JP3743461B2 - Control method of transport vehicle and control device therefor - Google Patents

Description

【００３５】
次に、図１２において、台車２６ａは、搬送車１０の前端側に仮想的に設定したもの、台車２６ｂは台車２６ａを角度θｃｃだけ回転させたものを示し、投光器間距離Ｌｗから台車２６の種類が決まると、台車２６ａの４隅の座標（Ｘｎ，Ｙｎ）（但し、ｎ＝１〜４）が決まる。そして、台車２６の４隅の座標（Ｘｎ′，Ｙｎ′）（但し、ｎ＝１〜４）は、（Ｘｎ，Ｙｎ）と、回転テンソルＴｒｚ、平行移動テンソルＴｄ-1を用いて、次式のように演算する。
【数２】

【００３６】
一方、搬送車１０が停止して障害物を検出した位置を基準とする非干渉領域と干渉領域を画定する点ＰR 、ＰL の座標は、図示の座標値のように２つの定数ＰX ，ＰY を用いて、ＰR （−ＰX ，ＰY ）、ＰL （−ＰX ，−ＰY ）のように設定する。そして、｜Ｙｎ′｜≦ＰY （但し、ｎ＝１〜４）のときには、台車２６が干渉領域に入っていると判断する。つまり、台車２６の４隅のＹ座標の絶対値が全てＰY よりも大きいときには、台車２６が干渉領域に入っていないと判断するが、それ以外のときには台車２６が干渉領域に入っていると判断し、図１３に図示のように台車２６の角点から距離δを空けるとともに非干渉領域のＹ軸方向線から距離δだけ空けた干渉回避領域を設定し、この干渉回避領域の角点ＱR またはＱL と干渉しないように、ガイドテープ１から迂回した迂回経路３をガイドテープ１の左側又は右側に自動設定して走行する自動干渉回避制御を実行する。
【００３７】
この迂回経路３を設定する場合、図１３に示すように、台車２６が搬送車１０の進行方向右側にあれば右側の干渉回避領域と干渉しないように、左側へ迂回する迂回経路３を設定し、台車２６が搬送車１０の進行方向左側にあれば左側の干渉回避領域と干渉しないように、右側へ迂回する迂回経路３を設定する。
例えば、図１３に示すように、右側の台車２６が干渉領域に入っている場合を例として説明すると、角点ＱR の座標は（−ＰX ＋δ，Ｙｎ′min −δ）であり、点Ｄの座標は（０，Ｗ）である。但し、Ｙｎ′min は、Ｙｎ′（但し、ｎ＝１〜４）の最小値である。搬送車１０は旋回中心ＴＰを中心として旋回走行可能であることから、点Ｄと角点ＱR を結ぶ線Ｌと平行な方向へ迂回経路３の回避直線部３ａを方向付ければよい。
【００３８】
この場合の偏角αは点Ｄの座標と角点ＱR の座標とから次式のように求めることができる。ｔａｎα＝（Ｗ−Ｙｎ′min ＋δ）／（ＰX −δ）
回避直線部３ａの長さＢＳ（点Ｏから点Ａまでの距離）は、平行直進路３ｂから角点ＱR までの間隔を搬送車１０の半幅Ｗと等しくするように設定する条件から次式のように求めることができる。
ＢＳ＝〔（ＰX −δ）2 ＋（Ｗ−Ｙｎ′min ＋δ）2 〕1/2
平行直進路３ｂの長さＳＳ（点Ａから点Ｂまでの距離）は、例えば、点ＢのＸ座標と、台車２６の４点のうちの最も−Ｙ方向にある点のＸ座標とを一致させるように設定する条件から次式のように求めることができる。
ＳＳ＝｜Ｘｎ′｜max −（ＰX −δ）
但し、｜Ｘｎ′｜max は、｜Ｘｎ′｜（但し、ｎ＝１〜４）の最大値である。平行直進路３ｂから復帰直進路３ｃへ旋回する際の偏角は偏角αと等しく設定し、復帰直進路３ｃの長さは回避直線部３ａの長さＢＳと等しく設定する。
【００３９】
次に、搬送車１０の走行を制御する走行制御について、フローチャートを参照して説明する。尚、フローチャート中のＳｉ（ｉ＝１，２，・・・）は各ステップを示すものである。
図１４に示すメインルーチンにおいて、搬送車１０の電源の投入後起動すると、ガイドテープ１に沿って走行を開始し（Ｓ１：Yes ）、所定時間おきに障害物センサ２１による障害物検知を実行していき、番地センサ２０が番地板２を検出すると読み取った情報から番地が決定され、その番地が自動干渉回避制御を行うべき番地であるときには（Ｓ２、Ｓ３：Yes ）、Ｓ４において自動干渉回避制御が実行される。尚、制御ユニット３４のＲＯＭには、各番地別に実行すべき指令（障害物検知、加減速開始、定速走行、停止、左旋回、右旋回等）がテーブルとして格納されており、番地情報を読み取る毎に該当する指令に対応する制御が実行されるようになっている。
【００４０】
障害物検知を行う必要のない番地であるときは走行を続け（Ｓ２、Ｓ３： No ）、障害物センサ２１により搬送車１０の前方とその付近に障害物である台車２６が検出されると（Ｓ５：Yes ）、Ｓ６において自動干渉回避制御が実行される。その後、ガイドセンサ１６からの検出信号を読込んで、ガイドテープ１の位置が演算され（Ｓ７）、図８に示した制御則に応じて駆動モータ１２ａ，１２ｂのモータ回転速度が演算され（Ｓ８）、そのモータ回転速度が左右のモータ駆動部３７ｂ，３７ａに対して設定され（Ｓ９）、駆動モータ１２ａ，１２ｂが駆動され（Ｓ１０）、番地情報に基づいて停止位置か否か判定し（Ｓ１１）、停止位置でないときにはＳ２へ戻りＳ２以降が前記同様に繰り返されるが、停止位置であるときには、モータ駆動が停止され（Ｓ１２）、この走行制御が終了する。
【００４１】
次に、Ｓ４、Ｓ６で実行される自動干渉回避制御のサブルーチンについて、図１５〜図１７のフローチャートにより説明する。
この制御が開始されると一旦モータの駆動が停止され（Ｓ２０）、搬送車１０の無線送受信機２３から台車２６の無線送受信機３０に対して、電源ＯＮを指令する台車制御機器電源入り信号が送信される（Ｓ２１）。尚、フローチャートにおいて、投光器Ａ，Ｂは夫々台車２６の右側の投光器２９ａと左側の投光器２９ｂを示し、Ｒ，Ｌ受光信号は、夫々搬送車１０の右側の受光器２２ａの受光信号と左側の受光器２２ｂの受光信号を示す。
【００４２】
台車２６側の制御器においては、制御ユニット３４からの指令に応じて図１８のような制御（但し、後述する）を実行し、投光器２９ａが作動して投光すると（Ｓ２２：Yes ）、受光器２２ａ，２２ｂにより受光した受光信号が読み込まれ（Ｓ２３）、次に投光器２９ｂが作動して投光すると（Ｓ２４：Yes ）、受光器２２ａ，２２ｂにより受光した受光信号が読み込まれ（Ｓ２５）。次に、無線送受信機２３から無線送受信機３０に対して、電源ＯＦＦを指令する台車制御機器電源切り信号が送信される（Ｓ２６）。
【００４３】
次に、図１０〜図１３により説明したように、台車２６の位置が演算され（Ｓ２７）、その台車２６と搬送車１０とが干渉（接触や衝突）するか否かの干渉判定が既述のように実行され（Ｓ２８）、干渉しない場合（Ｓ２９： No ）にはこのサブルーチンが終了する。干渉する場合（Ｓ２９：Yes ）には、台車２６のＸ座標（Ｘｎ′）の絶対値の最小値が演算され（Ｓ３０）、台車２６のＹ座標（Ｙｎ′）の最小値が演算され（Ｓ３１）、次に、既述のように干渉回避の偏角αが演算され（Ｓ３２）、干渉回避の直進移動距離ＢＳ，ＳＳが演算され（Ｓ３３）、偏角αだけ左旋回する為のモータ回転速度及び偏角αだけ右旋回する為のモータ回転速度が演算される（Ｓ３４、３５）。次に、偏角αだけ旋回する為の旋回外輪移動パルス数PN１が演算され（Ｓ３６）、干渉回避の為の直進移動距離ＢＳ，ＳＳに対応する直進移動パルス数PN２，PN３が演算される（Ｓ３７）。
【００４４】
ここで、前記Ｓ３４〜Ｓ３７のモータ回転速度やパルス数演算について説明すると、図１９に示すように、旋回半径Ｒ、走行速度Ｓ、駆動輪径Ｄ、駆動輪幅Ｐ、駆動系のギヤ比Ｇ、左側駆動モータ１２ｂの回転速度VL（ｒｐｍ）、右側駆動モータ１２ａの回転速度VR（ｒｐｍ）、駆動軸１回転当りの発生パルス数をN0とすると、次のようになる。左旋回時には、VL＝Ｓ／（πＤ・Ｇ）、VR＝Ｒ・VL／（Ｒ−Ｐ）、右旋回時には、VR＝Ｓ／（πＤ・Ｇ）、VL＝Ｒ・VR／（Ｒ−Ｐ）となる。また、PN１＝Ｒ・α・N0／（πＤ・Ｇ）、PN２＝ＢＳ・N0／（πＤ・Ｇ）、PN２＝ＳＳ・N0／（πＤ・Ｇ）となる。
【００４５】
次に、台車２６のＹ座標（Ｙｎ′）の最小値Ｙｎ′min が０以上か否か判定され（Ｓ３８）、その判定がYes のときには左旋回用モータ回転速度が設定されて左旋回走行し（Ｓ３９）、その判定が No のときには右旋回用モータ回転速度が設定されて右旋回走行し（Ｓ４９）、次にＳ３９又はＳ４０で設定された速度で駆動モータ１２ａ，１２ｂが駆動されて旋回走行し（Ｓ４１）、次に旋回開始後旋回外輪側のモータエンコーダ１５ａ又は１５ｂからのパルスをカウントしていき、そのカウント値が外輪移動パルス数PN１に等しくなると（Ｓ４２：Yes ）、直進走行時の直進モータ回転速度を定速Ｓに設定して回避直進路３ａに沿って直進走行し（Ｓ４３）、直進開始後モータエンコーダ１５ａ，１５ｂからのパルスをカウントしていき、そのカウント値が直進移動パルス数PN２に等しくなると（Ｓ４４：Yes ）、ガイドテープ１と平行に平行直進路３ｂを走行する為に偏角αだけ戻す為の旋回走行が実行される。
【００４６】
その為、最小値Ｙｎ′min が０以上か否か判定され（Ｓ４５）、その判定がYes のときには右旋回用モータ回転速度が設定されて右旋回走行し（Ｓ４６）、その判定が No のときには左旋回用モータ回転速度が設定されて左旋回走行し（Ｓ４７）、次にＳ４２と同様にパルスカウント値が外輪移動パルス数PN１に等しくなると（Ｓ４８：Yes ）、直進走行時の直進モータ回転速度を定速Ｓに設定してガイドテープ１と平行に直進走行し（Ｓ４９）、パルスカウント値が直進移動パルス数PN３に等しくなると（Ｓ５０：Yes ）、次のように、復帰直進路３ｃに沿う方向へ偏角αだけ旋回走行する。
【００４７】
その為に、台車２６のＹ座標（Ｙｎ′）の最小値Ｙｎ′min が０以上か否か判定され（Ｓ５１）、その判定がYes のときには右旋回用モータ回転速度が設定されて右旋回走行し（Ｓ５２）、その判定が No のときには左旋回用モータ回転速度が設定されて左旋回走行し（Ｓ５３）、次にＳ５２又はＳ５３で設定された速度で駆動モータ１２ａ，１２ｂが駆動されて旋回走行し、次に旋回開始後旋回外輪側のモータエンコーダ１５ａ又は１５ｂからのパルスをカウントしていき、そのカウント値が外輪移動パルス数PN１に等しくなると（Ｓ５４：Yes ）、直進走行時の直進モータ回転速度を定速Ｓに設定して復帰直進路３ｂを直進走行し（Ｓ５５）、直進開始後モータエンコーダ１５ａ，１５ｂからのパルスをカウントしていき、そのカウント値が直進移動パルス数PN２に等しくなると（Ｓ５６：Yes ）、ガイドテープ１に沿う方向へ偏角αだけ旋回走行する。
【００４８】
その為に、台車２６のＹ座標（Ｙｎ′）の最小値Ｙｎ′min が０以上か否か判定され（Ｓ５７）、その判定がYes のときには左旋回用モータ回転速度が設定されて左旋回走行し（Ｓ５８）、その判定が No のときには右旋回用モータ回転速度が設定されて右旋回走行し（Ｓ５９）、次にＳ５８又はＳ５９で設定された速度で駆動モータ１２ａ，１２ｂが駆動されて旋回走行し（Ｓ６０）、次に旋回開始後旋回外輪側のモータエンコーダ１５ａ又は１５ｂからのパルスをカウントしていき、そのカウント値が外輪移動パルス数PN１に等しくなると（Ｓ６１：Yes ）、直進走行時の直進モータ回転速度を定速Ｓに設定してガイドテープ１に沿う直進走行に移行し（Ｓ６２）、このサブルーチンを終了して、図１４のメインルーチンへ戻る。
【００４９】
次に、制御ユニット３４からの指令に応じて台車２６側の制御装置で投光制御について、図１８のフローチャートを参照して説明する。
電源入り信号を受信すると（Ｓ７０：Yes ）、投光器Ａ（投光器２９ａ）を所定時間（例えば、２秒）だけ起動させて、所定の水平面走査パターンの走査投光を行い（Ｓ７１）、タイマの計時に基づいて投光動作を完了すべきか否か判別し（Ｓ７２）、完了時期になると投光器Ａを停止させ（Ｓ７３）、次に、投光器Ｂ（投光器２９ｂ）を所定時間（例えば、２秒）だけ起動させて、所定の水平面走査パターンの走査投光を行い（Ｓ７４）、タイマの計時に基づいて投光動作を完了すべきか否か判別し（Ｓ７５）、完了時期になると投光器Ｂを停止させ（Ｓ７６）、次に、電源切り信号を受信すると（Ｓ７７：Yes ）、電源をＯＦＦにしてこの制御を終了する。
【００５０】
以上説明した搬送車１０の走行制御における作用について説明する。
障害物センサ２１を介して障害物を検出し、１対の投光器２２及び受光器２２を介して障害物の位置を高精度に決定するので、迂回経路３を精密に設定することができる。障害物が干渉領域にはみ出している場合には、障害物のはみ出した部分を加味した干渉回避領域を設定し、その干渉回避領域を迂回する迂回経路３であってガイドテープ１から外れた迂回経路３を自動的に設定してその
【００５１】
迂回経路３に沿って走行するので、走行の障害となる障害物に遭遇したときに、搬送車１０が停止する必要が無く、搬送効率や能率が格段に向上し、搬送車１０の所要台数を節減でき、搬送車１０を介して搬送する部品や資材の搬送を遅滞なく実行できるので、生産性の向上にも寄与する。しかも、台車２６の１対の投光器２９ａ，２９ｂ間の距離Ｌｗを検知して台車２６の種類とサイズを検知するので、台車２６のサイズ特定の為の制御が簡単化する。
【００５２】
次に、前記実施形態を部分的に変更した別実施形態について説明する。但し、前記の構成要素と同様のものに同一符号を付して説明を省略する。
１〕図２０〜図２５に示すように、搬送車１０Ａには、前記受光器２２ａ，２２ｂの代わりに、投受光器５０（５０ａ，５０ｂ）が設けられ、台車２６Ａには前記投光器２９ａ，２９ｂの代わりに、反射板４０（４０ａ，４０ｂ）が設けられ、投受光器５０ａから投射され反射板４０ａ，４０ｂで反射して来た光をその投受光器５０ａで受光し、次に、投受光器５０ｂから投射され反射板４０ａ，４０ｂで反射して来た光をその投受光器５０ｂで受光し、それら受光信号から台車 ２６Ａの位置を演算するように構成してある。尚、無線送受信機２３，３０は必要がないので省略されている。
【００５３】
前記投受光器５０について簡単に説明すると、図２６に示すように、投光器５０のケース５０ｃの内部には、電動モータ５１と、その出力軸に直結されたギヤ５２及び回転ミラー５５と、ギヤ５２に噛合するピニオン５３を介して回転ミラー５５の回転角を検出するロータリエンコーダ５４と、ハーフミラー５７と、レンズ５８，５９と、発光器６０と、反射板４０で反射し回転ミラー５５とハーフミラー５７で反射してきた光をレンズ６１を介して受光する受光器６２と、外周側約１８０度の範囲にわたる半筒状ガラス体５６等が設けられている。
【００５４】
回転ミラー５５は水平面に対して約４５度に傾斜した反射面を有し、ハーフミラー５７は回転ミラー５５で反射した光を受光器６２の方へ反射させる。発光器６０から出射された光は、レンズ５８，５９で細いビーム状に絞られ、ハーフミラー５７を透過し回転ミラー５５で反射して水平方向へ投射されるが、回転ミラー５５が高速回転しているため、投射光は水平面内で例えば約１８０度の範囲を一定方向へ走査する走査光となる。その走査投射光は台車２６Ａの後端の反射板４０ａ又は４０ｂで反射して戻って来ると、回転ミラー５５とハーフミラー５７とで反射して受光器６２で受光される。ロータリエンコーダ５４からのパルスをカウントすることで、回転ミラー５５の角度（つまり、投射光の方向と反射光の方向）が時々刻々検知されるため、図１０に示した４つの角度θRA, θRB, θLA, θLBを検知することができる。
【００５５】
前記投受光器５０の制御系について、図２７を参照して簡単に説明する。
この投受光器５０の制御部６６は制御ユニット３４に接続され、端子６６ａに発光指令を受けるとともに端子６６ｂに受光指令を受ける。制御部６６から発光指令に対応する駆動指令がＯＲゲート７３を介してモータ駆動回路７４に供給され、モータ５１が駆動制御される。発光指令に従って制御部６６から出力する制御信号で発光周波数発生部６７が制御され、所定の周波数で発光させる制御信号を発光駆動部６８に供給し、発光駆動部６８が発光器６０を駆動制御する。
【００５６】
受光の際、受光指令に応じた制御信号が制御部６６から信号出力部７２とＯＲゲート７３と信号出力部７６とに供給される。受光器６２の検出信号は受光信号増幅部６９で増幅されて信号抽出部７０へ供給され、比較部７１は、信号抽出部７０から受ける受光信号と、制御部６６から受けるしきい値信号を比較し、受光信号がしきい値信号よりも大きい場合には、受光判定信号を信号出力部７２へ出力し、その受光判定信号を端子７２ａから制御ユニット３４へ出力する。ロータリエンコーダ５４からのパルス信号はパルス変換部７５でカウントされ、そのカウント値信号が信号出力部７６から端子７６ａを介して制御ユニット３４へ出力される。以上のようにして、制御ユニット３４からの指令に基づいて投受光器５０が制御され、発光と受光とを実行する。制御ユニット３４は、信号出力部７２ａ，７６ａからの信号を受けて、台車２６Ａの反射板４０ａ，４０ｂで反射して来た光の方向を演算する。
【００５７】
以上の搬送車１０Ａと台車２６Ａを適用した場合における自動干渉回避制御は、次のように部分的に変更される。図２８に示すように、この自動干渉回避制御が開始後、駆動モータ１２が停止され（Ｓ８０）、右側の投受光器５０ａが起動されて投受光が実行され（Ｓ８１）、その投受光器５０ａによる受光が完了すると（Ｓ８２：Yes ）、投受光器５０ａが停止される（Ｓ８３）。次に、左側の投受光器５０ｂが起動されて投受光が実行され（Ｓ８４）、その投受光器５０ｂによる受光が完了すると（Ｓ８５：Yes ）、投受光器５０ｂが停止される。その後、図１５のＳ２７以降が前記同様に実行される。
【００５８】
この実施形態においては、台車２６Ａ側に１対の投光器２９の代わりに１対の反射板４０を設けるため、無線送受信機２３，３０及び台車２６側の制御器を省略できるから設備費の面で有利であり、制御ユニット３４における制御も簡単化する。尚、この実施形態では、台車２６Ａの後端部にのみ１対の反射板４０を設けたが、台車２６Ａの前端部にも１対の反射板４０を設けることが望ましい。また、１対の反射板４０の間の距離Ｌｗから台車２６Ａの種類とサイズを検知するので、台車２６Ａのサイズ特定の為の制御が簡単化する。
【００５９】
投受光器５０は、回転ミラー５５により絞ったビームを走査しながら投射するので、搬送車１０の前方の広い範囲を走査でき、投射光を反射板４０で確実に反射させその反射光を確実に受光できる。尚、この投受光器５０は投光器として適用したり、受光器として適用したりできるので汎用性に優れる。
【００６０】
２〕図２９〜図３２に示すように、搬送車１０Ｂには、前記搬送車１０における受光器２２ａ，２２ｂの代わりに前記別実施形態と同様の投受光器５０（５０ａ，５０ｂ）が受光器として装備されるとともに、障害物センサ２１が省略されている。台車２６Ｂには、前記台車２６における投光器２９ａ，２９ｂの代わりに前記別実施形態の投受光器５０ａ，５０ｂと同様の投受光器２９Ａ，２９Ｂが投光器として装備されている。
【００６１】
この場合、メインルーチンにおいて、台車２６Ｂの投受光器２９Ａ又は２９Ｂからの投射光を投受光器５０ａ，５０ｂで受光し、その受光量をしきい値と比較することで、台車２６Ｂの有無（つまり、障害物の有無）を検知することができる。但し、前記実施形態と同様に、無線送受信機２３から無線送受信機３０に指令を送信して、投受光器２９Ａ，２９Ｂからの投光を実行させるものとする。そして、障害物である台車２６Ｂを検知した場合には、前記実施形態と同様の自動干渉回避制御を実行するものとする。
【００６２】
３〕前記実施形態では、障害物センサ１６による障害物の検出を所定時間おきに実行したが、所定距離走行する毎に障害物センサ１６による障害物の検出を実行するように構成してもよい。前記搬送車１０の１対の受光器２２の代わりに、指向性の高い高周波の超音波を投射可能な超音波送受信機を設け、その受光信号から、障害物の位置を検知することも可能である。
また、前記迂回経路３の設定技術は一例を示すものに過ぎず、種々の形態の迂回経路３を設定することができる。例えば、走行の障害となる障害物のうちの干渉領域にはみ出した部分だけを迂回する迂回経路を設定してもよいし、予め設定した所定の形状の迂回経路を設定するようにしてもよい。
尚、ガイドテープ１としては、既存の種々のガイド部材（光反射式テープ、磁界を発生させる通電線、鋼製テープ、等）を適用し、そのガイド部材を検出可能な種々のガイドセンサを適用してもよい。また、搬送車に、駆動輪の制御以外の方式で操舵する操舵手段を設けることもある。その他本発明の趣旨を逸脱しない範囲で前記実施形態に種々の変更を付加して実施し得ることは勿論である。
【００６３】
【発明の効果】
請求項１の発明によれば、搬送車において搬送車の前方とその付近にある搬送車で牽引可能な被牽引台車とその位置を検知し、被牽引台車が走行の障害となるときには、その障害となる領域を迂回し且つガイド部から外れた迂回経路を設定し、その迂回経路に沿って走行するので、搬送車の走行が被牽引台車で阻害されることなく円滑な走行が確保されるから、搬送効率が高まり、搬送車の所要台数を節減でき、被搬送物の搬送を遅滞なく実行することができる。
【００６４】
【００６５】
【００６６】
【００６７】
【００６８】
【００６９】
【００７０】
【００７１】
更に、被牽引台車は、移動するものであり、台数も多く、小型で人手で簡単に移動し得るものであるので、障害物となるケースが多いことから、この被牽引台車と搬送車との干渉を避けることが搬送効率向上の為に非常に有効である。
【００７２】
更に、搬送車の投受光器から投射され、被牽引台車の１対の離隔した反射板で反射して来た反射光を投受光器で受光し、その受光信号から被牽引台車とその位置を検知するので、一方の投受光器から投射され両方の反射板で反射して来た反射光の方向と、他方の投受光器から投射され両方の反射板で反射して来た反射光の方向とから、搬送車に対する被牽引台車の両反射板の位置を簡単な演算処理を介して検知することができる。
【００７３】
請求項２の発明によれば、搬送車において搬送車の前方とその付近にある搬送車で牽引可能な被牽引台車とその位置を検知し、被牽引台車が走行の障害となるときには、その障害となる領域を迂回し且つガイド部から外れた迂回経路を設定し、その迂回経路に沿って走行するので、搬送車の走行が障害物で阻害されることなく円滑な走行が確保されるから、搬送効率が高まり、搬送車の所要台数を節減でき、被搬送物の搬送を遅滞なく実行することができる。
更に、被牽引台車は、移動するものであり、台数も多く、小型で人手で簡単に移動し得 るものであるので、障害物となるケースが多いことから、この被牽引台車と搬送車との干渉を避けることが搬送効率向上の為に非常に有効である。
更に、被牽引台車の１対の離隔した投光器から投射された投射光を、搬送車の１対の離隔した受光器で夫々受光し、その受光信号から被牽引台車とその位置を検知するので、被牽引台車の一方の投光器から投射され搬送車の両方の受光器で受光した光の方向と、他方の投光器から投射され搬送車の両方の受光器で受光した光の方向とから、搬送車に対する被牽引台車の両投光器の位置を簡単な演算処理を介して検知することができる。
【００７４】
請求項３の発明によれば、請求項１と同様の効果を奏するが、受光信号から１対の反射板の間の距離を求め、その距離を介して被牽引台車の種類を検知するので、１対の反射板の間の距離と、被牽引台車の種類とを予め対応付けておけば、１対の反射板の間の距離から被牽引台車の種類を検知できる。被牽引台車のサイズを予め種類別に決めておけば、被牽引台車の種類から被牽引台車のサイズを検知することができる。
【００７５】
請求項４の発明によれば、請求項２と同様の効果を奏するが、受光信号から１対の投光器の間の距離を求め、その距離を介して被牽引台車の種類を検知するので、１対の投光器の間の距離と、被牽引台車の種類とを予め対応付けておけば、１対の投光器の間の距離から被牽引台車の種類を検知できる。被牽引台車のサイズを予め種類別に決めておけば、被牽引台車の種類から被牽引台車のサイズを検知することができる。
【００７６】
請求項５の発明によれば、障害物に設けた１対の投光器と搬送車に設けた１対の受光器とを含む障害物検知手段であって、搬送車の前方とその付近にあって走行の障害となる障害物を検知する障害物検知手段と、前記障害物検知手段で障害物を検知した際には、その障害となる領域を迂回しガイド部から外れた迂回経路を設定する経路設定手段と、前記経路設定手段で設定した迂回経路に沿って走行するように搬送車の１対の駆動輪を制御する制御手段とを備え、障害となる領域を迂回した迂回経路であってガイド部から外れた迂回経路を設定してその迂回経路に沿って搬送車を走行させるので、搬送車の走行の障害となる障害物がある場合にも、停止することなく円滑に走行できるから搬送車の搬送効率や能率を著しく向上させることができ、搬送車の所要台数を節減でき、搬送する荷物の遅滞を解消して生産性を高めることができる。
【００７７】
【００７８】
更に、障害物検知手段が、障害物に設けた１対の投光器と搬送車に設けた１対の受光器とを含むので、障害物に設けた一方の投光器からの投射光を搬送車の１対の受光器で受光した方向と、他方の投光器からの投射光を搬送車の１対の受光器で受光した方向とから、演算処理を介して搬送車に対する１対の投光器の位置を求めることができ、その位置情報に基づいて障害物の位置を求めるように構成することができる。
【００７９】
請求項６の発明によれば、搬送車に設けた１対の投受光器と、障害物に設けた１対の反射板とを含む障害物検知手段であって、前記搬送車の前方とその付近にあって走行の障害となる障害物を検知する障害物検知手段と、前記障害物検知手段で障害物を検知した際には、その障害となる領域を迂回し且つガイド部から外れた迂回経路を設定する経路設定手段と、前記経路設定手段で設定した迂回経路に沿って走行するように搬送車の１対の駆動輪を制御する制御手段とを備え、障害となる領域を迂回した迂回経路であってガイド部から外れた迂回経路を設定してその迂回経路に沿って搬送車を走行させるので、搬送車の走行の障害となる障害物がある場合にも、停止することなく円滑に走行できるから搬送車の搬送効率や能率を著しく向上させることができ、搬送車の所要台数を節減でき、搬送する荷物の遅滞を解消して生産性を高めることができる。
更に、障害物検知手段が、搬送車に設けた１対の投受光器と、障害物に設けた１対の反射板とを含むので、一方の投受光器から投射され両方の反射板で反射して来てその投受光器で受光される光の方向と、他方の投受光器から投射され両方の反射板で反射して来てその投受光器で受光される光の方向とから、演算処理を介して、搬送車に対する１対の反射板の位置を求めることができ、その位置情報に基づいて障害物の位置を求めるように構成することができる。
【００８０】
請求項７の発明によれば、搬送車に設けた１対の投受光器と、障害物に設けた１対の投光器とを含む障害物検知手段であって、前記搬送車の前方とその付近にあって走行の障害となる障害物を検知する障害物検知手段と、前記障害物検知手段で障害物を検知した際には、その障害となる領域を迂回し且つガイド部から外れた迂回経路を設定する経路設定手段と、前記経路設定手段で設定した迂回経路に沿って走行するように搬送車の１対の駆動輪を制御する制御手段とを備え、障害となる領域を迂回した迂回経路であってガイド部から外れた迂回経路を設定してその迂回経路に沿って搬送車を走行させるので、搬送車の走行の障害となる障害物がある場合にも、停止することなく円滑に走行できるから搬送車の搬送効率や能率を著しく向上させることができ、搬送車の所要台数を節減でき、搬送する荷物の遅滞を解消して生産性を高めることができる。
更に、障害物検知手段が、搬送車に設けた１対の投受光器と、障害物に設けた１対の投光器とを含むので、障害物の一方の投光器から投射され搬送車の両方の投受光器で受光されたひかり方向と、他方の投光器から投射され搬送車の両方の投受光器で受光されたひかり方向とから、演算処理を介して、搬送車に対する１対の投光器の位置を求めることができ、その位置情報に基づいて障害物の位置を求めるように構成することができる。
【図面の簡単な説明】
【図１】本発明の実施形態に係る搬送車の平面図である。
【図２】搬送車の側面図である。
【図３】搬送車の底面図である。
【図４】搬送車の正面図である。
【図５】台車の平面図である。
【図６】台車の側面図である。
【図７】搬送車の制御系のブロック図である。
【図８】（ａ）はガイドテープとガイドセンサとの位置関係の説明図、（ｂ）〜（ｄ）は高速走行用、中速走行用、定速走行用のモータ回転速度の制御則の説明図である。
【図９】ガイドテープと番地板と台車とを示す説明図である。
【図１０】台車の位置検知に関連する説明図である。
【図１１】台車の位置を座標で示した説明図である。
【図１２】台車と各種領域と搬送車とを幾何学的に説明した説明図である。
【図１３】迂回経路設定の概念を示す説明図である。
【図１４】走行制御のメインルーチンのフローチャートである。
【図１５】自動干渉回避制御のサブルーチンのフローチャートの一部である。
【図１６】自動干渉回避制御のサブルーチンのフローチャートの一部である。
【図１７】自動干渉回避制御のサブルーチンのフローチャートの残部である。
【図１８】台車の制御装置で行う投光制御のフローチャートである。
【図１９】旋回走行の説明図である。
【図２０】別実施形態に係る搬送車の平面図である。
【図２１】図２０の搬送車の側面図である。
【図２２】図２０の搬送車の底面図である。
【図２３】図２０の搬送車の正面図である。
【図２４】同別実施形態に係る台車の平面図である。
【図２５】図２４の台車の側面図である。
【図２６】同別実施形態に係る投受光器の断面図である。
【図２７】図２６の投受光器の制御系のブロック図である。
【図２８】同別実施形態に係る自動干渉回避制御の部分フローチャートである。
【図２９】別実施形態に係る搬送車の平面図である。
【図３０】図２９の搬送車の側面図である。
【図３１】同別実施形態に係る台車の平面図である。
【図３２】図３１の台車の側面図である。
【符号の説明】
１ ガイドテープ
２ 番地板
３ 迂回経路
１０，１０Ａ，１０Ｂ 搬送車
１２（１２ａ，１２ｂ） 駆動輪
１４（１４ａ，１４ｂ） 駆動モータ
１５（１５ａ，１５ｂ） モータエンコーダ
１６ ガイドセンサ
２０ 番地センサ
２１ 障害物センサ
２２（２２ａ，２２ｂ） 受光器
２６，２６Ａ，２６Ｂ 台車
２９（２９ａ，２９ｂ） 投光器
２９Ａ，２９Ｂ 投受光器
２３，３０ 無線送受信機
３４ 制御ユニット
４０（４０ａ，４０ｂ） 反射板
５０（５０ａ，５０ｂ） 投受光器[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a method for controlling a transport vehicle and a control device therefor, and more particularly, in a transport vehicle that travels along a guide portion provided along a travel route, from the guide portion when it cannot travel along the guide portion due to an obstacle. The present invention relates to an improved technology for automatically setting a detour route that has deviated.
[0002]
[Prior art]
  Conventionally, it is an automatic guided vehicle that is used for transporting parts and materials in a factory or towed a cart for cargo transportation, and has a guide portion such as a magnetic tape attached to a road surface of a predetermined travel route. Various automatic guided vehicles that automatically travel along a guide tape while being detected by a guide sensor have been put into practical use. Here, in Japanese Utility Model Laid-Open No. 3-17807, an automatic guided vehicle is equipped with an ultrasonic sensor for a long distance and an ultrasonic sensor for a short distance. There has been proposed a technique for detecting an obstacle through an ultrasonic sensor for a short distance when the obstacle is detected and traveling at a low speed.
[0003]
  Further, Japanese Patent Laid-Open No. 6-67722 discloses that when the road surface guide tape is deteriorated due to dirt or wear, the control device of the transport vehicle is configured to travel along the travel route in order to enable unmanned travel. Position control and angle (turning or steering) information is stored in advance, and even if the detection signal for detecting the guide tape by the guide sensor becomes incomplete, the motor control method for a transport vehicle that enables unmanned travel and A motor control device has been proposed.
[0004]
[Problems to be solved by the invention]
  The traveling route of the automatic guided vehicle is not formed in a dedicated passage, but is provided along a passage through which a forklift, a towed truck, an operator, etc. pass, and the passage is relatively narrow and conveys parts. There are many cases where a towed truck or the like that has come to a stop is beside the passage. If the towed truck that has transported the parts to the assembly station, etc. is stopped near the traveling route of the transport vehicle, it is detected by the obstacle sensor of the automatic guided vehicle. If it is determined that the automatic guided vehicle stops traveling and waits until the obstacle is removed, the transport efficiency decreases, the required number of transport vehicles increases, and the equipment is economical. In addition to this, it is necessary to support parts transportation to the assembly station and parts from the processing line, which hinders smooth production in the production line.
  An object of the present invention is to automatically set a detour route that is out of the guide portion and smoothly run when an obstacle that obstructs the travel of the transport vehicle is detected.
[0005]
[Means for Solving the Problems]
  The method for controlling a transport vehicle according to claim 1 is a method for detecting a guide portion provided along a road surface by a guide sensor and controlling the transport vehicle traveling along the guide portion.The reflected light projected from the light emitter / receiver of the transport vehicle and reflected by a pair of separated reflectors of a towed truck that can be pulled by the transport vehicle in front of and in the vicinity of the transport vehicle is projected. The light is received by the receiver, and from the received light signal The towed cart is detected by detecting the towed cart and its position.When the vehicle becomes an obstacle to traveling, a detour route that detours from the obstacle region and deviates from the guide unit is set, and the vehicle travels along the detour route. The guide portion includes a guide that is guided through magnetism, a magnetic material, and light, and the transport vehicle includes a vehicle that can run unattended and a vehicle that can be run by a person.Towed truckAs a technique for detecting, there are those that detect electromagnetic waves (infrared rays, visible rays, ultraviolet rays, etc.), ultrasonic waves, and the like.
[0006]
  In front of and near the transport vehicleA towed truck that can be pulled by a transporterWhen the vehicle becomes an obstacle to traveling, a detour route that detours from the obstacle area and deviates from the guide portion is set and travels along the detour route.Towed truckSince smooth travel is ensured without being obstructed, the transport efficiency is increased, the required number of transport vehicles can be reduced, and transport of the transported object can be performed without delay.
[0007]
[0008]
[0009]
[0010]
[0011]
[0012]
[0013]
[0014]
  In addition,The towed trucks are moving, the number of them is large, and they are small and can be easily moved by hand, so there are many cases where they become obstacles. Avoidance is very effective for improving the conveyance efficiency.
[0015]
  In addition,Reflected light projected from the light projecting / receiving device of the transport vehicle and reflected by a pair of spaced reflectors of the towed cart is received by the light projecting / receiving device, and the towed cart and its position are detected from the received light signal. DoSoTransport from the direction of reflected light projected from one projector and reflected by both reflectors and the direction of reflected light projected from the other projector and reflected by both reflectors The positions of the two reflecting plates of the towed carriage relative to the car can be detected through simple arithmetic processing.
[0016]
  Claim2The control method of the transport vehicle ofIn a method for detecting a guide portion provided along a road surface by a guide sensor and controlling a transport vehicle that travels along the guide portion, the trailer can be pulled by a transport vehicle in front of and near the transport vehicle. Projected light projected from a pair of spaced projectors of the carriage is received by a pair of spaced apart receivers of the transport vehicle, respectively, and the towed carriage and its position are detected from the received light signals. When it becomes a travel obstacle, a detour route that detours from the obstacle region and deviates from the guide portion is set, and the vehicle travels along the detour route. The guide portion includes a guide that is guided through magnetism, a magnetic material, and light, and the transport vehicle includes a vehicle that can run unattended and a vehicle that can be run by a person. Technologies for detecting a towed truck include those that detect electromagnetic waves (infrared rays, visible rays, ultraviolet rays, etc.), ultrasonic waves, and the like.
  When a towed truck that can be towed by a transport vehicle in front of and in the vicinity of the transport vehicle becomes an obstacle to travel, a detour route that detours from the obstacle region and deviates from the guide section is set, and the detour route is As the vehicle travels along the road, smooth travel is ensured without being hindered by the towed carriage, increasing the transport efficiency, reducing the number of transported vehicles, and delaying the transport of transported objects. Can run without.
  Furthermore, since the towed carts are moving, the number of them is large, and they are small and can be easily moved by hand, so there are many cases that become obstacles. Avoiding interference is very effective for improving the conveyance efficiency.
  In addition,The projection light projected from the pair of spaced light projectors of the towed truck is received by the pair of spaced light receivers of the transport vehicle, respectively, and the towed truck and its position are detected from the received light signals.SoFrom the direction of the light projected from one light projector of the towed carriage and received by both light receivers of the transport vehicle and the direction of the light projected from the other light projector and received by both light receivers of the transport vehicle, It is possible to detect the positions of both projectors of the towed truck through simple arithmetic processing.
[0017]
  Claim3The method of controlling the transport vehicle of claim1In the invention, a distance between the pair of reflectors is obtained from the light reception signal, and the type of the towed carriage is detected through the distance. If the distance between the pair of reflectors and the type of the trailer are associated in advance, the type of the trailer can be detected from the distance between the pair of reflectors. If the size of the towed truck is determined in advance by type, the size of the towed truck can be detected from the type of the towed truck.
[0018]
  Claim4The method of controlling the transport vehicle of claim2In the invention, a distance between a pair of projectors is obtained from the received light signal, and the type of the towed carriage is detected through the distance. If the distance between the pair of projectors and the type of the trailer are associated in advance, the type of the trailer can be detected from the distance between the pair of projectors. If the size of the towed truck is determined in advance by type, the size of the towed truck can be detected from the type of the towed truck.
[0019]
  Claim5The transport vehicle control device detects a guide portion provided along a road surface by a guide sensor and travels along the guide portion.An obstacle detection means including a pair of projectors provided on the obstacle and a pair of light receivers provided on the transport vehicle,Obstacle detection means for detecting obstacles in front of and in the vicinity of the transport vehicle that are obstacles to travel, and when an obstacle is detected by the obstacle detection means, the obstacle area is bypassed. And a route setting means for setting a detour route deviating from the guide portion, and a control means for controlling a pair of drive wheels of the transport vehicle so as to travel along the detour route set by the route setting means. It is.
[0020]
  The obstacle detection means detects obstacles that are in front of and near the transport vehicle and that are obstacles to travel. When the obstacle detection unit detects an obstacle, the route setting unit bypasses the area that becomes the obstacle and sets a detour route that deviates from the guide unit. The control means controls the pair of drive wheels of the transport vehicle so as to travel along the detour route set by the route setting means. Here, the guide section includes a guide that uses magnetic or magnetic material or light, and the transport vehicle can be driven unattended, can be traveled by a person, and can pull the towed truck without loading. And those that carry packages and those that carry and load packages directly. Obstacles include towed trolleys, automated guided vehicles, equipment, materials, workers, and the like. Techniques for detecting obstacles include those that detect electromagnetic waves (infrared rays, visible rays, ultraviolet rays, etc.) or ultrasonic waves.
[0021]
  As described above, a detour route that detours the obstacle area and deviates from the guide portion is set and the transport vehicle travels along the detour route, so there is an obstacle that obstructs the travel of the transport vehicle In addition, since it can run smoothly without stopping, the transport efficiency and efficiency of the transport vehicle can be significantly improved, the required number of transport vehicles can be reduced, and the delay of the transported baggage can be eliminated to increase productivity. Can do.
[0022]
[0023]
  In addition,The obstacle detection means includes a pair of projectors provided on the obstacle and a pair of light receivers provided on the transport vehicle.SoFrom the direction in which the projection light from one light projector provided on the obstacle is received by the pair of light receivers of the transport vehicle and the direction in which the projection light from the other light projector is received by the pair of light receivers of the transport vehicle, The position of the pair of projectors with respect to the transport vehicle can be obtained through the arithmetic processing, and the position of the obstacle can be obtained based on the position information.
[0024]
  Claim6The transport vehicle control deviceThe guide part provided along the road surface is detected by the guide sensor. In the transport vehicle that travels along the guide portion, the obstacle detection means includes a pair of light emitters / receivers provided on the transport vehicle and a pair of reflectors provided on the obstacle. Obstacle detection means for detecting obstacles that are in front and in the vicinity and that are obstacles to travel, and when the obstacle detection means detects an obstacle, it bypasses the area that becomes the obstacle and from the guide section Route setting means for setting a detour route that has deviated and control means for controlling a pair of drive wheels of the transport vehicle so as to travel along the detour route set by the route setting means. The obstacle detection means detects obstacles that are in front of and near the transport vehicle and that are obstacles to travel. When the obstacle detection unit detects an obstacle, the route setting unit bypasses the area that becomes the obstacle and sets a detour route that deviates from the guide unit. The control means controls the pair of drive wheels of the transport vehicle so as to travel along the detour route set by the route setting means. Here, the guide section includes a guide that uses magnetic or magnetic material or light, and the transport vehicle can be driven unattended, can be traveled by a person, and can pull the towed truck without loading. And those that carry packages and those that carry and load packages directly. Obstacles include towed trolleys, automated guided vehicles, equipment, materials, workers, and the like. Techniques for detecting obstacles include those that detect electromagnetic waves (infrared rays, visible rays, ultraviolet rays, etc.) or ultrasonic waves.
  As described above, a detour route that detours the obstacle area and deviates from the guide portion is set and the transport vehicle travels along the detour route, so there is an obstacle that obstructs the travel of the transport vehicle In addition, since it can run smoothly without stopping, the transport efficiency and efficiency of the transport vehicle can be significantly improved, the required number of transport vehicles can be reduced, and the delay of the transported baggage can be eliminated to increase productivity. Can do.
  In addition,The obstacle detection means includes a pair of projectors and receivers provided on the transport vehicle and a pair of reflectors provided on the obstacles.SoThe direction of light projected from one projector and reflected by both reflectors and received by the projector and receiver, and the direction of light projected from the other projector and receiver and reflected by both reflectors. The position of the pair of reflectors with respect to the transport vehicle can be obtained from the direction of the light received by the light emitter / receiver through arithmetic processing, and the position of the obstacle is obtained based on the position information. can do.
[0025]
  Claim7The transport vehicle control deviceIn a transport vehicle that detects a guide portion provided along a road surface by a guide sensor and travels along the guide portion, a pair of light projectors / receivers provided on the transport vehicle and a pair of light projectors provided on an obstacle An obstacle detection means including an obstacle detection means for detecting an obstacle in front of and in the vicinity of the transport vehicle that is an obstacle to travel; and when the obstacle detection means detects an obstacle. A route setting means for setting a detour route that detours from the obstacle area and deviates from the guide portion, and a pair of drive wheels of the transport vehicle so as to travel along the detour route set by the route setting means. Control means for controlling. Here, the guide section includes a guide that uses magnetic or magnetic material or light, and the transport vehicle can be driven unattended, can be traveled by a person, and can pull the towed truck without loading. And those that carry packages and those that carry and load packages directly. Obstacles include towed trolleys, automated guided vehicles, equipment, materials, workers, and the like. Techniques for detecting obstacles include those that detect electromagnetic waves (infrared rays, visible rays, ultraviolet rays, etc.) or ultrasonic waves.
  As described above, a detour route that detours the obstacle area and deviates from the guide portion is set and the transport vehicle travels along the detour route, so there is an obstacle that obstructs the travel of the transport vehicle In addition, since it can run smoothly without stopping, the transport efficiency and efficiency of the transport vehicle can be significantly improved, the required number of transport vehicles can be reduced, and the delay of the transported baggage can be eliminated to increase productivity. Can do.
  In addition,The obstacle detection means includes a pair of projectors / receivers provided on the transport vehicle and a pair of projectors provided on the obstacle.SoCalculation processing based on the direction of the light projected from one projector of the obstacle and received by both projectors of the transport vehicle and the direction of the light projected from the other projector and received by both projectors of the transport vehicle The position of the pair of projectors with respect to the transport vehicle can be determined via the, and the position of the obstacle can be determined based on the position information.
[0026]
DETAILED DESCRIPTION OF THE INVENTION
  Hereinafter, embodiments of the present invention will be described with reference to the drawings.
  As shown in FIGS. 1 to 8, the transport vehicle 10 automatically and unmannedly transports luggage along the guide tape 1 with magnetism attached to the road surface of a travel route such as a factory, or transports luggage. Or towing a trolley truck.
  There is a pair of left and right drive wheels 12 and driven wheels 13 on the lower surface side of the vehicle body 11 of the transport vehicle 10, and each drive wheel 12 is driven by a drive motor 14 directly connected thereto, and the rotation angle of each drive motor 14 is a motor encoder. A guide sensor 16 composed of 16 Hall elements that are detected at 15 and detect the guide tape 1 on the road surface is also provided. The drive wheel 12, the drive motor 14, the motor encoder 15, and the guide sensor 16 are attached to a turning support plate 17 that is rotatable about a vertical axis with respect to the vehicle body 11. A battery as a power source is provided inside the vehicle body 11, and an operation display unit 19 including a display lamp, a switch, a buzzer, and the like is provided on the upper surface of the front end portion of the vehicle body 11.
[0027]
  For each of a plurality of addresses (positions for instructing stop, acceleration start, constant speed travel, deceleration start, turn start, turn end, obstacle detection, etc.) set on the travel route of the transport vehicle 10 Is provided with an address plate 2 formed by magnetizing 8-bit address information comprising a combination pattern of N and S on a magnetic body, and the address plate 2 is detected on the right side of the lower surface side of the vehicle body 11. An address sensor 20 composed of 10 Hall elements is attached (see FIG. 9). At the center of the front end of the vehicle body 11, infrared rays, ultrasonic waves, etc. are projected in a predetermined horizontal plane scanning pattern toward the front and the vicinity of the transport vehicle 10, and obstacles (pedestrians, carts) are reflected from the reflected waves. , Articles, materials, etc.) are provided, and a light receiver 22 composed of a one-dimensional PSD (position sensor device) is provided at the left end and the right end of the front end of the vehicle body 11, respectively. A wireless transceiver 23 is provided at the center of the rear end of the vehicle body 11. Note that a luggage placing portion 11 a for placing a luggage is provided on the upper surface of the vehicle body 11.
[0028]
  As shown in FIGS. 5 and 6, the carriage 26 has a pair of front wheels 27 that are driven caster wheels and a pair of rear wheels 28 that are driven wheels. It is formed as a loading platform, and a load M is loaded thereon. The left end and the right end of the rear end of the vehicle body are provided with a projector 29 that projects the projected light backward while scanning in a predetermined horizontal plane scanning pattern. A wireless transmitter / receiver 30 for transmitting and receiving to / from the wireless transmitter / receiver 23 of the transport vehicle 10 is provided, and a battery as a power source and a controller for controlling the projectors 29a and 29b are also provided in the carriage 26. After the carrier vehicle 10 pulls the carriage 26 and arrives at the destination, the carrier vehicle 10 separates from the carriage 26 and performs a tow trip of another empty carriage 26 or a carriage 26 loaded with luggage. The driving route is predetermined.
[0029]
  A control system of the transport vehicle 10 will be described.
  As shown in FIG. 7, the control unit 34 of the transport vehicle 10 includes an input / output interface 35, a computer 36, a right motor drive unit 37a, a right encoder input unit 38a, a left motor drive unit 37b, a left encoder input unit 38b, transmission / reception control. The computer 36 includes a CPU, a RAM, and a ROM, and control programs for various controls described later are stored in advance in the ROM, and various memories necessary for the control are stored in the RAM. Is provided. The operation display unit 29 and sensors 16, 20, 21, 22a, and 22b are connected to the input / output interface 35 as shown in the figure, and control signals from the computer 36 are supplied to the left and right motor drive units 37b and 37a. The drive motors 12 b and 12 a are driven, and detection signals from the left and right motor encoders 38 b and 38 a are supplied to the computer 36.
[0030]
  A basic control rule for automatically running the transport vehicle 10 along the guide tape 1 will be described. As shown in FIG. 8A, the guide sensor 16 includes 16 Hall elements 16a, and only the five Hall elements 16a indicated by black circles on the left side detect the guide tape 1 and are ON. It is necessary to control the drive motors 12 a and 12 b so that the vehicle body center line 11 c (the center line of the guide sensor 16) of the transport vehicle 10 matches the center line 1 c of the guide tape 1.
[0031]
  Therefore, the rotational speed of the right drive motor 12a is made higher than the rotational speed of the left drive motor 12b, and the transport vehicle 10 is gradually moved to the left. As a control law for controlling the rotational speeds of the drive motors 12a and 12b in this way, a control law for high speed travel shown in FIG. 8B, a control law for medium speed travel shown in FIG. 8C, and FIG. The low-speed driving control law shown in d) is preset and stored in the ROM of the control unit 34.
[0032]
  Next, the basic concept of automatic interference avoidance control in the travel control unique to the present application will be described. As shown in FIG. 9, the guide tape 1 and the address plate 2 are provided along the travel route of the transport vehicle 10, and the carriage 26 stops near the assembly station that consumes parts. When the carriage 26 is not stopped at the regular position and is shifted to the traveling route side as shown by the chain line, the carriage 10 may collide with the carriage 26. In order to avoid this, when an obstacle (cart) is detected by the obstacle sensor 21 of the transport vehicle 10, the detour path 3 (avoidance straight path 3a and parallel straight path 3b returns) to avoid the obstacle as indicated by the chain line. And the vehicle travels along the detour route 3.
[0033]
  10 to 12 determine the position of the carriage 26 detected as an obstacle, determine whether or not the carriage 26 protrudes from the non-interference area to the interference area side, and if the carriage 26 protrudes to the interference area side, FIG. 5 is an explanatory diagram for explaining a method of setting a detour path 3 that is out of an interference avoidance area in which a non-interference area is expanded to the interference area side.
  10, the positions of the right projector 29a and the left projector 29b of the carriage 26 detected by the obstacle sensor 21 are points A and B, and the positions of the right receiver 22a and the left receiver 22b of the transport vehicle 10 are points R and L. It is. There are a plurality of sizes of the carriage 26, but the distance Lw between the projectors is different depending on the type of the carriage 26. Therefore, the type of the carriage 26 is identified from the distance Lw between the projectors, and the size of the carriage 26 from the table stored in the ROM in advance. Determine (length, width).
[0034]
  When the cart 26 that is an obstacle is detected, a command is transmitted from the control unit 34 to the controller on the cart 26 side through communication between the wireless transceivers 23 and 30, and the light is projected from the projector 29a to receive the receivers 22a and 22b. 10, and then the light is projected from the projector 29 b and received by the light receivers 22 a and 22 b, and the angles θRA, θRB, θLA, and θLB shown in FIG. 10 are calculated from the received signals, and based on these, FIG. The coordinates (XA, YA), (XB, YB), (XC, YC), angle θcc, distance CC, angle θ, and projector-to-projector distance Lw shown in FIG.
[Expression 1]

[0035]
  Next, in FIG. 12, a carriage 26a is virtually set on the front end side of the transport vehicle 10, and a carriage 26b is obtained by rotating the carriage 26a by an angle θcc. The type of the carriage 26 is determined from the inter-projector distance Lw. Is determined, the coordinates (Xn, Yn) (where n = 1 to 4) of the four corners of the carriage 26a are determined. The coordinates (Xn ′, Yn ′) (where n = 1 to 4) of the four corners of the carriage 26 are expressed by the following equation using (Xn, Yn), the rotation tensor Trz, and the translation tensor Td−1. Calculate as follows.
[Expression 2]

[0036]
  On the other hand, the coordinates of the points PR and PL that define the non-interference area and the interference area based on the position where the conveyance vehicle 10 stops and the obstacle is detected are expressed by two constants PX and PY as shown in the coordinate values shown in the figure. By using, PR (-PX, PY), PL (-PX, -PY) are set. When | Yn ′ | ≦ PY (where n = 1 to 4), it is determined that the carriage 26 is in the interference region. That is, when the absolute values of the Y coordinates at the four corners of the carriage 26 are all larger than PY, it is determined that the carriage 26 is not in the interference area, but otherwise, it is determined that the carriage 26 is in the interference area. Then, as shown in FIG. 13, a distance δ is set away from the corner point of the carriage 26 and an interference avoidance region is set a distance δ away from the Y-axis direction line of the non-interference region, and the corner point QR or In order not to interfere with QL, automatic interference avoidance control is performed in which the detour path 3 detoured from the guide tape 1 is automatically set to the left or right side of the guide tape 1 and travels.
[0037]
  When setting the detour route 3, as shown in FIG. 13, the detour route 3 that detours to the left side is set so as not to interfere with the interference avoidance region on the right side if the carriage 26 is on the right side in the traveling direction of the transport vehicle 10. If the carriage 26 is on the left side in the traveling direction of the transport vehicle 10, the detour path 3 that detours to the right side is set so as not to interfere with the left interference avoidance region.
  For example, as shown in FIG. 13, the case where the right cart 26 is in the interference area will be described as an example. The coordinates of the corner point QR are (−PX + δ, Yn′min −δ), and the point D The coordinates are (0, W). However, Yn′min is the minimum value of Yn ′ (where n = 1 to 4). Since the transport vehicle 10 can turn around the turning center TP, the avoidance straight line portion 3a of the detour path 3 may be oriented in a direction parallel to the line L connecting the point D and the corner point QR.
[0038]
In this case, the declination α can be obtained from the coordinates of the point D and the coordinates of the corner point QR as in the following equation. tan α = (W−Yn′min + δ) / (PX−δ)
The length BS of the avoidance straight line portion 3a (distance from the point O to the point A) can be expressed by the following equation based on the condition that the interval from the parallel straight path 3b to the corner point QR is set equal to the half width W of the transport vehicle 10. Can be asking.
  BS = [(PX−δ) 2 + (W−Yn′min + δ) 2] 1/2
  The length SS (distance from the point A to the point B) of the parallel straight path 3b is, for example, the same as the X coordinate of the point B and the X coordinate of the point in the most −Y direction among the four points of the carriage 26. The following equation can be obtained from the conditions set so that
  SS = | Xn ′ | max− (PX−δ)
  However, | Xn ′ | max is the maximum value of | Xn ′ | (where n = 1 to 4). The deflection angle when turning from the parallel straight path 3b to the return straight path 3c is set equal to the deflection angle α, and the length of the return straight path 3c is set equal to the length BS of the avoidance straight line portion 3a.
[0039]
  Next, travel control for controlling travel of the transport vehicle 10 will be described with reference to a flowchart. In the flowchart, Si (i = 1, 2,...) Indicates each step.
  In the main routine shown in FIG. 14, when the transport vehicle 10 is started after the power is turned on, it starts to travel along the guide tape 1 (S1: Yes), and the obstacle sensor 21 executes obstacle detection every predetermined time. When the address sensor 20 detects the address plate 2, the address is determined from the read information, and when the address is an address on which automatic interference avoidance control is to be performed (S2, S3: Yes), automatic interference avoidance control is performed in S4. Is executed. The ROM of the control unit 34 stores commands to be executed for each address (obstacle detection, acceleration / deceleration start, constant speed travel, stop, left turn, right turn, etc.) as a table. The control corresponding to the corresponding command is executed every time the is read.
[0040]
  When the address does not need to be detected, the vehicle continues to travel (S2, S3: No), and when the obstacle sensor 21 detects the obstacle 26 in front of and near the transport vehicle 10 as an obstacle ( S5: Yes), automatic interference avoidance control is executed in S6. Thereafter, the detection signal from the guide sensor 16 is read to calculate the position of the guide tape 1 (S7), and the motor rotation speeds of the drive motors 12a and 12b are calculated according to the control law shown in FIG. 8 (S8). The motor rotation speed is set for the left and right motor drive units 37b and 37a (S9), the drive motors 12a and 12b are driven (S10), and it is determined whether or not the stop position is based on the address information (S11). When the position is not the stop position, the process returns to S2 and the processes after S2 are repeated in the same manner as described above. However, when the position is the stop position, the motor drive is stopped (S12), and the travel control is terminated.
[0041]
  Next, the automatic interference avoidance control subroutine executed in S4 and S6 will be described with reference to the flowcharts of FIGS.
  When this control is started, the driving of the motor is temporarily stopped (S20), and a signal for turning on the power source of the bogie control device for commanding the power ON from the radio transceiver 23 of the transport vehicle 10 to the radio transmitter / receiver 30 of the cart 26 is sent. It is transmitted (S21). In the flowchart, light projectors A and B respectively indicate a right light projector 29a and a left light projector 29b of the carriage 26, and R and L light reception signals respectively indicate a light reception signal of the right light receiver 22a of the carriage 10 and a light reception of the left side. The light reception signal of the device 22b is shown.
[0042]
  In the controller on the cart 26 side, control as shown in FIG. 18 (however described later) is executed in response to a command from the control unit 34, and when the projector 29a is activated to project light (S22: Yes), the light is received. The light reception signals received by the light receivers 22a and 22b are read (S23). Next, when the light projector 29b is activated to project light (S24: Yes), the light reception signals received by the light receivers 22a and 22b are read (S25). Next, a cart control device power-off signal for commanding power OFF is transmitted from the wireless transceiver 23 to the wireless transceiver 30 (S26).
[0043]
  Next, as described with reference to FIGS. 10 to 13, the position of the carriage 26 is calculated (S <b> 27), and the interference determination as to whether or not the carriage 26 and the transport vehicle 10 interfere (contact or collide) is described above. When this is executed (S28) and no interference occurs (S29: No), this subroutine ends. In the case of interference (S29: Yes), the minimum value of the absolute value of the X coordinate (Xn ') of the carriage 26 is calculated (S30), and the minimum value of the Y coordinate (Yn') of the carriage 26 is calculated (S31). Next, as described above, the deflection angle α for avoiding interference is calculated (S32), the straight travel distances BS and SS for avoiding interference are calculated (S33), and the motor rotation for turning left by the deflection angle α is performed. The motor rotation speed for turning right by the speed and the deflection angle α is calculated (S34, 35). Next, the turning outer wheel movement pulse number PN1 for turning by the declination α is calculated (S36), and the straight movement pulse numbers PN2 and PN3 corresponding to the straight movement distances BS and SS for avoiding interference are calculated (S36). S37).
[0044]
  Here, the motor rotation speed and the pulse number calculation in S34 to S37 will be described. As shown in FIG. 19, the turning radius R, the traveling speed S, the driving wheel diameter D, the driving wheel width P, and the gear ratio G of the driving system. When the rotation speed VL (rpm) of the left drive motor 12b, the rotation speed VR (rpm) of the right drive motor 12a, and the number of generated pulses per one rotation of the drive shaft are N0, the following results. When turning left, VL = S / (πD · G), VR = R · VL / (RP), while turning right, VR = S / (πD · G), VL = R · VR / (R− P). Further, PN1 = R · α · N0 / (πD · G), PN2 = BS · N0 / (πD · G), and PN2 = SS · N0 / (πD · G).
[0045]
  Next, it is determined whether or not the minimum value Yn'min of the Y coordinate (Yn ') of the carriage 26 is 0 or more (S38). If the determination is Yes, the left turn motor rotational speed is set and the left turn is made. (S39) When the determination is No, the right-turn motor rotation speed is set and the vehicle turns to the right (S49), and then the drive motors 12a and 12b are driven at the speed set in S39 or S40. The vehicle travels while turning (S41). After the start of turning, the pulses from the motor encoder 15a or 15b on the turning outer wheel side are counted, and when the count value becomes equal to the number PN1 of outer wheel movement pulses (S42: Yes), the vehicle travels straight. The straight motor rotation speed at that time is set to a constant speed S and the vehicle travels straight along the avoidance straight path 3a (S43). After starting the straight travel, the pulses from the motor encoders 15a and 15b are counted, When cement value is equal to the linear movement pulse number PN2 (S44: Yes), the turning for returning only declination α to run parallel to parallel straight path 3b and guide tape 1 is performed.
[0046]
  Therefore, it is determined whether or not the minimum value Yn′min is equal to or greater than 0 (S45). When the determination is Yes, the right-turn motor rotation speed is set and the vehicle turns right (S46). In this case, the left turn motor rotational speed is set and the vehicle turns left (S47). Next, when the pulse count value becomes equal to the number of outer ring movement pulses PN1 (S48: Yes) as in S42, the straight advance motor during straight travel When the rotational speed is set to a constant speed S and the vehicle travels straight in parallel with the guide tape 1 (S49), and the pulse count value becomes equal to the number of straight travel pulses PN3 (S50: Yes), the return straight travel path 3c is as follows. The vehicle travels by a declination α in the direction along
[0047]
  Therefore, it is determined whether or not the minimum value Yn′min of the Y coordinate (Yn ′) of the carriage 26 is 0 or more (S51). If the determination is Yes, the motor rotation speed for the right turn is set and the right rotation is performed. When the determination is No, the left-turn motor rotation speed is set and the left-turn drive is performed (S53). Next, the drive motors 12a and 12b are driven at the speed set in S52 or S53. Then, after turning starts, the pulses from the motor encoder 15a or 15b on the turning outer wheel side are counted, and when the counted value becomes equal to the number PN1 of outer wheel movement pulses (S54: Yes), The linear motor rotation speed is set to a constant speed S and the vehicle travels straight on the return straight path 3b (S55). After the straight movement starts, the pulses from the motor encoders 15a and 15b are counted, and the count value is linear. It becomes equal to the movement pulse number PN2 (S56: Yes), only the deflection angle α is turning in the direction along the guide tape 1.
[0048]
  Therefore, it is determined whether or not the minimum value Yn'min of the Y coordinate (Yn ') of the carriage 26 is 0 or more (S57). If the determination is Yes, the left turn motor rotation speed is set and the left turn travel is performed. If the determination is No (S58), the right-turn motor rotation speed is set and the vehicle turns to the right (S59), and then the drive motors 12a and 12b are driven at the speed set in S58 or S59. Then, after turning starts, the number of pulses from the motor encoder 15a or 15b on the turning outer wheel side is counted after the start of turning, and when the count value becomes equal to the number PN1 of outer wheel movement pulses (S61: Yes), the vehicle goes straight. The linear motor rotation speed during traveling is set to a constant speed S and the process proceeds to straight traveling along the guide tape 1 (S62). This subroutine is terminated and the process returns to the main routine of FIG.
[0049]
  Next, the light projection control by the control device on the side of the carriage 26 according to the command from the control unit 34 will be described with reference to the flowchart of FIG.
  When the power-on signal is received (S70: Yes), the projector A (projector 29a) is activated for a predetermined time (for example, 2 seconds), and a predetermined horizontal plane scanning pattern is projected (S71). (S72). When the completion time is reached, the projector A is stopped (S73), and then the projector B (projector 29b) is kept for a predetermined time (for example, 2 seconds). The projector is activated to perform scanning light projection of a predetermined horizontal plane scanning pattern (S74), and determines whether or not the light projecting operation should be completed based on the timing of the timer (S75), and stops the projector B at the completion time ( Next, when a power-off signal is received (S77: Yes), the power is turned off and this control is terminated.
[0050]
  The effect | action in the traveling control of the conveyance vehicle 10 demonstrated above is demonstrated.
  Since the obstacle is detected via the obstacle sensor 21 and the position of the obstacle is determined with high accuracy via the pair of projector 22 and light receiver 22, the detour path 3 can be set precisely. If an obstacle protrudes into the interference area, set an interference avoidance area that takes into account the protruding part of the obstacle, and set the interference avoidance area toDetour route 3 to detourIn other words, the detour path 3 deviating from the guide tape 1 is automatically set and
[0051]
Detour route3Therefore, when encountering an obstacle that obstructs traveling, there is no need to stop the transport vehicle 10, the transport efficiency and efficiency are greatly improved, and the required number of transport vehicles 10 can be reduced, Since the parts and materials to be transported via the transport vehicle 10 can be transported without delay, it contributes to the improvement of productivity. Moreover, since the distance Lw between the pair of projectors 29a and 29b of the carriage 26 is detected to detect the type and size of the carriage 26, the control for specifying the size of the carriage 26 is simplified.
[0052]
  Next, another embodiment in which the above embodiment is partially changed will be described. However, the same components as those described above are denoted by the same reference numerals, and description thereof is omitted.
1] As shown in FIGS. 20 to 25, the transport vehicle 10A is provided with light projectors / receivers 50 (50a, 50b) instead of the light receivers 22a, 22b, and the light projectors 29a, 29b are provided on the carriage 26A. Instead of this, a reflector 40 (40a, 40b) is provided, and the light projected from the projector / receiver 50a and reflected by the reflectors 40a, 40b is received by the projector / receiver 50a, and then projected / received The light projected from the projector 50b and reflected by the reflectors 40a and 40b is received by the projector / receiver 50b, and the position of the carriage 26A is calculated from the received light signals. The wireless transceivers 23 and 30 are omitted because they are not necessary.
[0053]
  Briefly describing the projector / receiver 50, as shown in FIG. 26, an electric motor 51, a gear 52 and a rotary mirror 55 directly connected to an output shaft thereof, and a gear 52 are provided in a case 50c of the projector 50. The rotary encoder 54 that detects the rotation angle of the rotating mirror 55 through the pinion 53 that meshes with the rotating mirror 55, the half mirror 57, the lenses 58 and 59, the light emitter 60, and the reflecting plate 40 that reflects the rotating mirror 55 and the half mirror. A light receiver 62 that receives the light reflected by the light 57 through the lens 61, a semi-cylindrical glass body 56 extending over a range of about 180 degrees on the outer peripheral side, and the like are provided.
[0054]
  The rotating mirror 55 has a reflecting surface inclined at about 45 degrees with respect to the horizontal plane, and the half mirror 57 reflects the light reflected by the rotating mirror 55 toward the light receiver 62. The light emitted from the light emitter 60 is narrowed into a thin beam by the lenses 58 and 59, is transmitted through the half mirror 57, is reflected by the rotary mirror 55, and is projected in the horizontal direction, but the rotary mirror 55 rotates at high speed. Therefore, the projection light becomes scanning light that scans a range of, for example, about 180 degrees in a certain direction within a horizontal plane. When the scanning projection light is reflected by the reflecting plate 40a or 40b at the rear end of the carriage 26A and returned, it is reflected by the rotating mirror 55 and the half mirror 57 and received by the light receiver 62. By counting the pulses from the rotary encoder 54, the angle of the rotating mirror 55 (that is, the direction of the projected light and the direction of the reflected light) is detected from moment to moment, so the four angles θRA, θRB, θLA and θLB can be detected.
[0055]
  The control system of the projector / receiver 50 will be briefly described with reference to FIG.
  The control unit 66 of the projector / receiver 50 is connected to the control unit 34, and receives a light emission command from the terminal 66a and a light reception command from the terminal 66b. A drive command corresponding to the light emission command is supplied from the control unit 66 to the motor drive circuit 74 via the OR gate 73, and the motor 51 is driven and controlled. The light emission frequency generation unit 67 is controlled by a control signal output from the control unit 66 in accordance with the light emission command, and a control signal for causing light emission at a predetermined frequency is supplied to the light emission drive unit 68, and the light emission drive unit 68 drives and controls the light emitter 60. .
[0056]
  During light reception, a control signal corresponding to the light reception command is supplied from the control unit 66 to the signal output unit 72, the OR gate 73, and the signal output unit 76. The detection signal of the light receiver 62 is amplified by the light reception signal amplification unit 69 and supplied to the signal extraction unit 70, and the comparison unit 71 compares the light reception signal received from the signal extraction unit 70 with the threshold signal received from the control unit 66. If the light reception signal is larger than the threshold signal, the light reception determination signal is output to the signal output unit 72, and the light reception determination signal is output from the terminal 72a to the control unit 34. The pulse signal from the rotary encoder 54 is counted by the pulse conversion unit 75, and the count value signal is output from the signal output unit 76 to the control unit 34 via the terminal 76a. As described above, the light emitter / receiver 50 is controlled on the basis of the command from the control unit 34 to execute light emission and light reception. The control unit 34 receives signals from the signal output units 72a and 76a, and calculates the direction of light reflected by the reflecting plates 40a and 40b of the carriage 26A.
[0057]
  The automatic interference avoidance control in the case where the transport vehicle 10A and the carriage 26A are applied is partially changed as follows. As shown in FIG. 28, after this automatic interference avoidance control is started, the drive motor 12 is stopped (S80), the right side projector / receiver 50a is activated to execute the projection / reception (S81), and the projector / receiver 50a. When the light reception by is completed (S82: Yes), the light emitter / receiver 50a is stopped (S83). Next, the left light projecting / receiving device 50b is activated to perform light projecting / receiving (S84), and when light receiving by the light projecting / receiving device 50b is completed (S85: Yes), the light projecting / receiving device 50b is stopped. Thereafter, S27 and subsequent steps in FIG. 15 are executed in the same manner as described above.
[0058]
  In this embodiment, since a pair of reflectors 40 are provided on the cart 26A side instead of the pair of projectors 29, the radio transceivers 23 and 30 and the controller on the cart 26 side can be omitted, so that in terms of equipment costs. This is advantageous and simplifies the control in the control unit 34. In this embodiment, the pair of reflectors 40 is provided only at the rear end of the carriage 26A. However, it is desirable to provide the pair of reflectors 40 also at the front end of the carriage 26A. Further, since the type and size of the carriage 26A are detected from the distance Lw between the pair of reflecting plates 40, the control for specifying the size of the carriage 26A is simplified.
[0059]
  Since the light projecting / receiving device 50 projects the beam narrowed by the rotating mirror 55 while scanning, the light projecting / receiving device 50 can scan a wide range in front of the transport vehicle 10 and reliably reflects the projection light by the reflection plate 40 and reliably reflects the reflected light. Can receive light. In addition, since this light projector / receiver 50 can be applied as a light projector or a light receiver, it is excellent in versatility.
[0060]
2] As shown in FIGS. 29 to 32, the transport vehicle 10B includes a light receiver / receiver 50 (50a, 50b) similar to that of the other embodiment, instead of the light receivers 22a, 22b in the transport vehicle 10. The obstacle sensor 21 is omitted. The carriage 26B is equipped with projectors 29A and 29B similar to the projectors 50a and 50b of the other embodiment as projectors instead of the projectors 29a and 29b in the carriage 26.
[0061]
  In this case, in the main routine, projection light from the light projecting / receiving device 29A or 29B of the carriage 26B is received by the light projecting / receiving devices 50a and 50b, and the amount of received light is compared with a threshold value. The presence or absence of obstacles can be detected. However, as in the above embodiment, a command is transmitted from the wireless transmitter / receiver 23 to the wireless transmitter / receiver 30 to execute the light projection from the light emitters / receivers 29A and 29B. And when the cart 26B which is an obstruction is detected, the same automatic interference avoidance control as the said embodiment shall be performed.
[0062]
3] In the above embodiment, the obstacle detection by the obstacle sensor 16 is performed every predetermined time. However, the obstacle sensor 16 may be detected every time the vehicle travels a predetermined distance. . Instead of the pair of light receivers 22 of the transport vehicle 10, an ultrasonic transmitter / receiver capable of projecting high-directivity high-frequency ultrasonic waves can be provided, and the position of an obstacle can be detected from the received light signal. is there.
  Moreover, the setting technique of the detour path 3 is only an example, and various forms of detour paths 3 can be set. For example, a detour route that detours only a portion that protrudes from the interference area among obstacles that become obstacles to travel may be set, or a detour route having a predetermined shape may be set.
  As the guide tape 1, various existing guide members (light reflecting tape, current-carrying wires that generate a magnetic field, steel tape, etc.) are applied, and various guide sensors that can detect the guide member are applied. May be. Further, the transport vehicle may be provided with a steering means for steering by a method other than the control of the drive wheels. It goes without saying that various modifications can be added to the embodiment without departing from the spirit of the present invention.
[0063]
【The invention's effect】
  According to the invention of claim 1, in the transport vehicle, it is in front of and near the transport vehicle.A towed truck that can be pulled by a transporterAnd its position,Towed truckWhen the vehicle becomes an obstacle to traveling, a detour route that detours from the obstacle area and deviates from the guide portion is set and travels along the detour route.Towed truckSince smooth travel is ensured without being obstructed, the transport efficiency is increased, the required number of transport vehicles can be reduced, and transport of the transported object can be performed without delay.
[0064]
[0065]
[0066]
[0067]
[0068]
[0069]
[0070]
[0071]
  In addition,The towed trucks are moving, the number of them is large, and they are small and can be easily moved by hand, so there are many cases where they become obstacles. Avoidance is very effective for improving the conveyance efficiency.
[0072]
  In addition,Reflected light projected from the light projecting / receiving device of the transport vehicle and reflected by a pair of spaced reflectors of the towed cart is received by the light projecting / receiving device, and the towed cart and its position are detected from the received light signal. Therefore, from the direction of the reflected light projected from one projector / receiver and reflected by both reflectors, and the direction of the reflected light projected from the other projector / receiver and reflected by both reflectors It is possible to detect the positions of the two reflecting plates of the towed carriage with respect to the transport vehicle through a simple calculation process.
[0073]
  Claim2According to the invention ofIn the transport vehicle, a towed cart that can be pulled by the transport vehicle in front of and near the transport vehicle and its position are detected, and when the towed vehicle becomes an obstacle to travel, the area that becomes the obstacle is bypassed and the guide unit Since a detour route that is out of the range is set and the vehicle travels along the detour route, the transport vehicle travels smoothly without being obstructed by obstacles. The number of units can be reduced, and conveyance of the object to be conveyed can be executed without delay.
  In addition, the towed trucks are mobile, have many units, are small and can be moved easily by hand. Therefore, since there are many cases that become obstacles, it is very effective to improve the conveyance efficiency to avoid the interference between the towed carriage and the conveyance vehicle.
  In addition,The projection light projected from the pair of spaced light projectors of the towed truck is received by the pair of spaced light receivers of the transport vehicle, respectively, and the towed truck and its position are detected from the received light signals. From the direction of the light projected from one light projector of the carriage and received by both light receivers of the transport vehicle, and the direction of the light projected from the other light projector and received by both light receivers of the transport vehicle, towed to the transport vehicle It is possible to detect the positions of both light projectors of the carriage through simple arithmetic processing.
[0074]
  Claim3According to the invention of claim1The same effect is obtained, but the distance between the pair of reflectors is obtained from the received light signal, and the type of the towed carriage is detected via the distance, so the distance between the pair of reflectors and the type of the towed carriage Can be detected in advance from the distance between the pair of reflectors. The size of the towed truck is determined in advance by type.TheIf this is the case, the size of the towed truck can be detected from the type of the towed truck.
[0075]
  Claim4According to the invention of claim2The same effect is obtained, but the distance between the pair of projectors is obtained from the received light signal, and the type of the trailer is detected via the distance, so the distance between the pair of projectors and the trailer If the type is associated in advance, the type of the towed carriage can be detected from the distance between the pair of projectors. The size of the towed truck is determined in advance by type.TheIf this is the case, the size of the towed truck can be detected from the type of the towed truck.
[0076]
  Claim5According to the invention ofAn obstacle detection means including a pair of projectors provided on the obstacle and a pair of light receivers provided on the transport vehicle,Obstacle detection means for detecting obstacles in front of and in the vicinity of the transport vehicle that are obstacles to travel, and when the obstacle detection means detects an obstacle, it bypasses the obstacle area and guides A path setting unit that sets a detour route that is out of the unit, and a control unit that controls the pair of drive wheels of the transport vehicle so as to travel along the detour route set by the route setting unit. A detour route that bypasses the area is set, and a detour route that deviates from the guide section is set and the transport vehicle is driven along the detour route, so even if there is an obstacle that obstructs the travel of the transport vehicle, it will stop Therefore, the transport efficiency and efficiency of the transport vehicle can be remarkably improved, the required number of transport vehicles can be reduced, and the delay of the load to be transported can be eliminated to increase the productivity.
[0077]
[0078]
  In addition,Since the obstacle detection means includes a pair of light projectors provided on the obstacle and a pair of light receivers provided on the conveyance vehicle, the projection light from one light projector provided on the obstacle is transmitted to the pair of conveyance vehicles. The position of the pair of projectors with respect to the transport vehicle can be obtained through arithmetic processing from the direction received by the light receiver and the direction of receiving the projection light from the other projector by the pair of light receivers of the transport vehicle. The position of the obstacle can be obtained based on the position information.
[0079]
  Claim6According to the invention ofObstacle detection means including a pair of light emitters / receivers provided on the transport vehicle and a pair of reflectors provided on the obstacle, which are in front of and in the vicinity of the transport vehicle and obstruct travel. An obstacle detection means for detecting an obstacle, and a path setting means for setting a detour path that detours the area that becomes an obstacle and deviates from the guide portion when an obstacle is detected by the obstacle detection means; A control unit that controls a pair of drive wheels of the transport vehicle so as to travel along the detour route set by the route setting unit, and is a detour route that detours the obstacle area and is out of the guide unit Since the detour route is set and the transport vehicle is driven along the detour route, even if there is an obstacle that obstructs the travel of the transport vehicle, it can travel smoothly without stopping. Efficiency can be improved significantly, Can save a substantial number, it is possible to increase the productivity by eliminating the delay of luggage to be transported.
  In addition,Since the obstacle detection means includes a pair of light projectors / receivers provided on the carriage and a pair of reflectors provided on the obstacles, the light is projected from one projector / receiver and reflected by both reflectors. Calculation processing is performed based on the direction of the light received and received by the light emitter / receiver and the direction of the light projected from the other light emitter / receiver and reflected by both reflectors and received by the light projector / receiver. Thus, the position of the pair of reflectors with respect to the transport vehicle can be obtained, and the position of the obstacle can be obtained based on the position information.
[0080]
  Claim7According to the invention ofObstacle detection means including a pair of light projectors / receivers provided on the transport vehicle and a pair of light projectors provided on the obstacle, the obstacle being in front of and in the vicinity of the transport vehicle and obstructing traveling An obstacle detection means for detecting an object, a path setting means for setting a detour path that detours the area that becomes an obstacle and deviates from the guide portion when the obstacle detection means detects an obstacle, and Control means for controlling a pair of drive wheels of the transport vehicle so as to travel along the detour route set by the route setting means, and is a detour route that detours the obstacle area and deviates from the guide section Since the route is set and the transport vehicle is driven along the detour route, even if there are obstacles that obstruct the travel of the transport vehicle, it can travel smoothly without stopping, so the transport efficiency and efficiency of the transport vehicle Can significantly improve the transportation vehicle Can save a substantial number, it is possible to increase the productivity by eliminating the delay of luggage to be transported.
  In addition,Since the obstacle detection means includes a pair of projectors / receivers provided on the carriage and a pair of projectors provided on the obstacle, both projectors / receivers of the carriage are projected from one projector of the obstacle. The position of the pair of projectors with respect to the transport vehicle can be obtained through arithmetic processing from the light direction received by the projector and the light direction projected from the other projector and received by both projectors. The position of the obstacle can be obtained based on the position information.
[Brief description of the drawings]
FIG. 1 is a plan view of a transport vehicle according to an embodiment of the present invention.
FIG. 2 is a side view of a transport vehicle.
FIG. 3 is a bottom view of the transport vehicle.
FIG. 4 is a front view of the transport vehicle.
FIG. 5 is a plan view of the carriage.
FIG. 6 is a side view of the carriage.
FIG. 7 is a block diagram of a control system of the transport vehicle.
8A is an explanatory diagram of a positional relationship between a guide tape and a guide sensor, and FIGS. 8B to 8D are diagrams of motor speed control laws for high-speed driving, medium-speed driving, and constant-speed driving. It is explanatory drawing.
FIG. 9 is an explanatory view showing a guide tape, an address plate, and a carriage.
FIG. 10 is an explanatory diagram relating to position detection of a carriage.
FIG. 11 is an explanatory diagram showing coordinates of the position of the carriage.
FIG. 12 is an explanatory diagram geometrically illustrating a carriage, various regions, and a transport vehicle.
FIG. 13 is an explanatory diagram showing a concept of setting a detour route.
FIG. 14 is a flowchart of a main routine for travel control.
FIG. 15 is a part of a flowchart of a subroutine of automatic interference avoidance control.
FIG. 16 is a part of a flowchart of a subroutine of automatic interference avoidance control.
FIG. 17 is a remaining part of a flowchart of a subroutine of automatic interference avoidance control.
FIG. 18 is a flowchart of light projection control performed by the control device of the carriage.
FIG. 19 is an explanatory diagram of turning travel.
FIG. 20 is a plan view of a transport vehicle according to another embodiment.
21 is a side view of the transport vehicle of FIG.
22 is a bottom view of the transport vehicle of FIG.
FIG. 23 is a front view of the transport vehicle of FIG. 20;
FIG. 24 is a plan view of a carriage according to another embodiment.
25 is a side view of the carriage of FIG. 24. FIG.
FIG. 26 is a cross-sectional view of a light projector / receiver according to another embodiment.
27 is a block diagram of a control system of the projector / receiver of FIG. 26. FIG.
FIG. 28 is a partial flowchart of automatic interference avoidance control according to the same embodiment;
FIG. 29 is a plan view of a transport vehicle according to another embodiment.
30 is a side view of the transport vehicle of FIG. 29. FIG.
FIG. 31 is a plan view of a carriage according to another embodiment.
32 is a side view of the carriage of FIG. 31. FIG.
[Explanation of symbols]
1 Guide tape
2 address plate
3. Detour route
10, 10A, 10B carrier
12 (12a, 12b) Drive wheel
14 (14a, 14b) Drive motor
15 (15a, 15b) Motor encoder
16 Guide sensor
No. 20 sensor
21 Obstacle sensor
22 (22a, 22b) Receiver
26, 26A, 26B
29 (29a, 29b) Floodlight
29A, 29B Emitter / receiver
23, 30 Wireless transceiver
34 Control unit
40 (40a, 40b) reflector
50 (50a, 50b) Emitter / receiver

Claims (7)

In a method of detecting a guide portion provided along a road surface by a guide sensor and controlling a transport vehicle that travels along the guide portion,
The reflected light projected from the light emitter / receiver of the transport vehicle and reflected by a pair of separated reflectors of a towed truck that can be pulled by the transport vehicle in front of and in the vicinity of the transport vehicle is projected. Light is received by the receiver, and the towed carriage and its position are detected from the received light signal.
A control method for a transport vehicle, characterized in that when the towed carriage becomes an obstacle to travel, a bypass path that detours from the obstacle area and deviates from the guide section is set and travels along the bypass path. . In a method of detecting a guide portion provided along a road surface by a guide sensor and controlling a transport vehicle that travels along the guide portion,
Projected light projected from a pair of spaced light projectors of a towed truck that can be pulled by a transport vehicle in front of and near the transport vehicle in the transport vehicle is received by a pair of spaced light receivers of the transport vehicle, respectively. , Detect the towed carriage and its position from the received light signal ,
A control method for a transport vehicle, characterized in that when the towed carriage becomes an obstacle to travel, a bypass path that detours from the obstacle area and deviates from the guide section is set and travels along the bypass path. . 2. The method for controlling a guided vehicle according to claim 1 , wherein a distance between the pair of reflecting plates is obtained from the light reception signal, and a type of the towed carriage is detected through the distance. 3. The method for controlling a guided vehicle according to claim 2 , wherein a distance between the pair of projectors is obtained from the light reception signal, and a type of the towed carriage is detected through the distance. In a guided vehicle that travels along a guide portion that is detected by a guide sensor along a road surface,
Obstacle detection means including a pair of light projectors provided on the obstacle and a pair of light receivers provided on the transport vehicle , wherein obstacles that obstruct travel are located in front of and in the vicinity of the transport vehicle. Obstacle detection means to detect;
When an obstacle is detected by the obstacle detection means, a route setting means for setting a detour route that detours the area that becomes the obstacle and deviates from the guide portion;
Control means for controlling the pair of drive wheels of the transport vehicle so as to travel along the detour route set by the route setting means;
A transport vehicle control device comprising: In a guided vehicle that travels along a guide portion that is detected by a guide sensor along a road surface,
Obstacle detection means including a pair of light emitters / receivers provided on the transport vehicle and a pair of reflectors provided on the obstacle, which are in front of and in the vicinity of the transport vehicle and obstruct travel. Obstacle detection means for detecting obstacles;
When an obstacle is detected by the obstacle detection means, a route setting means for setting a detour route that detours the area that becomes the obstacle and deviates from the guide portion;
Control means for controlling the pair of drive wheels of the transport vehicle so as to travel along the detour route set by the route setting means;
A transport vehicle control device comprising: In a guided vehicle that travels along a guide portion that is detected by a guide sensor along a road surface,
Obstacle detection means including a pair of light projectors / receivers provided on the transport vehicle and a pair of light projectors provided on the obstacle, the obstacle being in front of and in the vicinity of the transport vehicle and obstructing traveling Obstacle detection means for detecting an object;
When an obstacle is detected by the obstacle detection means, a route setting means for setting a detour route that detours the area that becomes the obstacle and deviates from the guide portion;
Control means for controlling the pair of drive wheels of the transport vehicle so as to travel along the detour route set by the route setting means;
A transport vehicle control device comprising:

Images