JPH01237256A - Automatic door opening/closing controller for unmanned transport vehicle - Google Patents

Abstract

PURPOSE:To permit the efficient operation of a system by installing a transmission means for a door opening/closing instruction signal of an unmanned transport vehicle side and a sensor for detecting the presence of an automatic door in front and installing a receiver which receives a door opening/closing instruction signal from the unmanned transport vehicle and opening-operates the automatic door, on the ground side. CONSTITUTION:As for an automatic door opening/closing controller of an unmanned transport vehicle 6, when the unmanned transport vehicle 6 arrives at a door opening/ closing control starting point 4 of a room 2, a transmitter 20 transmits a door opening/ closing instruction signal, and a receiver 17 installed on the ground side receives the door opening/closing instruction signal and opening-operates an automatic door 1. On the start of the opening operation of the automatic door 1, the unmanned transport vehicle 6 does not stop and continues traveling towards the automatic door 1, and if a door detection sensor 21 detects the opened state of the door when the unmanned transport vehicle 6 comes close to the automatic door, the vehicle advances, and if the closed state is detected, the transport vehicle 6 is stopped. When the transport vehicle 6 passes through the door 1, and a receiver 18 receives the arrival at a door control division terminal point 5, the door is automatically closed.

Description

Detailed Description of the Invention [Object of the Invention] (Industrial Application Field) The present invention relates to an automatic silent opening/closing control device for an automatic guided vehicle that travels between rooms partitioned by automatic doors.

(Prior Art) In recent years, with the automation of factories, automated guided vehicles have come into widespread use to transport manufactured parts and finished products between various processes within a factory. As a typical example of an automated guided vehicle, for example, a light reflective marker is pasted on the floor on the driving route, and the automated guided vehicle detects the reflection of this marker.
There is an optically guided automatic guided vehicle that follows markers as guidance signals.

In a transportation system in which such an automatic guided vehicle runs, depending on the factory used, a room is separated from other rooms due to the presence of a clean room, for example, but these partitioned rooms In such cases, an automatic door may be installed at the partition of the room, and when the automated guided vehicle passes, the door will automatically open to allow the automated guided vehicle to pass. A system has been developed that does this.

Figures 4 and 5 show the conventional automatic guided vehicle i1J!
51 shows the opening/closing control ilI device, and as shown in FIG.
In between, automatic door control start point 4 and automatic door control point 1112I respectively.
An end point 5 is set, and the automatic guided vehicle 6 is set at an automatic door control start point 4.
The automatic door 1 is automatically closed when the vehicle passes through the vehicle, and the automatic door 1 is closed when the vehicle reaches the end point 5 of the self aSυ110.

In order to automatically open and close the automatic rn1 when passing through the automatic door 1, a receiver 7 is provided on the ground side to receive a door opening command signal from the unmanned transport m6, and A transmitter 8 is provided to send a signal to the transport vehicle 6 that the closing operation of the automatic door 1 has been completed. Furthermore, automatic guided vehicle 6
A receiver 9 is also provided to receive a door opening command signal transmitted from the automatic guided vehicle 6 side when the vehicle completes passing through the automatic door 1.

On the other hand, the automatic guided vehicle 6 side is provided with a transmitter 10 that transmits a door opening/closing command signal, and a receiver 11 that receives a self-vehicle door opening completion signal from the ground side.

FIG. 5 shows a more detailed configuration of this conventional example.
The control section 14 controls the control section 13. Self vJ
The 11 side has a receiver 7, a transmitter 8, a receiver 9, and an opening/closing door 15.
, and a door control section 16 that controls each of these components.

The automatic guided vehicle 6 travels along the travel route by the running unit 13, and at the same time, the point detection unit 12 detects the number of rotations of the wheels or point markers affixed on the ground, etc. Monitor whether the vehicle is moving at a certain location.

In this state, when the control unit 14 detects the door control start point 4 based on the signal from the point detection unit 12, it temporarily stops and transmits a door opening command signal to the receiver 7 on the ground side using the transmitter 10. Output.

On the ground side, this door opening command signal is received by the receiver 7, the door control unit 16 closes the opening/closing door 15, and the transmitter 8 sends a door opening completion signal to the automatic guided vehicle 6 in response to the door opening completion signal. send.

On the automatic guided vehicle 6 side, when this door opening completion signal is received by the receiver 11, the automatic guided vehicle 6 starts traveling again assuming that its own IEi1 has been opened, passes through the automatic door 1, and enters another room 3.

Automatic guided vehicle 6 enters another room 3 and controls the door! ! When reaching the end point 5, the door opening command receiver 9 on the ground side receives the signal from the door opening/closing command transmitter 10, and the door control unit 16 causes the door opening II! 111115 is operated to close.

(Problem to be solved by the invention) However, the automatic Oi of such conventional automated guided vehicles
In the l;fl closing control device, the automatic guided vehicle side receives the automatic door opening completion signal via a transmitter installed on the ground side, so there is always a temporary delay at the start point of the r# opening/closing control section. It is necessary to stop the vehicle and start running again only after receiving the door operation completion signal, which results in time loss for the deceleration time, acceleration time, and time required for the door opening operation. There was a problem in that the time required to go back and forth between rooms was long and the system could not be operated efficiently.

This invention was made in view of such conventional problems, and it is possible to pass through the self-e door part without temporarily stopping, and the system can be operated efficiently. The purpose of this invention is to provide an automatic door opening/closing control device for an unmanned guided vehicle.

[Structure of the Invention] (Means for Solving the Problems) The automatic restraint opening/closing control device for an automatic guided vehicle of the present invention includes a means for transmitting a door opening/closing command signal to the automatic guided vehicle side, and a means for transmitting a door opening/closing command signal to the automatic guided vehicle side, and a means for opening/closing an automatic door in front of the automatic guided vehicle. A state sensor and a means for stopping the movement of the automatic guided vehicle when the sensor detects the closed state of the automatic door while the transmitting means is transmitting the door opening/closing command signal are provided on the ground side. The apparatus is provided with means for receiving a door opening/closing command signal from a transmitting means, and a control means for opening the own door m in response to the signal received by the receiving means.

(Function) In the automatic door opening/closing control device for an automatic guided vehicle of the present invention, when the automatic guided vehicle side reaches the door opening/closing control start point of the room, a door opening/closing command signal is transmitted, and the receiving means installed on the ground side transmits a door opening/closing command signal. receives this door opening/closing command signal and automatically closes the door.

Even when this automatic door starts the same operation, the unmanned transport Φ side does not stop and continues to travel towards the automatic door, and when it gets close to the automatic door, the automatic door is in the open state due to the center number. If the automatic door is open, the vehicle will pass through the door, and if the automatic door is closed, the vehicle will stop there.

Then, automatic □□□ is open, and after the automatic guided vehicle passes this own I7Im, it is automatically closed.

In this way, the automated guided vehicle can pass through the automatic door without stopping in front of the vehicle.

(Example) Hereinafter, embodiments of the present invention will be explained in detail based on the drawings.

As shown in FIG. 1, the automatic door 1 on the ground side includes a receiver 17 for a closing command signal between the legs, a puncturing command signal receiver 18, and an opening/closing 115.
, and a control unit 19 that controls each of these components.

The automatic guided vehicle 6 includes a transmitter 20 for transmitting a door opening/closing command signal and a sensor 21 for detecting the opening/closing state of the automatic door, together with a geothermal detection section 12 and a running section 13 similar to the conventional example, and each of these components It also includes a control section 22 for controlling the next day.

The door detection frame 21 is constituted by a means capable of detecting an obstacle in front of the unmanned transport 6, such as an ultrasonic sensor, for example, and when the door 1 automatically opens and closes, for example, up and down. By setting the stillness detection sensor 21 to detect just in front of the highest part of the automatic guided vehicle 6, the sensor 21 detects when the door 15 is not fully opened wide enough for the guided vehicle 6 to pass through. Automatic doors can be detected as obstacles.

Next, the operation of the self-vehicle vehicle door opening/closing control device for an automatic guided vehicle having the above configuration will be described with reference to the flowcharts of FIGS. 2 and 3.

Room 2.3 on the ground is separated by automatic door 1, and in front of this door 121 is automatic 10 $ control starting point 4.
, an automatic door control end point 5 is set at the rear.

Therefore, the automatic guided vehicle 6 follows its own IJJ li on the traveling route.
The vehicle travels toward the vehicle 11JrR1 from behind the sub-control point 4, and this starting point 4 is detected by the travel point detection unit 12 (steps S1 and S2). Then, the control unit 22 sends an i opening/closing command signal to the transmitter 20 to the receiver 17 on the ground side, and on the automatic door 1 side, the receiver 17 receives this door opening/closing command signal, thereby controlling the door. The opening/closing door 15 is opened by the section 19 (step S3).

After this, the automatic guided vehicle 6 continues to travel toward automatic #1, and the door detection sensor 21 operates, and automatic Ia! 1
Steps S4 and S5 to detect whether there is a
), when the automatic door 1 has completed the opening operation and the sensor 21 does not detect the door 1, unmanned transportation! I! 6 is still continued (step S6).

In a state where the automatic door 1 is not detected and the automatic guided vehicle 6 continues to travel, the process returns to step S1 and it is determined whether or not the automatic door 1 is in the door control zone. Opening/closing door of room 3 υIII (l Until reaching end point 5, detection operation is repeated to see if there is an automatic door in front using the lip detection sensor 21 (steps S1, S7, S5.36) .

And myself! 71 When the door 1 is fully opened and the automatic guided vehicle 6 safely passes through the automatic door 1 and reaches the end point 5 of the restricted area, the automatic guided vehicle 6 receives a door opening/closing command signal. Input the signal from the transmitter 20! The receiver 18 on the first side receives the signal, the door control unit 19 confirms that the automatic guided vehicle 6 has passed through the automatic door portion, and outputs a closing operation command to the opening/closing door 15 (steps S7 and S8).

At the same time, the door opening/closing command signal transmitter 20 on the automatic guided vehicle 6 side stops transmitting the signal (step S9), and the operation of the II detection lens 21 is also stopped (step 510), completing the passing operation of the automatic door 1 part. do.

In addition, in step S5, when the door detection sensor 21 of the automatic guided vehicle 6 detects the presence of the automatic door 1 in front, it is determined that the automatic door 1 cannot pass because there is an obstacle, and the control unit 22 prevents the vehicle from traveling to the traveling unit 13. The automatic door 1 is stopped (step 511) and waits until the automatic door 1 is completely opened.

In this way, the automatic guided vehicle 6 can operate the automatic door system t of the room 2.
11 When reaching the starting point 4, continue traveling while automatically giving an opening operation command for the automatic ke 1, and if the automatic door 1 is fully opened, open the automatic door 1 part without stopping. When passing through and entering another room 3 and reaching the automatic door control end point 5, the automatic door 1 can be automatically closed.

Furthermore, even if the automatic door 1 starts the opening operation in response to a command from the automatic guided vehicle 6, the opening operation may not be completely completed by the time the automatic guided vehicle 6 reaches the automatic door 1 part. In order to avoid a collision, the automatic guided vehicle 6 can temporarily stop traveling and wait until the automatic door 1 is fully opened before allowing the automatic guided vehicle 6 to pass there.

Therefore, in normal operation, it is possible to pass through the automatic *i part at a constant speed without stopping, and there is no need for loss time such as deceleration time, acceleration time, or time required for opening the automatic door 1. This enables efficient driving.

[Effect of the invention 1 As described above, according to the present invention, a means for transmitting a door opening/closing command signal and a sensor for detecting the presence of the automatic vehicle 9 in front are provided on the automated guided vehicle side, and the automated guided vehicle is provided on the ground side. Since a receiver is installed to receive the door opening/closing command signal from the machine and open the automatic door, the positional relationship between the receiver for the door opening/closing command signal on the ground side and the automatic m must be set at an appropriate distance. With this, the automatic door can be opened by receiving the door opening/closing command signal from the automatic guided vehicle, and can be set to be fully open when the automatic guided vehicle reaches the automatic door position. The conveyance vehicle can be moved through the automatic door at a constant speed without having to stop before passing through the door, which eliminates the time required to stop in front of the automatic door and wait for the automatic door to complete its opening operation. You can move efficiently between rooms without the need for it.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of an embodiment of the present invention, Fig. 2 is an explanatory diagram of the operation of the above embodiment, Fig. 3 is a flowchart explaining the operation of the above embodiment, and Fig. 4 is an outline of the conventional example. The configuration diagram, FIG. 5, is a block diagram of a conventional example.

Claims (1)

[Claims] A means for transmitting a door opening/closing command signal on the automatic guided vehicle side, a sensor for indicating the opening/closing state of the automatic door at the front in the direction of travel, and a sensor for transmitting a door opening/closing command signal while the transmitting means is transmitting the door opening/closing command signal. Means for stopping the running of the automatic guided vehicle when the condition is detected is provided, and means for receiving a door opening/closing command signal from the transmitting means is provided on the ground side, and the automatic door is opened and closed in accordance with the signal received by the receiving means. An automatic door opening/closing control device for an unmanned guided vehicle, comprising a control means.