JP3622004B2 - Automated guided vehicle system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control system for an automatic guided vehicle that automatically travels on a travel route, and more specifically, a control system between an upper controller, a lower controller thereof, and an automatic guided vehicle managed by the lower controller. About.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, in a clean room where generation of dust is a problem, such as a semiconductor manufacturing factory, an automatic guided vehicle system that automatically runs an automatic guided vehicle along a traveling route is known in order to transport articles.
This automatic guided vehicle is controlled by an upper controller installed on the ground, and the upper controller assigns a unique cart number to each automatic guided vehicle, and each automatic guided vehicle is based on the cart number. Is managing.
This upper controller sends a conveyance command or the like to a lower level controller that directly controls and manages the automatic guided vehicle, and the lower level controller converts the format of the transmitted conveyance command to give a cart number, Sending to automated guided vehicles.
[0003]
In addition, there is also an automatic guided vehicle system having a plurality of transport systems. In this system, there is one upper controller that manages all automatic guided vehicles existing in the entire system and a lower level controller provided for each system. A controller is connected, and the automatic guided vehicle of the system is controlled and managed by the lower controller.
[0004]
[Problems to be solved by the invention]
However, when the lower order controller of the prior art transmits the transport command transmitted from the higher order controller to the target unmanned transport vehicle, there is also unnecessary data for the unmanned transport vehicle to execute the transport command. Many were included, and the load was on the students.
In addition, in the latter of the prior art consisting of a plurality of systems, an automated guided vehicle is moved back and forth between these systems in order to transport express goods and the like. In order to call the cart number of the target automatic guided vehicle in order to the automatic guided vehicle currently existing in the system to be managed, the position of the target automatic guided vehicle is always grasped by any lower controller. However, it is necessary to keep track of the data of all automatic guided vehicles in the lower level controllers of each system, and a great load is applied.
Accordingly, an object of the present invention is to reduce this load.
[0005]
[Means for Solving the Problems]
In order to solve the above problems, the present invention uses the following means.
That is, as described in claim 1, in the automatic guided vehicle system in which the upper controller gives a unique cart number to all automatic guided vehicles and controls each automatic guided vehicle through the lower controller, A control number necessary for the control is assigned to each of the automated guided vehicles existing in the system managed by the lower controller, and the lower controller responds to the upper controller by the carriage number, and the system managed by the lower controller Each automatic guided vehicle is controlled in response to the control number.
[0006]
According to a second aspect of the present invention, the automatic guided vehicle is provided with storage means for storing the cart number and the control number.
[0007]
According to a third aspect of the present invention, rewriting means is provided between the systems managed by the lower controller, and the control number stored in the storage means is automatically rewritten.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the automatic guided vehicle system 1 according to the present invention will be described.
FIG. 1 is a schematic configuration diagram of the automatic guided vehicle system 1, FIG. 2 is a block diagram of the automatic guided vehicle system 1, and FIG. 3 is a movement of the automatic guided vehicle 10 to which the carriage number 101 is assigned between the systems 1A, 1B, and 1C. FIG. 4A is a diagram showing the automatic guided vehicle 10 before moving, FIG. 4B is a diagram showing the automatic guided vehicle 10 being moved, and FIG. It is a figure which shows after the movement of this automatic guided vehicle.
[0009]
The automatic guided vehicle system 1 shown in FIG. 1 includes a plurality of transport systems 1A, 1B, 1C,..., And each of the systems 1A, 1B, 1C,. Are laid in a loop shape, and a plurality of stations 13, 14... Are arranged along the track 11. In the stations 13, 13..., The load is transferred to the automatic guided vehicle 10, and in the stations 14, 14, the unloading from the automatic guided vehicle 10 is performed.
[0010]
Adjacent tracks 11 and 11 are connected by tracks 12 and 12, respectively, and a switching means is provided at a branch portion from the track 11 to the track 12, or a guide wheel is caused to appear and disappear from the automatic guided vehicle 10 so that the track 11 Alternatively, it is possible to move the automatic guided vehicle 10 between the systems 1A, 1B, 1C,... Yes.
[0011]
Further, along the tracks 11, 12,..., Power supply lines in which conductive wires such as copper wires are covered with an insulating material, and communication lines 9, 9,. This power supply line is stretched over the systems 1A, 1B, 1C..., A power supply device is provided at one end, and a high-frequency current flows. An induced current is generated by a magnetic field generated around the feeder line. The induced current is taken out by a pickup coil fixed to the automatic guided vehicle 10, amplified, converted into a predetermined voltage, rectified and smoothed, and a control device or a traveling motor mounted on the automatic guided vehicle 10. Etc. are fed.
[0012]
On the other hand, the communication lines 9, 9... Are divided into areas for each system 1A, 1B, 1C, and so on, and the systems 1A, 1B, 1C,. Is connected to a controller (host controller) 2 for overall management and lower controllers (hub controllers) 3A, 3B, 3C,... Arranged for each system 1A, 1B, 1C,. .., And the hub controllers 3A, 3B, 3C,... And the communication lines 9, 9, 9,.
The automatic guided vehicle 10 traveling on the tracks 11 and 12 is mounted with a receiver 42 and a transmitter 43 so as to be close to and opposed to the communication line 9.
[0013]
With such a configuration, the host controller 2 controls and manages the automatic guided vehicles 10, 10... Of the entire systems 1A, 1B, 1C... Via the hub controllers 3A, 3B, 3C. ing.
[0014]
In the host controller 2, a feedback signal for each hub controller 3A, 3B, 3C,... From the modem 21, for example, its system 1A, 1B, 1C, managed by each hub controller 3A, 3B, 3C,. ··· Input signals such as the current position address signal and the presence / absence of load of unmanned guided vehicles 10 · 10 ··· and determine the destination and transfer of each automated guided vehicle 10 · 10 ··· A control signal indicating whether or not to perform the operation is output to the modem 21 via the interface of the host controller 2.
[0015]
This modem 21 FM modulates the digital signal for each automatic guided vehicle 10... Input from the host controller 2 and transmits it to each hub controller 3 A, 3 B, 3 C. .
The control signals received by the hub controllers 3A, 3B, 3C,... Are input to the modems 31, 31, 31,.
[0016]
The modem 31 has the same configuration as that of the modem 21 of the host controller 2 except that the local oscillation frequency of the transceiver function is changed. The input signal is demodulated and converted into a digital signal. (3A, 3B, 3C, etc.).
[0017]
Further, the hub controller 3 inputs a feedback signal from the modem 32 for each of the automated guided vehicles 10, 10..., For example, an address signal of the current position and a signal such as the presence / absence of a load, and the modem 31 via the interface. .., And a control signal such as whether or not to transfer the destination of each automatic guided vehicle 10 ···· from the modem 31 is input, details of which will be described later. Of the control signals, only the control signals for the automatic guided vehicles 10, 10... Managed by the hub controller 3 are picked up and output to the modem 32 via the interface.
[0018]
This modem 32 FM modulates the digital signal for each automatic guided vehicle 10, 10... Input from the hub controller 3, and transmits the communication line 9 as an antenna via the impedance matching box 33.
[0019]
The control signal received by the receiver 42 of the automatic guided vehicle 10 is input to the modem 41. The modem 41 has the same configuration as that of the modem 32 of the hub controller 3 except that the local oscillation frequency of the transceiver function is changed. The signal input from the receiver 42 is demodulated and converted into a digital signal. Then, it is output to the transport vehicle controller 4 which is a control means of the automatic guided vehicle 10 main body.
[0020]
The carrier controller 4 serves as a load detector including a photoelectric switch for detecting presence / absence of a load on the loading platform of the automatic guided vehicle 10 and a fixed position of the load, and an address of a current position installed along the tracks 11 and 12 as sensors. , The zone of the stations 13, 14..., And a travel control detector comprising a photoelectric switch that detects a curve, a light receiver that detects the approach of the preceding automatic guided vehicle 10, and a bumper that detects a rear-end collision A switch, an encoder for detecting the travel distance by the number of revolutions of the travel motor of the drive wheel, etc. are connected, and it is determined by a signal from each sensor and a control signal from the hub controller 3 input from the modem 41, and an inverter The automatic traveling of the automatic guided vehicle 10 is controlled by controlling the traveling motor and the like via the motor.
[0021]
Moreover, the conveyance vehicle controller 4 performs the light projection for detecting the approach of the following automatic guided vehicle 10 by the light projector. The feedback signal from the transport vehicle controller 4 to the hub controller 3 is output to the modem 41 as a digital signal, and the modem 41 FM modulates the feedback signal and transmits it to the transmitter 43. The feedback signal from the carrier controller 4 transmitted from the transmitter 43 is received by the communication line 9, demodulated by the modem 32 via the impedance matching box 33, and output to the hub controller 3. The hub controller 3 grasps the state of the automatic guided vehicle 10 from the feedback signal from the transport vehicle controller 4 input from the modem 32.
[0022]
As described above, the modem 21 and the modem 31 are used as transmission / reception devices, and signals are transmitted / received between the host controller 2 and the hub controller 3 via the control line 8, and the modem 32 and the modem 41 are used as transmission / reception devices. 42. By using the transmitter 43 and the communication line 9 as an antenna, signals are exchanged between the hub controller 3 and the transport vehicle controller 4.
It should be noted that signals may be exchanged between the modem 21 and the modem 31 by using the control line 8 as an antenna.
[0023]
As described above, the hub controller 3 picks up and outputs only the control signals for the automatic guided vehicles 10, 10... Managed by the hub controller 3 among the control signals from the host controller 2. The control system will be described next.
[0024]
As shown in FIG. 2, the automatic guided vehicle 10 is provided with a storage device 45, and a storage unit 45a of the storage device 45 is set and inputted with a cart number to distinguish it from other automatic guided vehicles 10, and one storage A control number necessary for controlling the automatic guided vehicle 10 is stored in the unit 45b.
[0025]
For example, as shown in FIG. 1 and FIG. 3 (a), at the system start-up preparation stage, the cart numbers 101, 102, and 103 are assigned to the automatic guided vehicles 10 and 10 belonging to the system 1A and the unmanned vehicles belonging to the system 1B. The carriage numbers 104, 105, and 106 are assigned to the carriages 10, 10, and 10, and the carriage numbers 107, 108, and 109 are assigned to the automatic guided vehicles 10, 10, and 10 belonging to the system 1C.
Here, for the sake of simplicity, the bogie numbers 101, 102,... Of the automatic guided vehicles 10, 10,. If the cart number is allocated, it may be given at random.
[0026]
Then, the host controller 2 manages the automatic guided vehicles 10 · 10 ··· existing in the entire systems 1A · 1B · 1C ··· based on the assigned cart numbers 101 · 102 ···. Yes.
[0027]
One control number is managed for each of the systems 1A, 1B, 1C, and so on. At the start-up preparation stage of the system, for example, the automatic guided vehicle 10 with the cart numbers 101, 102, and 103 belonging to the system 1A is assigned. 10, 10 and 10 are assigned control numbers 201, 202 and 203, automatic guided vehicles 10 and 10 and 10 which are assigned to truck numbers 104, 105 and 106 belonging to system 1B are assigned control numbers 301, 302 and 303, and Control numbers 401, 402, and 403 are assigned to the automatic guided vehicles 10, 10, and 10 to which the cart numbers 107, 108, and 109 belonging to the system 1C are assigned.
[0028]
The hub controllers 3A, 3B, 3C,... Of each system 1A, 1B, 1C,... Are based on the control numbers 201, 202, 301, 302, 401, 402, etc. Controls and manages the automatic guided vehicles 10, 10... Existing in the systems 1A, 1B, 1C.
[0029]
Further, in each of the systems 1A, 1B, 1C,. The eraser 37 erases the control number written in the storage unit 45b of the automatic guided vehicle 10 leaving the system 1A, 1B, 1C, and the like. ... Reads the carriage number written in the storage unit 45 a of the automated guided vehicle 10 entering to the same time, and simultaneously writes a new control number in the storage unit 45 b.
[0030]
The erasers 37, 37... And the read driers 38, 38... Are connected to the hub controllers 3A, 3B, 3C,. When the automated guided vehicle 10 moves in 1A, 1B, 1C, etc., the eraser 37 in which the control number is erased and the new control number written to the storage device 45 of the automated guided vehicle 10 are written. A control signal is output from the applied lydriter 38 to the hub controllers 3A, 3B, 3C,... Of each of the systems 1A, 1B, 1C, etc. to which the hub controllers 3A, 3B, 3C,. .. Are grasped and managed by the latest control number.
[0031]
The control management by the hub controllers 3A, 3B, 3C,... By the erasers 37, 37,.
For example, it is assumed that the automatic guided vehicle 10 to which the cart number 101 and the control number 201 existing in the current system 1A shown in FIG. 3A are moved to the system 1C for transporting limited express goods and the like.
[0032]
First, when the automatic guided vehicle 10 leaves the system 1A, the control number 201 is deleted by the eraser 37 of the system 1A. This signal is output to the hub controller 3A, and it is recognized that the automatic guided vehicle 10 to which the control number 201 is assigned no longer exists in the system 1A. As a result, the hub controller 3A also recognizes that the automated guided vehicle 10 to which the carriage number 101 corresponding to the control number 201 is assigned does not exist in the system 1A.
[0033]
Next, as shown in FIG. 3B, when this automatic guided vehicle 10 enters the system 1B, the cart number 101 written in the storage unit 45a of the automatic guided vehicle 10 by the ried lator 38 of the system 1B. Is read and a new control number 304 is written in the storage unit 45b. This signal is output to the hub controller 3B, and the hub controller 3B recognizes that the automatic guided vehicle 10 to which the carriage number 101 and the control number 304 are added is newly present in the system 1B.
[0034]
The automatic guided vehicle 10 only passes through the system 1B, and the control number 304 of the automatic guided vehicle 10 leaving the system 1B is deleted by the eraser 37 of the system 1B. This signal is output to the hub controller 3B, and it is recognized that the automatic guided vehicle 10 assigned with the control number 304 no longer exists in the system 1B. As a result, the hub controller 3B also recognizes that the automated guided vehicle 10 to which the carriage number 101 corresponding to the control number 304 is attached no longer exists in the system 1B.
[0035]
Then, as shown in FIG. 3 (c), when the automatic guided vehicle 10 enters the system 1C, the carriage number 101 written in the storage unit 45a of the automatic guided vehicle 10 by the ried lator 38 of the system 1C. Is read and a new control number 404 is written in the storage unit 45b. This signal is output to the hub controller 3C, and the hub controller 3C recognizes that the automatic guided vehicle 10 to which the carriage number 101 and the control number 404 are added is newly present in the system 1C.
[0036]
As described above, the host controller 2 controls and manages each of the automatic guided vehicles 10, 10... According to the assigned cart numbers 101, 102. It is assumed that a conveyance command is output to the conveyance vehicle 10.
First, the current position of the automatic guided vehicle 10 and the presence / absence of a load are confirmed. A control signal associated with the carriage number 101 is sent from the host controller 2 to each hub controller 3A, 3B, 3C,. Is output.
[0037]
By this control signal, the transport information of the automatic guided vehicle 10 to which the cart number 101 is attached is requested. Conventionally, each hub controller 3A, 3B, 3C,... Manages the systems 1A, 1B, 1C,. ... of the automated guided vehicles 10, 10. This call is made with the cart number 101, and the hub controller 3 (3A, 3B, 3C, etc.) transmits the cart number 101 to the cart controller 4 of the automatic guided vehicle 10, and the cart recorded in the storage unit 45a. The number and the cart number 101 are collated, and a signal indicating a match or a mismatch is returned from the transport vehicle controller 4 to the hub controller 3. This matching is sequentially performed with respect to the automatic guided vehicles 10, 10... Of the systems 1 A, 1 B, 1 C, and so on to which the target automatic guided vehicle 10 is found by the cart number 101.
[0038]
However, when this method is used, the hub controllers 3A, 3B, 3C,... Of the entire systems 1A, 1B, 1C,... Are called by the bogie number 101, and eventually the hub controllers 3A, 3B, 3C. ... Only one target automatic guided vehicle 10 can be found, and other hub controllers result in only unspoken calls to all automatic guided vehicles 10. .
[0039]
Actually, the host controller 2 sequentially outputs a transport command to a plurality of automatic guided vehicles 10, 10..., And a plurality of unmanned transports for each hub controller 3A, 3B, 3C. Since the data related to the cars 10, 10 ... are seized, there is a lot of unnecessary data in finding the target automatic guided vehicle 10, 10 ..., and each hub controller 3A, 3B, 3C, ... The system 1A, 1B, 1C,... Called the automatic guided vehicles 10, 10,.
[0040]
Therefore, in the present invention, the above-described control numbers are assigned to the automatic guided vehicles 10, 10... Managed by the hub controllers 3 A, 3 B, 3 C, etc., and the hub controllers 3 A, 3 B, 3 C,. Each of the unmanned transport vehicles is responded to the host controller 2 by a bogie number, and the unmanned transport vehicles 10, 10... Of the systems 1 A, 1 B, 1 C. 10 · 10 ... are controlled.
[0041]
Here, again, taking FIG. 3C as an example, the control signal based on the carriage number 101 output from the host controller 2 is processed by the hub controllers 3A, 3B, 3C,. .
As described above, the hub controllers 3A, 3B, 3C,... Rewrite the control numbers of the automatic guided vehicles 10, 10. All the automatic guided vehicles 10, 10... Are assigned control numbers that correspond one-to-one with the cart numbers.
[0042]
Each hub controller 3A, 3B, 3C,... Checks the control number currently assigned to the one corresponding to the carriage number 101. Thus, the control number 404 corresponding to the cart number 101 is searched for in any one of the hub controllers 3A, 3B, 3C,..., And the host controller 2 has the cart number 101 thereafter. As for the control of the automatic guided vehicle 10, only the hub controller 3C is communicated.
[0043]
Then, the hub controller 3C communicates with the automatic guided vehicle 10 having the cart number 101 by calling with the control signal of the control number 404, and inputs signals such as an address signal of the current position of the automatic guided vehicle 10 and the presence / absence of a load. Then, the signal is associated with the carriage number 101 and output to the host controller 2.
[0044]
The host controller 2 determines the control signal from the hub controller 3C, and returns a conveyance command such as the destination of the automatic guided vehicle 10 and whether or not to transfer to the hub controller 3C.
Then, the hub controller 3C converts the format of the transport command attached to the cart number 101 and replaces it with the control number 404, outputs the transport command attached to the control number 404, and is given the cart number 101. The automatic guided vehicle 10 is controlled.
[0045]
In the hub controller 3C, the format of the control signal from the host controller 2 is converted as it is and the control number 404 is rewritten. Of the control signals, information (From, To information, In other words, only the information on which station to which the cargo is transported is taken out and converted into a format that can be recognized by the automated guided vehicle 10, and based on the position information of each automated guided vehicle 10, the unmanned closest to the target From You may make it produce | generate a conveyance command by attaching | subjecting the control number 404 of the conveyance vehicle 10. FIG. By creating a transport command for only necessary information in this way, it is possible to reduce the communication time and the load on the hub controller 3C.
[0046]
Further, in this embodiment, in order to transport express goods and the like, an automated guided vehicle 10 traveling on the track 11 of each system 1A, 1B, 1C,. 1B, 1C,..., But there is no track 12 connecting the systems 1A, 1B, 1C,... It may also be used when moving to systems 1A, 1B, 1C.
[0047]
As described above, specific examples have been described, but this control is performed for all automatic guided vehicles 10, 10... Belonging to the entire systems 1 A, 1 B, 1 C,.
In this way, each hub controller 3A, 3B, 3C... Communicates with the host controller 2 by means of the bogie number, and with respect to the automatic guided vehicles 10, 10. By communicating with the control number, the hub controllers 3A, 3B, 3C, etc. are called to the automatic guided vehicles 10, 10 ... of the systems 1A, 1B, 1C,. Unlike the control for searching for the target automatic guided vehicle 10, each hub controller 3A, 3B, 3C... Does not need to store all the bogie numbers and the data associated therewith. As a result, the load on each of the hub controllers 3A, 3B, 3C... Is reduced, and the processing capability is improved.
[0048]
【The invention's effect】
Since the present invention is configured as described above, the following effects can be obtained.
That is, as in claim 1, in the automatic guided vehicle system in which the upper controller assigns a unique carriage number to all automatic guided vehicles and controls each automatic guided vehicle via the lower controller, A control number necessary for the control is given to each of the automatic guided vehicles existing in the system managed by the lower controller, and the lower controller responds to the upper controller by the carriage number, and In response to the control number for the automatic guided vehicle, by controlling each automatic guided vehicle, the lower controller does not need to store all the cart numbers and the data associated therewith as in the past, The load on the lower controller is reduced and its processing capacity is improved.
[0049]
Further, as in claim 2, the automatic guided vehicle is provided with storage means for storing the bogie number and the control number. For example, the upper controller manages the automatic guided vehicle by the bogie number, and the lower controller Then, if the automatic guided vehicle is controlled and managed by the control number, the control number is rewritten even if the automatic guided vehicle moves between the systems managed by the lower controller for the transportation of express goods etc. It is easy to manage the automated guided vehicle after movement, and the workability is improved.
[0050]
Further, as described in claim 3, rewriting means is provided between the systems managed by the subordinate controller, and the control number stored in the storage means is automatically rewritten, so that the express goods and the like are transported. When the automatic guided vehicle moves between systems, the control number is automatically rewritten, and the movement management of the automatic guided vehicle by an operator becomes unnecessary, thereby improving workability.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram of an automated guided vehicle system 1;
FIG. 2 is a block diagram of the automatic guided vehicle system 1;
FIG. 3 is an explanatory diagram showing movement of the automatic guided vehicle 10 to which a cart number 101 is assigned between the systems 1A, 1B, and 1C. FIG. 4A is a diagram showing the automatic guided vehicle 10 before moving. FIG. 6B is a diagram illustrating the middle of the movement of the automatic guided vehicle 10. (C) is a diagram showing the automatic guided vehicle 10 after movement.
[Explanation of symbols]
1 Automated guided vehicle system
2 Host controller
3 Hub controller
4 Carrier controller
10 Automated guided vehicle
37 Elisa
38 Lead dryer
45 Storage device
45a storage unit
45b storage unit
101 Bogie number
201 Control number
304 Control number
404 control number

Claims (3)

In an automated guided vehicle system in which a higher-level controller assigns a unique cart number to all automated guided vehicles and controls each automated guided vehicle via the lower-level controller, it exists in a system managed by the lower-level controller Each automatic guided vehicle is assigned a control number necessary for its control, the lower controller responds to the higher controller by a carriage number, and the control number for the managed automatic guided vehicle. In response, the automatic guided vehicle system controls each automatic guided vehicle. 2. The automatic guided vehicle system according to claim 1, wherein the automatic guided vehicle is provided with storage means for storing the cart number and the control number. 3. The automatic guided vehicle system according to claim 2, wherein a rewriting unit is provided between systems managed by the lower controller, and the control number stored in the storage unit is automatically rewritten.

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