

FIG. 2 shows the electrical configuration of the management device for the charging area 4 configured as described above.

The charging area controller 25 constitutes charging control means, start control means, and the like. The controller 25 is connected to the charging optical communication units 13 to 16, the entrance optical communication unit 17, and the reed switches 18, 19. The chargers 7a to 10a are connected to the charging area controller 25.

The unmanned vehicle 2 includes a controller 2a and a communication unit 2b that communicates with the charging optical communication units 13 to 16 and the entrance optical communication unit 17.

Then, based on the charging station arrival detection signal SG4 from the charging optical communication units 13 to 16 provided in the charging stations 7 to 10, the charging area controller 25 determines the use state of each station 7 to 10, that is, the unmanned vehicle 2. It is determined whether or not the vehicle is being charged. If it is determined that the unmanned vehicle 2 is not being charged, a high-level non-use determination signal SG6 shown in FIG. The charging time of 2 is measured.

The charging area controller 25 operates between the time when the unmanned vehicle 2 is no longer detected by the charging optical communication units 13 to 16 and the time when the unmanned vehicle 2 is detected to be passed by the reed switch 18 or the time when the entrance optical communication unit 17 is detected. Any of the optical communication units for charging after the unmanned vehicle 2 is no longer detected
Until the arrival of the unmanned vehicle 2 at the charging stations 7 to 10 is detected by 13 to 16, it is determined that there is a moving unmanned vehicle 2 in the charging area 4. It is determined that there is no unmanned vehicle 2 and a high-level moving vehicle no-judgment signal Sg2 shown in FIG. 5 is output, the unmanned vehicle 2 starts from the charging stations 7 to 10, and the arrival unmanned vehicle 2 is charged. It is made to wait for approach to 7-10.

Then, when there is no unmanned vehicle 2 moving in the charging area 4 and the unmanned vehicle request signal SG1 from the reed switch 19 provided in the parts loading area 5 is input, the charging area controller 25 performs charging for the longest time. A start permission signal for starting the unmanned vehicle 2 of the charging station to the component loading area 5 is output through the charging optical communication unit of the charging station to start the unmanned vehicle 2.

When there is no moving unmanned vehicle 2 in the charging area 4, the charging area controller 25 sends the unmanned vehicle 2 to the charging area 4.
Arrives, based on the charging area arrival detection signal SG3 from the entrance optical communication unit 17,
7 to the arrival unmanned vehicle 2, and outputs an entry permission signal into the charging area 4 and information on the destination charging station (unused charging station) to guide the unmanned vehicle 2 to the charging station. The battery of the arriving unmanned vehicle 2 is charged by the charger corresponding to the charging station.

Next, the processing executed by the charging area controller 25 will be described with reference to FIGS.

FIG. 3 shows an unmanned vehicle start process from the charging station, which is executed based on the unmanned vehicle request signal SG1 from the reed switch 19.

First, in step 31, each of the charging optical communication units 13-16
It is determined whether or not there is an unmanned vehicle 2 being charged based on the charging station arrival detection signal SG4, and if it is determined that there is no unmanned vehicle 2 being charged, that is, there is no unmanned vehicle 2 to be started, the process proceeds to step 32. Transition and hold unmanned vehicle request.

If it is determined in step 31 that any of the charging stations 7 to 10 has an unmanned vehicle 2 being charged, the process proceeds to step 33 to determine whether there is an unmanned vehicle 3 moving in the charging area 4. Is determined. If it is determined in step 33 that there is a moving unmanned vehicle 2, the process proceeds to step 34, in which the unmanned vehicle 2 does not output a start permission signal, waits for its start, and returns to step 33. Hereinafter, the processes of steps 33 and 34 are repeatedly executed until the moving unmanned vehicle 2 passes through the exit of the charging area 4. Then, when it is determined in step 33 that the unmanned vehicle 2 moving in the charging area 4 has disappeared,
Proceeding to step 35, charging of the unmanned vehicle 2 that has been charged for the longest time is terminated, and a start permission signal is output to the unmanned vehicle 2 via the charging optical communication unit to start the unmanned vehicle 2. .

In the next step 36, it is determined whether or not the unmanned vehicle 2 started in step 35 has passed through the exit of the charging area 4, that is, whether or not the unmanned vehicle 2 is running normally. If it is determined in step 36 that the unmanned vehicle 2 has not passed,
Move to 37 to determine if the cycle time is over,
If it is determined that the cycle time is not over, the process returns to step 36. Thereafter, the processes of steps 36 and 37 are repeatedly executed until the unmanned vehicle 2 passes through the exit of the charging area 4, and the cycle time is over in step 37, that is, the unmanned vehicle 2 normally moves toward the exit of the charging area 4. If it is determined that the vehicle is not traveling, an abnormality is displayed in step 38 by an abnormality indicator lamp (not shown) provided in each of the chargers 7a to 10a.

If it is determined in step 36 that the unmanned vehicle 2 has passed the exit of the charging area 4, the reed switch
Wait for unmanned vehicle request signal from 19.

FIG. 4 shows the process of entering an unmanned vehicle arriving in the charging area 4 and is executed based on an arrival detection signal of the unmanned vehicle 2 entering the charging area 4 from the entrance optical communication unit 17.

In step 41, it is determined whether or not there is an empty space in the charging stations 7 to 10 based on the detection signals of the charging optical communication units 13 to 16. If it is determined in step 41 that all the stations are in use, the process proceeds to step 42, in which the arrival unmanned vehicle 2 is put on standby without outputting an entry permission signal.

If it is determined in step 41 that any of the charging stations 7 to 10 is empty, the process proceeds to step 43,
At 43, it is determined whether or not the unmanned vehicle request is held. If it is determined in step 43 that the unmanned vehicle request is on hold,
The unmanned vehicle start process (shown in FIG. 3) is executed, and the process proceeds to step 44, where the arrival unmanned vehicle 2 is put on standby without outputting an entry permission signal to the arrived unmanned vehicle 2.

If it is determined in step 43 that there is no unmanned vehicle request, step
The program proceeds to 45, where it is determined whether or not there is an unmanned vehicle 2 moving in the charging area 4 in step 45. If it is determined that there is a moving unmanned vehicle 2, the process proceeds to step 46, where the arrival unmanned vehicle 2 is put on standby without outputting an entry permission signal. If it is determined that there is no moving unmanned vehicle 2 in the charging area 4, the process proceeds to step 47, where a start permission signal and information on the destination charging station are transmitted to the arriving unmanned vehicle 2 via the optical communication unit 17 for entrance. Outgoing,
The arriving unmanned vehicle 2 enters the charging area 4.

In the next step 48, it is determined whether or not the arriving unmanned vehicle 2 has arrived in the designated charging station based on the detection signal of the charging optical communication unit. If it is determined in step 48 that the arriving unmanned vehicle 2 has not arrived in the charging station, the process proceeds to step 49 to determine whether or not the cycle time is over. If it is determined that the cycle time is not over, the process returns to step 48. Hereinafter, steps 48 and 49 until the arrival unmanned vehicle 2 arrives at the designated charging station.
If the cycle time is over in step 49, that is, if it is determined that the unmanned arriving vehicle 2 is not normally traveling toward the designated charging station, the process proceeds to step 50 in which each of the chargers 7a to 10a An abnormality is displayed by a provided abnormality display lamp (not shown).

If it is determined in step 48 that the arriving unmanned vehicle 2 has arrived in the designated charging station, charging of the battery of the arriving unmanned vehicle 2 by the charger of the designated charging station is started in step 51, and then in step 52. The unmanned vehicle request hold in step 32 of the unmanned vehicle start process shown in FIG. 3 is released.

As described above, in this embodiment, any one of the charging stations 7 to 7 in the charging area 4 according to the unmanned vehicle request signal SG1 from the reed switch 19 that detects the passage of the unmanned vehicle 2 in the component loading area 5 downstream of the charging area 4. Since the unmanned vehicle 2 being charged is started at 10, the unmanned vehicle 2 being charged is started at the charging stations 7 to 10 as long as the unmanned vehicle 2 is being charged, and work is delayed in the parts loading area 5. It is possible to prevent the occurrence, and charge area 4
Can have a buffer function of the unmanned vehicle 2. That is, even if the unmanned vehicle 2 stops in the assembly area 6 upstream of the charging area 4 due to some abnormality, the parts loading area 5 downstream of the charging area 4 can be kept in operation for a while, and the next step It is possible to prevent a decrease in the operating efficiency of the area. In particular, in the embodiment of the present invention, among the unmanned vehicles 2 being charged at the charging stations 7 to 10 in response to the unmanned vehicle request signal SG1 from the next process, the unmanned vehicle 2 having the longest charging time is started. Signal for unmanned vehicles from the next process
It is possible to prevent the battery of the unmanned vehicle 2 started in response to SG1 from running out.

[Another Embodiment] Next, another embodiment of the present invention will be described with reference to FIG. In this alternative example, the charging area 4 is provided with two charging stations 7, 8 and a preliminary charging station 9, and charging is performed at the charging stations 7, 8 in a normal operation state. The pre-charging station 9 is configured to charge the unmanned vehicles that arrive when another new unmanned vehicle arrives at the charging area 4 from the assembly area 6 when both charging stations 7 and 8 are being charged. The other configuration is the same as that of the above embodiment.

Therefore, according to this alternative example, the unmanned vehicle 2 in the charging area 4
Even if an abnormality occurs in the parts loading area 5 and the unmanned vehicle 2 is no longer started from the charging area 4, the mounting area is maintained until all charging stations in the charging area 4 are full. The unmanned vehicle 2 arriving from the charging area 6 can be charged, whereby the assembly area 6 and the like upstream of the charging area 4 can be kept operating.

[Effects of the Invention] As described above in detail, according to the present invention, an unmanned vehicle being charged at the charging station is started in response to an unmanned vehicle request from the next process area of the charging area.
As long as there is an unmanned vehicle being charged at any of the charging stations in the charging area, it can be started, and the charging area can have an unmanned vehicle buffer function. That is, even if the traveling route is stopped due to some abnormality, the next process area of the charging area can be kept in the operating state, and there is an excellent effect that the operating efficiency of the next process area can be prevented from lowering. Further, according to the present invention, among the unmanned vehicles being charged at each charging station according to the output of the unmanned vehicle request from the next process, the unmanned vehicle having the longest charging time is started regardless of whether or not the charging is completed. As a result, it is possible to prevent the battery of the unmanned vehicle that started in response to the unmanned vehicle request from the next process from rising and prevent the operation efficiency of the next process area from decreasing due to the unmanned vehicle request it can.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a charging area in an embodiment embodying the present invention, FIG. 2 is a block diagram showing an electric configuration of a charging area management device, and FIG. 3 is a process of starting an unmanned vehicle from a charging station. FIG. 4 is a flowchart showing an unmanned arriving vehicle entry process into the charging area 4, FIG. 5 is a waveform diagram showing the operation of the charging area management device, and FIG. 6 shows another example of the charging area. FIG. 7 is a schematic diagram showing a conventional example of an unmanned vehicle system. In the figure, 2 is an unmanned vehicle, 4 is a charging area, 5 is a parts loading area as a next process area, 7 to 10 are charging stations,
7a to 10a are chargers, 19 is a reed switch as unmanned vehicle request output means, and 25 is a charge area controller constituting charge control means and start control means.

Claims (1)

(57) [Claims] A battery is mounted as a driving power source, and
A plurality of unmanned vehicles traveling along a predetermined traveling route; a charging area provided in the middle of the traveling route; and a charging area provided in the charging area, for charging a battery of each unmanned vehicle. A charging area management device for an unmanned vehicle system, comprising: a plurality of charging stations each including a charger; and charging control means for causing the unmanned vehicle arriving at the charging station to be charged by the charger. An unmanned vehicle request output unit that detects the presence or absence of an unmanned vehicle in the area and outputs an unmanned vehicle request; and, based on the unmanned vehicle request from the unmanned vehicle request output unit, among unmanned vehicles charged at each charging station. A charge area management device for an unmanned vehicle system, comprising: start control means for starting an unmanned vehicle having the longest charging time to the next process area.