JP6264541B2 - Approach control method and automatic guided equipment for automatic guided vehicle - Google Patents

Description

The present invention relates to a close-up guidance control method and automatic guided equipment for an automatic guided vehicle traveling by self-supporting guidance.

  For example, Patent Document 1 discloses a self-propelled cart that is detected by a magnetic sensor provided in a cart body of an automated guided vehicle and that is fixed by being embedded or affixed on a traveling floor surface. Is disclosed.

Japanese Patent No. 3656938

In an automatic guided vehicle that includes a transfer device in the main body of the automatic guided vehicle and delivers the load to the loading station, it is necessary to stop the main body of the cart with respect to the loading station with high accuracy. However, in the self-contained guidance control by laser guidance, there is a problem that the accuracy of the stop position of the self-propelled carriage is as low as about ± 60 mm and the accuracy of the stop tilt posture of the self-propelled carriage is low. In addition, in order to stop the cart body with high precision with respect to the cargo handling station, a magnetic tape has to be laid on the traveling floor surface, which may cause interference and failure of other equipment.
The present invention solves the above-mentioned problems, and there is no need to lay a magnetic material on the traveling floor, and the guided guidance control method for an automatic guided vehicle capable of stopping the main body of the carriage with a high accuracy and an accurate posture with respect to the cargo handling station and The purpose is to provide unmanned transport equipment .

The invention described in claim 1
An unattended guided vehicle approach control method for stopping an unmanned transport vehicle that travels on a transport route by a traveling steering wheel disposed at least in the front-rear position of the main body of a carriage, approaching a close reference position of a cargo handling station,
At the front and back positions on the side of the cart body, the distance to the reflector for stopping installed at the cargo handling station in parallel with the transport path is detected.
Next, the front and rear traveling steered wheels are respectively steered to the cargo handling station side by the same designated tilt rudder angle, and the cart body is moved in parallel to the approaching preparation position approaching the approaching reference position,
Based on the distance at the front and rear position with respect to the stop reflector, the front and rear traveling steering wheels are steered independently so that the cart body is parallel to the stop reflector at the approach reference position, The carriage main body is moved to the close reference position and stopped.

According to the second aspect of the present invention, the automatic guided vehicle that travels on the transport path by the traveling steering wheels disposed at least in the front-rear position of the carriage main body is brought close to the cargo handling station and stopped at the approach reference position, and is provided in the carriage main body. This is a method for controlling the guidance of an automated guided vehicle for delivering a load between a transfer device and a cargo handling station. The distance sensor detects the distance from the stop reflector installed in parallel to the cargo handling station facing the conveyance path, and the front and rear traveling steer wheels are connected to the cargo handling station only at the same specified tilt steering angle. performs inclination approaching control for steering each of the steps B to approach the handling station by translating the carriage main body, the one of the front distance measuring sensor and the rear distance measuring sensor, said stop From use reflector, a step C of detecting a distance only to the indu ready position of the transport path side a predetermined distance from the approaching reference position facing the handling station, to said approaching the reference position from the indu ready position, the travel of the front and rear Independent guidance control is performed to control the position of the trolley body by controlling the trolley body to approach each other independently with the steered wheels so that the trolley body is in a parallel posture to the stop reflector at the close reference position. Step D for stopping is sequentially performed.

The invention described in claim 3 is the configuration described in claim 2,
The designated tilt rudder angle in Step B is 30 ° or more and 70 ° or less.

According to a fourth aspect of the present invention, there is provided a cart main body of an automatic guided vehicle that travels on a conveyance path by traveling steering wheels disposed at least in the front-rear position, and a cargo handling station that stops the carriage main body from the conveyance path close to a close reference position. An unmanned conveyance facility comprising: a stop reflector installed in the loading station in parallel with the conveyance path facing the conveyance path; and a stop marker installed in the loading station facing the conveyance path. A front ranging sensor and a rear ranging sensor, which are spaced apart in the front-rear direction on the side surface of the cart body of the automated guided vehicle, measure the distance to the stop reflector, and detect the stopping distance and posture of the cart body sensor and is disposed on the side surface of the carriage body Rutotomoni, wherein the stop sensor recognizes the stop position of the detection to the conveying path direction of the carriage body and stop markers, front distance measuring sensor and after A traveling / steering control unit that operates the front and rear traveling steering wheels based on signals from the distance measuring sensor and the stop sensor, and the traveling / steering control unit stops from the conveyance path facing the cargo handling station. From the close reference position to the close preparation position on the transport path side by a predetermined distance, the front and rear steered wheels are respectively steered by the same specified tilt rudder angle, and the tilt close control is performed to move the cart body in parallel. from position to indu reference position, and steering independently a travel steering wheel before and after the approaching reference position to the carriage body configured to perform induction approaching control to stop in parallel orientation to said stop reflector in It is characterized by.

The invention according to claim 5 is the configuration according to claim 4,
The designated tilt rudder angle is 30 ° or more and 70 ° or less.

  According to the first aspect of the present invention, while measuring the distance to the stop reflector at the front and rear positions of the cart body, the cart body is first moved in parallel to approach the close-up preparation position, and further measured. The front and rear traveling steerable wheels are independently steered in accordance with the distance up to, and moved to the approaching reference position while stopping the posture of the carriage body and stopped. This eliminates the need to lay a magnetic material on the traveling floor, allows the magnetic carriage main body to the running floor to approach and stop at the approaching reference position quickly and accurately, and allows the carriage main body to face the cargo handling station accurately. Can be stopped in a proper posture.

  According to the invention described in claim 2, in step A, the distance between the front and rear distance measuring sensors is measured at the front and rear positions of the main body of the carriage by the front and rear distance measuring sensors. The steering wheel is steered by the same designated tilt rudder angle, and the tilt contact control is performed to translate the carriage body to the close preparation position. Further, in step D, measurement is performed by the front distance sensor and the rear distance sensor. Corresponding to the distance from the stop reflector, independent guidance control is performed to control the attitude of the cart body by independently controlling the front and rear traveling steering wheels, and the reference position of the approach is corrected while correcting the attitude of the cart body Move up. This eliminates the need to lay magnetic material on the running floor, allows the bogie body to stop quickly by approaching the close reference position, and stops the bogie body in an accurate posture facing the cargo handling station. Can be made.

  According to the invention described in claim 3, by setting the specified tilt rudder angle to 30 ° or more, the stop reflecting plate can be shortened, and the dedicated area necessary for the close-up control can be reduced. Further, by setting the designated tilt rudder angle to 70 ° or less, it is possible to prevent the traveling floor from being worn or damaged by the traveling steering wheel.

  According to the fourth aspect of the invention, the front / rear distance sensor and the rear distance sensor at the front / rear position of the main body of the carriage measure the distance to the stop reflector, The steering wheel is steered by the same designated tilt rudder angle, and the tilting control is performed to translate the bogie body to the approaching preparation position, and then the stop reflecting plate measured by the front ranging sensor and the rear ranging sensor In response to this distance, independent guidance control is performed to independently steer the front and rear traveling steering wheels, and the position of the carriage body is corrected and moved to the approaching reference position. This eliminates the need to lay magnetic material on the running floor, allows the bogie body to stop quickly by approaching the close reference position, and stops the bogie body in an accurate posture facing the cargo handling station. Can be made.

  According to the fifth aspect of the invention, by setting the specified tilt rudder angle to 30 ° or more, the stop reflector can be shortened, and the dedicated area necessary for the close-up control can be reduced. Further, by setting the designated tilt rudder angle to 70 ° or less, it is possible to prevent the traveling floor from being worn or damaged by the traveling steering wheel.

It is a schematic side view of the automatic guided vehicle showing Example 1 according to the present invention. It is a schematic plan view which shows an automatic guided vehicle and a cargo handling station. It is a block diagram which shows the driving | running | working steering mechanism of an automatic guided vehicle. It is a flowchart explaining the approach guidance control to a cargo handling station. FIG. 3 is a schematic plan view 1 for explaining the approach guidance control. FIG. 3 is a schematic plan view 2 for explaining the approach guidance control. FIG. 4 is a schematic plan view 3 for explaining the approach guidance control. FIG. 5 is a schematic plan view 4 for explaining the approach guidance control.

[Example]
Embodiments of the present invention will be described below with reference to the drawings.
As shown in FIGS. 1 and 2, the automatic guided vehicle includes a pair of left and right front wheels and a pair of left and right rear wheels on a carriage body 11 before and after driving and steering the right front wheel and the right rear wheel, respectively. The traveling steering wheels 12S and 13S are configured. Also, the left front wheel 11C and the left rear wheel 12C are configured as front and rear caster wheels 12C and 13C that are supported rotatably around a vertical turning axis and follow the front and rear traveling steering wheels 12S and 13S. Yes. Then, a load (with pallet) W is supported on the upper surface of the carriage body 11 and conveyed, and the load W is transferred in the width direction and transferred to and from the cargo handling station ST (transfer device). 10 is mounted.

A stop reflecting plate 14 having a predetermined length LR is installed in parallel with the transport path CL on the abutting surface (transfer stop surface) facing the transport path CL of the automatic guided vehicle at the cargo handling station ST.
For example, a laser-type front ranging sensor 15 and a rear ranging sensor 16 for measuring the distance from the stop reflecting plate 14 are installed on the right side surface of the carriage body 11, and the front ranging sensor 15 is used for front traveling steering. A predetermined sensor front wheel distance W1 is installed in the front-rear direction from the wheel 12S, and the rear distance measuring sensor 16 is installed in the front-rear direction from the rear traveling steered wheel 13S with a predetermined sensor rear wheel distance W2. Yes. Further, a photoelectric stop sensor 18 for detecting a stop marker 17 provided at the cargo handling station ST is installed between a predetermined position on the side surface, for example, between the front distance measuring sensor 15 and the rear distance measuring sensor 16.
As shown in FIG. 3, the automatic guided vehicle includes a travel / steering control unit (CPU) 21, and signals from the traveling / steering control unit 21 are converted into an A / D converter 22 and a D / A converter 23. To the front wheel steering servo driver 24F and the rear wheel steering servo driver 24R, and operate the front wheel steering motor 25F and the rear wheel steering motor 25R, respectively. Steer. At the same time, a signal from the traveling / steering control unit 21 is output to the front wheel traveling servo driver 26F and the rear wheel traveling servo driver 26R via the A / D converter 22 and the D / A converter 23, for front wheel traveling. The front and rear traveling steered wheels 12S and 13S are driven to travel by operating the motor 27F and the rear wheel traveling motor 27R, respectively.

  Front wheel and rear wheel steering motors 25F and 25R are provided with front wheel and rear wheel potentiometers 28F and 28R for detecting the steering angles of the front and rear traveling steering wheels 12S and 13S, respectively. The data is input to the travel / steering control unit 21 via the A / D converter 22. The front wheel and rear wheel driving motors 27F and 27R are respectively provided with front wheel and rear wheel rotary encoders 29F and 29R for detecting the rotation angle of the wheel (for detecting the travel distance). Are input to the traveling / steering control unit 21 via the high-speed counter unit, and the traveling distances of the front and rear traveling steering wheels 12S and 13S are detected.

With reference to FIGS. 4-8, the operation | movement of the approach guidance control of an automatic guided vehicle is demonstrated.
(STEP.1) The automatic guided vehicle travels along the transport route CL set on the traveling floor surface, for example, by self-supporting guidance using a laser guidance method. In this self-supporting guidance, as shown in FIG. 5, the allowable inclination angle α of the carriage body 11 with respect to the transport path CL on the transport path CL is, for example, ± 2.5 °. This laser guidance method, for example, irradiates a semiconductor laser around the laser type distance measuring device of an automatic guided vehicle, receives reflected light from a plurality of retroreflectors installed at a specific position, and each retroreflector The position of the automatic guided vehicle is obtained from the respective distance from the automatic guided vehicle, and a self-supporting guided vehicle is adopted. However, the present invention is not limited to this laser guided method, and a self-guided method such as magnetic induction may be used. .

  (STEP.2) [Step A] When the automatic guided vehicle approaches the cargo handling station ST, the front distance measuring sensor 15 and the rear distance measuring sensor 16 detect the stop reflecting plate 14, respectively. It is determined whether or not the cargo handling station ST is faced to the front side.

  (STEP.3) [Step B] Here, the detected values up to the stop reflecting plate 14 detected by the front and rear distance measuring sensors 15 and 16 are determined in advance in consideration of the inclination angle α of the carriage body 11. Are output as distances L1 and L2 in the vertical direction with respect to the transport path CL (stop reflector 14).

  When the front and rear distance measuring sensors 15 and 16 detect the distances L1 and L2 to the stop reflecting plate 14, the skew approach control is performed. As shown in FIG. 5, the front and rear wheel steering motors 25F and 25R are operated by the traveling / steering control unit 21 so that the traveling steered wheels 12S and 13S are inclined in the same direction by a designated tilt steering angle θC that tilts toward the cargo handling station ST. It is steered to. By this skew approach control, the cart body 11 is moved in parallel to approach the cargo handling station ST.

  Here, if the specified tilt steering angle θC is 90 °, the travel distance approaching and stopping at the cargo handling station ST can be shortened, but the front and rear traveling steered wheels 12S and 13S are steered by 90 ° so that the traveling floor surface May cause damage. Therefore, the designated tilt steering angle θC is selected from a range of 30 ° or more and 70 ° or less, which is a preferable value. Here, if the specified tilt steering angle θC is less than 30 °, the travel distance in the direction of the conveyance path CL that approaches and stops at the cargo handling station ST becomes too large, and the stop reflecting plate 14 that is longer than necessary is necessary. This is because the traveling floor to be used is widely required, and if the specified tilt rudder angle θC exceeds 70 °, the traveling floor may be damaged by turning the front and rear traveling steered wheels 12S and 13S. Because there is. Here, the optimum range of the designated tilt rudder angle θC is 45 ° to 65 °, and for example, 60 ° is set for the purpose of protecting the traveling floor surface.

  (STEP.4) [Step C] As shown in FIG. 6, the distances L1 and L2 to the stop reflecting plate 14 measured by one of the front and rear distance measuring sensors 15 and 16 are the contact preparation distance LB. When it reaches, the control shifts from the skew approach control to the independent guidance control. Then, the approach preparation position PB separated from the stop reflecting plate 14 by the approach preparation distance LB is a position further from the approach reference position PL separated from the stop reflecting plate 14 by the distance L by the preparation distance ΔS. The contact preparation distance LB = L + ΔS.

  (STEP.5) As a preparation step for independent guidance control, the front and rear traveling steered wheels 12S and 13S are returned to the reference rudder angle (steering angle 0 °) in the straight traveling direction. In this state, the carriage main body 11 is also in a posture inclined at an inclination angle α as in the traveling state of the transport path CL.

(STEP.6) Here, it is determined whether the inclination angle α of the cart body 11 exceeds the allowable range (for example, ± 2.5 °). If the inclination angle α exceeds the allowable range, the abnormality detection program Stopped (STEP.7).
(STEP.8) [Step D] The distance until the main body 11 moves along the transport path CL until the stop sensor 18 detects the stop marker 17 and while approaching the stop reflector 14 by the approaching preparation distance ΔS. Then, independent guidance control is performed in which the front and rear traveling steering wheels 12S and 13S are independently steered so that the inclination angle of the carriage body 11 with respect to the transport path CL is 0 ° from the allowable inclination angle α.

  In the independent guidance control, as shown in FIG. 7, the front-to-front sensor distance W1 between the front ranging sensor 15 and the turning axis of the front traveling steering wheel 12S, the rear ranging sensor 16 and the front In order to set the target contact distance (deviation) | L−L1 | or deviation | L−L2 | to 0 in the front-rear sensor rear wheel distance W2 with respect to the turning axis of the traveling steering wheel 13S, As the sensor installation distances W1 and W2 are smaller, it is necessary to increase the designated steering angles Δθ1 and Δθ2. Then, from the sensor wheel distances W1, W2 and the approach target distances (L-L1), (L-L2), the execution designated steering angles Δθ1 ′, Δθ2 ′ for actually turning the front and rear traveling steered wheels 12S, 13S are obtained. It is calculated by the equations (1) to (4).

That is, when the sensor front wheel distance W1> 0 or the sensor front wheel distance W1 <0,
A front traveling steered wheel is represented by a right-angled triangle abc consisting of a longitudinal axis A passing through the previous traveling steered wheel 12S, a straight line B in the traveling direction of the previous traveling steered wheel 12S, and a distance measuring axis C of the front ranging sensor 15. When the turning angle Δθ1 of 12S and the length of the side on the distance measuring axis C are ac = ΔL1,
tanΔθ1 = ΔL1 / W1
tan Δθ1 = (L−L1) / W1
Δθ1 = tan ⁻¹ {(L−L1) / W1} (1 ′) Formula The designated steering angle Δθ1 ′ = Δθ1 × K1 (1) is obtained. (K1 will be described later.)
Next, assuming that the distance in the front-rear direction between the rear distance measuring sensor 16 and the turning axis of the rear traveling steered wheel 13S is W2, the sensor rear wheel distance W2> 0 or the sensor rear wheel distance W2 <0. In this case, in the right triangle def consisting of the longitudinal axis A passing through the rear traveling steering wheel 13S, the straight line D in the traveling direction of the rear traveling steering wheel 13S, and the distance measuring axis E of the front distance measuring sensor 15, Assuming that the turning angle Δθ2 of the traveling steered wheel 13S and the side length df = ΔL2 on the distance measuring axis E are as follows:
tanΔθ2 = ΔL2 / W2
tan Δθ2 = (L−L2) / W2
Δθ2 = tan ⁻¹ {(L−L2) / W2} (2 ′) Formula: Designated steering angle Δθ2 ′ = Δθ2 × K2 (2)

  Here, K1 = 0.25 is selected for the front traveling steered wheel 12S, and the approach distance L1 = L of the carriage main body 11 with respect to the cargo handling station ST is controlled. Further, the following traveling steered wheels 13 are controlled such that K2 = 1 is selected and the approach distance L2 of the carriage main body 11 with respect to the cargo handling station ST is set to L. As a result, the posture control is performed such that the posture of the carriage main body 11 is set to L1 = L2 = L and the allowable inclination angle α is set to 0 so as to be parallel to the reflecting plate 14. Centering is performed by detecting the stop marker 17 by the stop sensor 18.

  Note that K1 and K2 are adjustment values derived from the actual guiding state because the stability of the cart body is lost if the difference in steering angle between the front and rear traveling steering wheels 12S and 13S becomes too large. That is, since the installation positions of the front ranging sensor 15 and the rear ranging sensor 16 are different for each field specification, for example, the installation position of the front ranging sensor 15 is extremely close to the turning axis of the traveling steering wheel 12S. (The distance between the front wheels of the sensor W1 <> 0, W1≈0) and the installation position of the rear ranging sensor 16 is extremely close to the turning axis of the traveling steering wheel 13S. In the (sensor front wheel distance W2 <> 0, W2≈0), there is a possibility that the difference in the execution designated steering angle becomes extremely large only by the above formula (1 ′) and the above formula (2 ′). Also in the example shown in the figure, for example, when W1 = 135 mm and W2 = 20 mm, it is determined that the difference in the execution designated steering angle becomes extremely large. In the above case, the actual maximum steering speed is 3 (there is a reduction gear on the output shaft of the steering AC servo motor in consideration of the necessary steering torque at the maximum load of AGV). 125 seconds / 180 °. For this reason, the greater the difference between the implementation-designated rudder angles, the longer the travel distance until the posture is stabilized.

  In order to reduce the travel distance until the posture is stabilized, it is necessary to limit the execution designated rudder angle difference. By adjusting K1 and K2, the maximum implementation designated rudder angle difference is about 25 from the actual guidance state. Keep it below °.

The front and rear distance measuring sensors 15 and 16 have distance steering axes C and E on which the front and rear traveling steered wheels 12S and 13S have turning centers, a sensor front wheel distance W1 = 0, and a sensor rear wheel distance W2. = 0
The execution designated steering angle Δθ1 ′ in the case of the previous traveling steered wheel 12S is obtained by Δθ1 ′ = (L−L1) × K1 (3). Further, the execution designated steering angle Δθ2 ′ in the case of the subsequent traveling steered wheel 13S is obtained by the following equation: Δθ2 ′ = (L−L2) × K2 (4).

The implementation specified steering angles Δθ1 ′ and Δθ2 ′ are calculated in time series according to changes in the detection distances L1 and L2 of the front and rear distance measuring sensors 15 and 16.
Here, when the execution designated rudder angles Δθ1 ′ and Δθ2 ′ exceed 0, the steering wheel is turned clockwise in plan view, and when the execution designated rudder angles Δθ1 ′ and Δθ2 ′ are less than 0, It is steered in the counterclockwise direction visually.

  (STEP.9) As shown in FIG. 8, when the stop sensor 18 detects the stop marker 17, (STEP.10) [Step D] The cart body 11 is stopped. Here, the detection delay distance until the stop sensor 18 detects the stop marker 17 and then stops after the stop sensor 17 is detected by the rotary encoders 29F and 29R provided on the traveling steering wheels 12S and 13S. On the other hand, the parameter value of each cargo handling station ST is set to improve the accuracy of the stop position at each cargo handling station ST. At this time, the front and rear distance measuring sensors 15 and 16 detect the approach reference distance L, respectively, and the side surfaces of the stop reflecting plate 14 and the carriage main body 11 are parallel to each other.

  Here, the inter-station distance LA between the automatic guided vehicle on the conveyance path CL and the stop reaction plate 14 is, for example, 500 mm. Assuming that the reference distance L is 170 mm and the preparation distance ΔS is 60 mm, the traveling distance in the contact direction is skewed control: independent guidance control = 270: 60 = 4.5: 1.

(STEP.11) The load W is automatically transferred to the cargo handling station ST by the transfer conveyor 10.
(STEP.12) When the transfer operation is completed, the front and rear traveling steered wheels 12S and 13S are reversely steered to the specified tilt steering angle −θC, and (STEP.13) the skew separation control by the specified tilt steering angle is performed. Done. The designated tilt rudder angle -θC of the skew separation control is also selected from the range of 30 ° or more and 70 ° or less, and the preferred range is 45 ° to 65 °, as in the case of the leaning control. 60 ° is selected for the purpose of protection.

  (STEP.14) When the front distance sensor 15 or the rear distance sensor 16 detects a predetermined distance from the stop reflector 14, (STEP.15) returns to the independent guidance control by the laser guidance method. .

  According to the first embodiment, in (STEP.2), when the distances L1 and L2 from the carriage main body 11 to the stop reflecting plate 14 can be measured by the front distance measuring sensor 15 and the rear distance measuring sensor 16, First, in (STEP.3), the front and rear traveling steered wheels 12S and 13S are steered by the same designated tilt steering angle θC, and the tilt contact control is performed to translate the cart body 11 to the close preparation position PB. In STEP.8), the front and rear traveling steered wheels 12S and 13S are steered independently in accordance with the distances L1 and L2 between the front distance measuring sensor 15 and the rear distance measuring sensor 16, respectively. Independent guidance control is performed to move to the approaching reference position PL while correcting the posture of the cart body 11.

  In this way, after the carriage main body 11 is moved closer to the approach preparation position PB from the transport route CL by the tilt approach control, the previous travel steered wheel 12S is moved during the short preparation distance ΔS. Independent control for close-up is performed, and control for close-up of the following traveling steered wheels 13S is performed independently. As a result, the position of the cart body with the allowable inclination angle α on the transport path CL being 0 is determined. As a result, the main body 11 can be stopped at the approach reference position PL quickly and with high accuracy, and can be stopped in an accurate posture. And it is not necessary to lay a magnetic material on the traveling floor.

  Further, by setting the designated tilt steering angle θC to 30 ° or more, the stop reflector 14 can be set to an appropriate length, and the area occupied by the automatic guided vehicle necessary for the close-up operation can be reduced. Further, by setting the designated tilt steering angle θC to 70 ° or less, it is possible to prevent the traveling floor from being worn or damaged by the front and rear traveling steered wheels 12S, 13S. Furthermore, the above-described effects can be increased by setting the designated tilt steering angle θC within a suitable range of 45 ° to 65 °.

  The front and rear ranging sensors 15 and 16 and the stop sensor 18 are provided on the right side surface of the carriage main body 11, but the load W can be transferred to the left and right sides of the carriage main body 11 by the transfer conveyor 10. In addition, the sensors 15, 16, and 18 are also provided on the left side surface of the carriage main body 11, respectively, and can approach and stop the cargo handling station ST with high accuracy by the same control.

W Load ST Load Handling Station CL Transport Path PL Contact Reference Position PB Contact Preparation Position ΔS Preparation Distance 10 Transfer Conveyor 11 Cart Body 12S Front Travel Steering Wheel 12C Front Caster 13S Rear Travel Steering Wheel 13C Rear Caster 14 Stop Reflector 15 Front Side Distance sensor 16 Rear distance sensor 17 Stop marker 18 Stop sensor 21 Traveling / steering control unit

Claims (5)

An unattended guided vehicle approach control method for stopping an unmanned transport vehicle that travels on a transport route by a traveling steering wheel disposed at least in the front-rear position of the main body of a carriage, approaching a close reference position of a cargo handling station,
At the front and back positions on the side of the cart body, the distance to the reflector for stopping installed at the cargo handling station in parallel with the transport path is detected.
Next, the front and rear traveling steered wheels are respectively steered to the cargo handling station side by the same designated tilt rudder angle, and the cart body is moved in parallel to the approaching preparation position approaching the approaching reference position,
Based on the distance at the front and rear position with respect to the stop reflector, the front and rear traveling steering wheels are steered independently so that the cart body is parallel to the stop reflector at the approach reference position, A guided guidance control method for an automatic guided vehicle, characterized in that the cart body is moved to the reference position for stopping and stopped. A transfer vehicle and a loading station provided on the main body of the cart, stopping an unmanned transport vehicle that travels on the transport path by a traveling steering wheel disposed at least at the front and rear positions of the main body of the carriage close to the loading station and stopping at the approaching reference position. It is a close-up guidance control method for an automated guided vehicle that delivers a load between
The distance between the front and rear ranging sensors located at the front and back of the trolley body at a predetermined distance is detected from the stop reflector installed in parallel at the cargo handling station facing the transport path. Step A to
Step B, in which front and rear traveling steered wheels are steered to the cargo handling station side by the same specified tilt steering angle, respectively, and the carriage body is moved in parallel to approach the cargo handling station;
Step C in which one of the front distance sensor and the rear distance sensor detects a distance from the stop reflector to the close preparation position on the transport path side by a predetermined distance from the close reference position facing the cargo handling station. When,
From the close-up preparation position to the close-up reference position, independent guidance control is performed to control the position of the main body of the carriage independently with the front and rear traveling steering wheels, and the cart at the reference position of closeness. Step D for stopping the main body so as to be parallel to the reflecting plate for stopping. The method according to claim 2, wherein the specified tilt rudder angle in step B is not less than 30 ° and not more than 70 °. An unmanned transport facility comprising: a cart body of an automated guided vehicle that travels on a transport path by travel steering wheels disposed at least in the front-rear position; and a cargo handling station that stops the cart body from the transport path by approaching a close reference position. Because
A reflector for stopping that is placed in parallel with the transport path at the cargo handling station facing the transport path;
A stop marker installed at the cargo handling station facing the transport path,
A front ranging sensor and a rear ranging sensor which are arranged on the side surface of the bogie main body of the automatic guided vehicle so as to be separated in the front-rear direction, measure the distance to the stop reflector and detect the stop distance and posture of the bogie main body. When,
Rutotomoni is disposed on the side surface of the carriage body, a stop sensor which recognizes the stop position of the carriage body of the conveying path direction by detecting the stop markers,
A traveling / steering control unit that operates the front and rear traveling steering wheels based on signals from the front and rear ranging sensors and the stop sensor; and
The travel / steering control unit rotates the front and rear steered wheels by the same specified tilt steering angle from the transport path to the close preparation position on the transport path side by a predetermined distance from the close reference position that stops facing the cargo handling station. Steering is performed to control the tilting movement of the cart body in parallel, and the front and rear traveling steering wheels are independently steered from the padding preparation position to the padding reference position, and the cart body is stopped at the padding reference position. An unmanned transport facility that is configured to perform guided approach control that stops the reflector in a parallel posture. The specified tilt steering angle, unmanned conveyance equipment according to claim 4, characterized in that a 70 ° or less 30 ° or more.

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