JP2765261B2 - Unmanned vehicle control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an unmanned vehicle.

[0002]

2. Description of the Related Art Conventionally, in an automatic guided vehicle system, each unmanned guided vehicle traveling along a guide line detects a mark plate instructing deceleration installed before each transfer station and decelerates the transfer station. Approach. Then, when the automatic guided vehicle is placed sideways on the station, the optical communication device provided on the automatic guided vehicle side receives an optical signal from the optical communication device on the station side.

[0003] The automated guided vehicle stops over the braking as being alongside the scan Teshi <br/> tio down on the basis of the received light.
Then, by moving the transfer devices on the station side and the automatic guided vehicle side from this state, the transfer of the load from the station side to the automatic guided vehicle side is performed. When the transfer is completed, mutual communication of the transfer completion is performed between the communication device on the station and the automatic guided vehicle side, and the automatic guided vehicle transports the package to a predetermined station along the guide line.

[0004]

However, if the mounting position of the light receiver of the optical communication device provided in each automatic guided vehicle is different, the position to be laid to the station is different for each automatic guided vehicle. . That is, as shown in FIG. 7, when the mounting positions of the optical receivers of the optical communication devices provided on the respective AGVs are different at their height positions, the light receiving area of each of the optical receivers is changed to the communication device on the station side. Are different in the timing of reaching the light emitting area of the projector.

[0005] This difference in timing is the same when the mounting position of the light receiver is different in the traveling direction. This difference in timing appears as a difference in the timing of the brake operation, and the stop position differs for each automatic guided vehicle. As a result, the relative position between the transfer device of the guided vehicle and the transfer device on the station side differs for each unmanned guided vehicle, and when the load is transferred from the station side to the guided vehicle side, the transfer on the guided vehicle side is performed. There has been a problem that the device cannot be transferred because it is caught by the guide member of the device.

Therefore, it is necessary to increase the mounting position accuracy of the optical receiver of the optical communication device provided in each automatic guided vehicle.
You. However, this operation is a very troublesome, the number multi kuna Ruhodo its mounting position adjustment of the automatic guided vehicle is required much labor. SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and its purpose is to provide an unmanned vehicle.
It is not necessary to adjust the mounting position of the communication device on the vehicle side,
Ensure that each driverless vehicle is controlled at a position within the specified tolerance.
An object of the present invention is to provide a control device for an unmanned vehicle .

[0007]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a vehicle-side communication device provided on an unmanned vehicle and a ground-side communication device provided on the ground side for information communication. And control the unmanned vehicle based on the communicated information.
That the AGV system, the vehicle-side communication to the unmanned vehicle
Position within the specified tolerance, regardless of the position of the
Control based on the information communicated by the
The vehicle-side communication device is opposed to the ground-side communication device.
Communication based on the information communicated
Storage means for storing the time to perform the control in advance, when said vehicle-side communication device and the ground side communication apparatus has performed the opposed to information communication, the data between the time stored in said storage means At the same time as the time has passed ,
And an executing means for executing control based on the communicated information.

[0008]

Therefore, according to the present invention , the storage means includes an unmanned
Regardless of the mounting position of the vehicle-side communication device on the car,
Information communicated with the ground side communication device at a position within the allowable range
So that the vehicle-side communication device is
After communicating information opposite the ground-side communication device,
The time until the control based on the communicated information is executed is predicted.
Is memorized. Here, the vehicle side communication device and the ground side communication
When information communication is performed with the communication device facing each other, the memory
The time previously stored in the means is timed. Soshi
And the storage means has determined that the time has elapsed.
In this case, the control based on the information is executed by the execution means.
Is performed.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention embodied in a transport system will be described below with reference to FIGS. FIG. 2 shows a schematic configuration of a transport system of the automatic guided vehicle 1, and a traveling route 4 on which an electromagnetic induction wire 3 is laid is provided on a road surface 2 between stations S where loading and unloading of cargo are performed. Is formed. Mark plates 5a and 5b for instructing the automatic guided vehicle 1 to provide operation information are arranged at predetermined positions on the traveling route 4.
The automatic guided vehicle 1 reads the operation information b in a known manner.

The operation information specified by the mark plate 5a among the mark plates 5a and 5b is operation information for reducing the speed of the automatic guided vehicle 1 and causing the automatic guided vehicle 1 to travel at a low speed. Is operation information for returning the automatic guided vehicle 1 to normal traveling (high-speed traveling). The automatic guided vehicle 1 performs a transfer operation at each of the stations S.

FIG. 3 shows a side surface of the automatic guided vehicle 1. A drive wheel 6 also serving as a steering mechanism and a drive mechanism and a pair of driven wheels 7 following the driven wheel 6 are attached to a lower portion of the automatic guided vehicle 1. The transport vehicle 1 moves forward and backward according to the forward and reverse rotation of each wheel. An electromagnetic brake 8 for braking the automatic guided vehicle 1 is mounted on the drive wheel 6 and the driven wheel 7, and a mark plate on the lower surface of the automatic guided vehicle 1 for detecting the operation marks 5 a and 5 b facing each other. A sensor 9 and a pickup coil 10 for detecting the electromagnetic induction wire 3 are mounted and fixed.

A vehicle-side photoelectric tube (light receiver) 11 as a vehicle-side communication device is mounted on the rear side surface of the automatic guided vehicle 1. The vehicle-side photoelectric tube 11 is, as shown in FIGS. A ground-side photoelectric tube (emitter) as a ground-side communication device disposed in front of each station S (the lower side in the figure)
16 is set. The ground-side photoelectric tube 16 constantly emits light as a stop signal, and the vehicle-side photoelectric tube 11 attached to the automatic guided vehicle 1 receives the light in an opposed manner.

Further, a microcomputer C as storage means and execution means to be described later, a steering motor 12 for steering and driving the driving wheels 6, and a traveling motor 13 for rotating and driving the driving wheels 6 are provided in the body of the automatic guided vehicle 1. Is installed inside. FIG. 4 shows the front of the automatic guided vehicle 1. A keyboard for inputting various programs and a brake operation start time t as a timing time to be described later to the microcomputer C is provided at a front portion of the automatic guided vehicle 1. 14 and a liquid crystal display panel 15 for displaying a program input from the keyboard 14 and numerical values and characters such as a brake operation start time t.

Next, the automatic guided vehicle 1 constructed as described above
Will be described with reference to FIG. The microcomputer C provided in the automatic guided vehicle 1 includes a central processing unit (hereinafter referred to as a CPU) 17, a ROM 18 in which a control program and the like are stored in advance, and a RAM 19 for temporarily storing the calculation results of the CPU 17 and the like. The CPU 17 executes the traveling operation of the automatic guided vehicle 1 based on the control program stored in the ROM 18.

The CPU 17 has a pickup coil 1
0 is connected to drive the steering motor 12 based on the detection signal output from the pickup coil 10. A mark plate sensor 9 is connected to the CPU 17 and the operation marks 5a, 5a,
The operation information indicated by 5b is determined, and the driving of the steering motor 12 and the traveling motor 13 is controlled. The CPU 17 is connected to the vehicle-side photoelectric tube 11 attached to the side surface of the automatic guided vehicle 1. When the vehicle-side photoelectric tube 11 receives light as a stop signal emitted from the ground-side photoelectric tube 16, the CPU 17 To output an ON signal.

Further, a keyboard 14 and a liquid crystal display panel 15 are connected to the CPU 17, and various program data and the like can be input from the keyboard 14 to the RAM 19 via the CPU 17, such as a braking operation start time t. LCD panel 1 for numerical values
5 allows confirmation. Note that the brake operation start time t is a time from when the CPU 17 inputs an ON signal from the vehicle-side photoelectric tube 11 to when the CPU 17 operates the electromagnetic brake 8.

The CPU 17 has the timer 17 described above.
The CPU 17 inputs an ON signal from the vehicle-side photoelectric tube 11 and, at the same time, activates the timer 17a to start measuring the brake operation start time t input from the keyboard 14. And the CPU 17
When the timer 17a determines that the brake operation start time t has elapsed, it outputs an ON signal to the electromagnetic brake 8 to operate the electromagnetic brake 8 to apply a brake to the automatic guided vehicle 1. I have.

Next, the operation of the automatic guided vehicle 1 having the above configuration will be described with reference to the flowchart of FIG. First, the brake operation start time t is input from each keyboard 14 before operating each automatic guided vehicle 1. Note that the mounting height position of the vehicle-side photoelectric tube 11 of each automatic guided vehicle 1 with respect to the ground-side photoelectric tube 16 and the mounting position of the vehicle-side photoelectric tube 11 with respect to the traveling direction of the automatic guided vehicle 1 are slightly different. The timing at which the phototube 11 detects the ground-side phototube 16 is different. Therefore, the brake operation start time t also needs to be different according to the mounting height position and the like.

Therefore, the braking operation start time t is input based on the test data of each automatic guided vehicle 1 prepared in advance so that all the automatic guided vehicles 1 can stop at the same position. When the input operation of the brake operation start time t is completed, the CPU 17 causes the automatic guided vehicle 1 to travel along the electromagnetic induction wire 3 based on the control program stored in the ROM 18. Then, in step 101, the CPU 17 determines whether or not the mark plate sensor 9 has detected the mark plate 5a. If the mark plate sensor 9 has detected the mark plate 5a, the CPU 17 proceeds to step 102 to decelerate the automatic guided vehicle 1 Let it run.

In the next step 103, the CPU 17
Determines whether or not the vehicle-side photoelectric tube 11 faces the ground-side photoelectric tube 16 and receives light that is a stop signal emitted from the ground-side photoelectric tube 16. If it is determined that the projected light has been received, the process proceeds to step 104. In step 104, the CPU 17 stops all running commands and operation commands, and also operates the timer 17a to start measuring the brake operation start time t.

Then, in the next step 105, the CP
When determining that the brake operation start time t has elapsed by the timer 17a, U17 outputs an ON signal to the electromagnetic brake 8 to operate the electromagnetic brake 8. That is, even if the vehicle-side photoelectric tube 11 receives light from the ground-side photoelectric tube 16 and an ON signal is input to the CPU 17, the timer 1
The electromagnetic brake 8 is not operated until the brake operation start time t has elapsed by 7a.

Therefore, as shown in FIG. 6, the timer 17a elapses the braking operation start time t from the position (A1, A2, A3) where the vehicle-side photoelectric tube 11 receives the light emitted from the ground-side photoelectric tube 16. (B1, B2, B
3), the automatic guided vehicle 1 performs coasting. Then, at the same time when the brake operation start time t has elapsed by the timer 17a, the CPU 17 operates the electromagnetic brake 8 to apply a brake to the automatic guided vehicle 1. At this time, each automatic guided vehicle 1
Is a predetermined position (D1, D2, D3) within the normal stop range X
To stop.

When the CPU 17 determines that the automatic guided vehicle 1 is stopped at a predetermined position (D1, D2, D3) within the normal stop range X, the liquid crystal display panel 15 mounted on the front of the automatic guided vehicle 1 is stopped. A message to the effect that the vehicle has stopped within the normal stop range is displayed, and the automatic transfer vehicle 1 starts the transfer operation. When the transfer operation is completed and the process proceeds to the next step 106, the CPU 17 rotates the traveling motor 13 at a low speed and causes the automatic guided vehicle 1 to travel at a low speed again. When the mark plate sensor 9 detects the mark plate 5b, the CPU 17 causes the traveling motor 13 to rotate at a high speed to return the automatic guided vehicle 1 to normal traveling.

As described in detail above, when the automatic guided vehicle 1 is laid sideways on the station S to perform the transfer operation, the automatic guided vehicle 1 is braked by the electromagnetic brake 8 to stop at the station S. . At this time, despite the fact that the mounting height position of the vehicle-side photoelectric tube 11 of each AGV 1 and the mounting position of the vehicle-side photoelectric tube 11 with respect to the traveling direction of the AGV 1 are different, the CPU 17 uses the keyboard 14.
When it is determined that the respective brake operation start times t input from the timer 17a have elapsed, the electromagnetic brake 8 is operated to stop the automatic guided vehicle 1 within the normal stop range X.

Therefore, even if a plurality of automatic guided vehicles 1 are provided, the stopping accuracy of each automatic guided vehicle 1 can be improved, so that the transfer operation can be performed accurately.
Even if each wheel is worn and the height position of the vehicle-side photoelectric tube 11 changes, the brake operation start time t can be easily changed from the keyboard 14, so that the mounting position of the vehicle-side photoelectric tube 11 does not need to be accurately performed, and the vehicle stops. The number of working steps for adjusting the position can be reduced.

It should be noted that the present invention is not limited to the above embodiment, but may be configured as follows without departing from the spirit of the invention. (1) In the above-described embodiment, the automatic guided vehicle 1 is used as an unmanned vehicle, but an automatic guided vehicle may be used instead of the automatic guided vehicle 1. (2) In the above embodiment, the communication device on the ground side and the communication device on the vehicle side are configured by photoelectric tubes, but may be configured by an infrared sensor or the like.

[0027]

As described in detail above, according to the present invention,
Adjustment of the mounting position of the vehicle-side communication device installed in the unmanned vehicle
And ensure that each unmanned vehicle is in a position within the specified tolerance
It has an excellent effect of being able to control the temperature.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an electrical configuration of an automatic guided vehicle embodying the present invention.

FIG. 2 is a schematic plan view of the automatic transfer system.

FIG. 3 is a side view of the automatic guided vehicle.

FIG. 4 is a front view of the automatic guided vehicle.

FIG. 5 is a flowchart illustrating an operation performed by a CPU.

FIG. 6 is a front view showing a state in which a vehicle-side photoelectric tube receives light in a light emitting area emitted from the ground-side photoelectric tube.

FIG. 7 is a front view showing a state in which a vehicle-side photoelectric tube receives light in a light emitting area emitted from a conventional ground-side photoelectric tube.

[Explanation of symbols]

Reference Signs List 1 Unmanned guided vehicle as unmanned vehicle 11 Vehicle-side photoelectric tube as vehicle-side communication device 16 Ground-side photoelectric tube C as ground-side communication device Microcomputer as storage means and execution means t Brake operation start time as timing time

Claims (1)

(57) [Claims] 1. A vehicle-side communication device provided on an unmanned vehicle and a ground-side communication device provided on the ground side face each other to perform information communication, and control the unmanned vehicle based on the communicated information.
In an unmanned transfer system, the position of the vehicle-side communication device attached to the unmanned vehicle may vary.
Based on the information communicated at a position within the predetermined tolerance
The vehicle-side communication device opposes the ground-side communication device and performs information communication so that the communication can be properly performed.
A storage unit that stores in advance a time until the control based on the received information is performed, and that the vehicle-side communication device and the ground-side communication device are stored in the storage unit when they communicate with each other . at the same time said time has elapsed based on the data between the time, the unmanned
An unmanned vehicle control device , comprising: an execution unit configured to execute control based on the information transmitted to the vehicle.