JPH01312610A - Method for selective guiding unmanned vehicle - Google Patents

Abstract

PURPOSE:To attain the travel of an unmanned vehicle in a place where it is conventionally assumed to be impossible by installing the guidance means of different kinds which is appropriate for the condition of a travel path surface on the travel path surface of a place where the installation of a guidance line is impossible. CONSTITUTION:Since plural kinds of travel path detection means 6 and 12 including the guidance line 8 are provided in the unmanned vehicle, and a different guidance means 13 is installed on the travel surface of the place where the installation of the guidance line 8 is impossible, the unmanned vehicle can be guided along the travel path even in the place where the guidance line 8 cannot be used (floor which requires removal). Since the travel path detection means 6 and 12 which have agreeded with various guidance means 8 and 13 installed on the travel path surface are selected by the selection command means 17 provided on the side of the travel path surface in such a case, the unmanned vehicle is securely guided along the travel path without being blindly operated. Thus, the unmanned vehicle can be travelled in the place where it has conventionally assumed to be impossible to travel.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a technology for guiding an automatic guided vehicle, and particularly to a method for guiding an automatic guided vehicle having a plurality of guidance methods.

[Conventional technology]

As prior art related to the method of guiding an automatic guided vehicle, Japanese Patent Publication No. 51-6418, Japanese Patent Application Laid-open No. 57-45613, Japanese Patent Application Publication No. 62422-1982, and Japanese Patent Publication No. 58-45
No. 042 and Japanese Utility Model Application No. 60-47011 are known. Indirect guidance methods such as the 1i magnetic induction method, magnetic induction method, and optical 1 guidance method are often used as guidance methods for automatic guided vehicles. JP-A-61-273499) is also known. (A) to (D) in Table 1 described later
shows a comparison of the performance of each guidance method,
Each guidance method has different advantages.

[Problem to be solved by the invention]

However, in each conventional guidance method, Δ, ×
There are also drawbacks as shown in the figure below, such as the inability to apply a desired unmanned transportation system and the lack of reliability and durability. In other words, as shown in Table 1, the electromagnetic induction method (A
) has the disadvantage that the floor surface must be cut to form a groove when laying the guide wire, and it is somewhat difficult to change the running route due to changes in the layout.

In addition, with this guidance method, if the driving route interferes with a floor that needs to be removed (for example, a manhole cover or a pit M), it becomes impossible to install the guiding wire, and these floors cannot be used as the driving route. In addition, if the floor is covered with magnetic material, the level of the induced magnetic field will decrease,
It becomes difficult to guide automated guided vehicles. In this case, steering control by a program that does not use a guidance method (for example, Japanese Patent Publication No. 51-6301, Japanese Patent Publication No. 53-12104)
Publication No. 1987-106906, Japanese Patent Publication No. 1982-106906
-158719)), but
This has the problem that as the distance becomes longer, the guidance accuracy and reliability decrease.

Magnetic induction method (B) is inferior to electromagnetic induction method in terms of peeling and damage because magnetic material is attached to the running floor surface.
It is easier to relocate and change the layout than the electromagnetic induction method. In addition, with the magnetic induction method, even if there is a manhole cover or pit cover, a magnetic material can be placed on top of the cover, so there is no problem of the travel route being forced to change due to these covers. .

Optical guidance method (C) is not suitable for environments where the driving road surface is dirty because the reflector must be free of dirt, but like the magnetic guidance method, it is not suitable for relocation or layout changes. It is easier than the magnetic induction method.

Guidance method (D) that uses both electromagnetic induction and direct detection guidance has very good guidance accuracy compared to other guidance methods, but it is somewhat difficult to relocate or change the layout, and it is difficult to bury the cable. Therefore, it is not possible to use the top of a manhole cover or pit cover as a driving route.

In this way, with conventional methods, when dealing with failures in a specific location, the entire system had to be set to a high-grade guidance method, which increased the cost of the unmanned transportation system and lacked flexibility. .

The present invention focuses on the above points, takes advantage of the features of each guidance method, enables automatic guided vehicles to enter places that were previously considered impossible, and allows a single vehicle to support various guidance methods. The purpose of this research is to provide a method for guiding automated guided vehicles and realize a highly flexible transportation system.

[Means to solve the problem]

A method for selectively guiding an automatic guided vehicle according to the present invention in accordance with this objective is a guiding method for guiding an automatic guided vehicle based on a guiding means installed along a preset travel route.
The automatic guided vehicle is provided with a plurality of types of travel route detection means including an electromagnetic induction detection means for detecting an induced magnetic field from a guide wire laid on the traveling road surface, and the automatic guided vehicle is provided with a plurality of types of traveling route detection means including an electromagnetic induction detection means for detecting an induced magnetic field from a guide wire laid on the traveling road surface, and the automatic guided vehicle is provided with a plurality of types of traveling route detection means, including an electromagnetic induction detection means for detecting an induced magnetic field from a guide wire laid on the traveling road surface. Then, a different type of guidance means suitable for the conditions of the traveling road surface is installed, and when the automatic guided vehicle is traveling, a selection command means provided on the traveling road surface side is used to select one of the plurality of traveling route detection means installed on the traveling road surface. This method consists of selecting a travel route detection means that matches the various guiding means and guiding the automatic guided vehicle along the various guiding means.

[Effect]

In such a selective guidance method for an automatic guided vehicle, the automatic guided vehicle is provided with multiple types of travel route detection means including guide lines, and other guide lines are installed on the travel surface in places where it is impossible to lay a guide line. Since the means is installed, the automatic guided vehicle can be guided along the travel route even in places where guide wires cannot be used (such as floors that require removal). In this case, the selection command means provided on the traveling road side selects the traveling route detecting means that matches the various guidance means installed on the traveling road surface, so the automatic guided vehicle does not drive blindly and the traveling route detecting means is selected. will be reliably guided along the

Therefore, it becomes possible for the automatic guided vehicle to travel in places that were previously considered impossible, and it also becomes compatible with various guiding means, making it possible to make the automatic guided vehicle system more flexible.

〔Example〕

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the automatic guided vehicle selection guidance method according to the present invention will be described below with reference to the drawings.

First Embodiment FIGS. 1 to 6 show a first embodiment of the present invention. In FIGS. 1 and 3, reference numeral 1 indicates an automatic guided vehicle, and this automatic guided vehicle 1 is used to pull a cart (not shown) or the like. A driver's seat 3 is provided at the top of the vehicle body 2 of the automatic guided vehicle 1, and manual operation using a handle 3a is possible. A front wheel 4 as a steering wheel is located at the front of the vehicle body 2, and a rear wheel 5 as a driving wheel is located at the rear. A pair of electromagnetic pickup coils 6 are attached to the front part of the vehicle body 2 as electromagnetic induction detection means. The electromagnetic pickup coil 6 receives an induced magnetic field (
Each electromagnetic pickup coil 6 is connected to a deviation detection device 9.

An ultrasonic sensor 10 is attached below the handle 3a to detect obstacles ahead in the direction of travel.

When the ultrasonic sensor 10 detects an obstacle, it stops the travel motor 11 that rotates the rear wheels 5, and stops the automatic guided vehicle from traveling.

A magnetic sensor 12 is attached to the front of the vehicle body 2 as a traveling route detecting means. The magnetic sensor 12 includes a magnetic body 13 affixed to a running road surface where it is difficult to bury the electromagnetic induction wire 8 described above (for example, a floor that requires removal, a manhole cover, a focus cover, a place where a magnetic material is installed). The magnetic sensor 12 is connected to a displacement calculation device 14.

This displacement calculation device 14 and the above-mentioned deviation detection device 9 are electrically connected to a steering device 15.

The displacement calculation deviation detection device 9 is for calculating the amount of positional deviation of the automatic guided vehicle 1 with respect to the electromagnetic induction m8, and the displacement calculation device 14 is for calculating the amount of positional deviation between the magnetic body 13 and the automatic guided vehicle 1. be. Signals from each device 9.14 are output to a steering device 15, which controls the direction of the front wheels as steered wheels.

A mark plate sensor 16 is provided below the travel motor 11 as selection command detection means.

The mark plate sensor 16 reads a mark plate 17 provided on the traveling road surface 7 side as a selection command means. The signal read by the mark plate sensor 16 is output to a signal switching means (not shown) housed in the steering device 15, for example, and based on this signal, either the deviation detection device 9 or the displacement calculation device 14 is selected. A signal from one of the devices is input to the steering device 15.

A magnet 18 is provided between the front wheel 4 and the rear wheel 5 on the lower surface of the vehicle body 2. The magnet 18 operates a reed switch 19 provided on the side of the traveling road surface 7, and the operation of this reed switch 19 causes the control of equipment (automatic doors, traffic lights) on the traveling route and the control at intersections, etc. The timing of automated guided vehicles is now controlled.

Next, a preferred application example of the automatic guided vehicle selection guidance method described above will be described.

Figures 4 to 6 show examples where there are pit covers, manhole covers, etc. that need to be removed in the travel route of the automated guided vehicle. The control panel 40 of the control device is provided with an electromagnetic induction transmitter 41, and this aM! An alternating current with a predetermined constant frequency is passed through the guide wire 8 by the L-lead transmitter 41 . In this case, the guide wire 8 is laid along the bottom surface inside the bit 43 at the bit lid 42 and is not located on the running road surface 7 side.

Similarly, at the manhole cover 44, the guide wire 8 is laid in a detour and is not located on the travel route. Strip-shaped magnetic generating bodies 31a and 31b are attached to the upper surfaces of the bit 1i42 and the manhole cover 44 along the travel route.

As shown in step 101 of the flowcharts of FIGS. 4.5 and 6, the automatic guided vehicle 1 is guided along the route toward the pit cover 42 by a guide line 8 serving as a guide means. When the automatic guided vehicle 1 comes just before the pit cover 42,
Mark plate sensor 16 as shown in step 102
Mark plate 17 provided on the running road surface 7 side by
a is read.

As a result, the process proceeds to step 103, where steering control and course-out invalidation processing are performed according to the program at a very short distance. That is, when a guidance method is selected, steering control is performed according to a preset program regardless of the guidance method.

When the steering control by the program is completed, the process proceeds to step 104, and guidance control by magnetic induction is started. In step 102 described above, mark plate 1 has already been
7a has been read, in this state, the signal from the displacement calculation device 14 connected to the magnetic sensor 12 is input to the steering device 15, and the automatic guided vehicle 1 moves to the magnetic body 31a attached to the pit lid 42. run along. When the automatic guided vehicle 1 comes near the rear end of the pit cover 42, as shown in step 105, the mark plate sensor 16
The mark plate 17b provided on the bit lid 42 side, which serves as the running road surface, is read by this. As a result, the process proceeds to step 106, where steering control and course-out invalidation processing are performed using the program at a very short distance in the same manner as described above.

When this steering control is completed, the process proceeds to step 107, and guidance control using electric T61 guidance is started again. That is, in this state, by reading the mark plate 17b, a signal from the deviation detection device 9 connected to the tW pickup coil 6 is input to the steering device 15, and the automatic guided vehicle 1 runs along the guide vA8.

Next, when the automatic guided vehicle l comes in front of the manhole cover 44, the mark plate 17C provided on the traveling road surface 7 side is read, as shown in step 108. As a result, in step 109, steering control and course-out invalidation processing are performed again using the program. When the automatic guided vehicle 1 enters the manhole 144 side, step 11
As shown in 0, the selected magnetic sensor 12 and magnetizing body 3
1b, guidance control by magnetic induction is performed again.

When near the end of the manhole cover 44, step 111
As shown in FIG. 2, the mark plate 17d provided on the manhole cover 44 side is read, and in step 112, steering control and course-out invalidation processing are performed again by the program. After passing through the manhole cover 44, the automatic guided vehicle 1 travels to its original position under guidance control by the guide wire 8, since the traveling route detection means has already been switched to the electromagnetic pickup coil 6 side.

In this way, the automatic guided vehicle 1 can now pass over the pit cover 42 and manhole cover 44, which were conventionally impossible or had to be passed by detouring, and the travel route can be changed. The degree of freedom in design will be expanded.

Second Embodiment FIGS. 6 to 10 show a second embodiment of the present invention. The second embodiment differs from the first embodiment in the types of travel route detection means and guidance means installed on the travel road surface, and other parts are the same as the first embodiment. By assigning the same reference numerals as in the first embodiment, description of the corresponding parts will be omitted, and only different parts will be described.

In FIGS. 7 to 9, a projector 32 is attached to the front part of the lower surface of the vehicle body 2 to project light toward a tape-shaped reflector 31 as a guiding means affixed to the running road surface 7. . Photodetectors 33 are provided on both sides of the projector 32 to receive the reflected light from the projector 32.

The photodetector 33 is connected to an amplifier 34, which in turn is connected to a deviation detection device 35. The deviation detection device 35 calculates the positional deviation of the automatic guided vehicle 1 with respect to the reflector 31, and this positional deviation amount is input to the steering device 115, and the steering control of the front wheels 4 is performed. This embodiment uses the electromagnetic induction method using the guide wire 8 and the optical K! using the reflector 31 described above. The selection is made by reading the mark plate 17 provided on the road surface side, similar to the first embodiment.

Next, a preferred application example of the automatic guided vehicle selection guidance method in the second embodiment will be described.

Figures 10 and 11 show an example where there is a path for heavy vehicles such as forklifts in the travel route of the automatic guided vehicle. A passageway G, through which heavy vehicles pass, is located between them. A reflector 31a is pasted on the travel route of the automatic guided vehicle 1 in the factory E, and a reflector 31b is similarly pasted on the travel route of the automatic guided vehicle 1 in the factory F. A guide wire 1 is embedded in the travel route of the automatic guided vehicle 1 in the passage G through which heavy vehicles pass.

The automatic guided vehicle I is guided by the reflector 31a on the path toward the path G, as shown in step 121 of the flowcharts of FIGS. 10 and 11.

When the automated guided vehicle 1 comes just before the aisle G, step 12
As shown in FIG. 2, a mark plate 17θ provided on the running road surface 7 side is read. This results in step 12
3, the electromagnetic pickup coil 6 is selected from the photodetector 33 as the traveling route detecting means, and the guiding method of the automatic guided vehicle 1 is set at t! The guidance is switched to the ff guidance method. Passage G
The surface of the is dirty with oil and mud due to the passage of heavy vehicles, but since the guide wire 8 is buried, there is no influence from this at all, and the automatic guided vehicle 1 does not deviate from the guide wire 8 and returns to the factory. guided towards F.

When the automatic guided vehicle 1 enters the factory F, as shown in step 124, the mark plate 17f provided on the traveling road surface 7 side is read. This reading gives us
The traveling route detecting means is switched from the electromagnetic pickup coil 6 to optical guidance by the photodetector 33 again, and the automatic guided vehicle 1 within the factory F travels along the reflector 31b.

Immediately before the automatic guided vehicle 1 exits the factory F to the passage G, the mark plate 17g is read as shown in step 126. As a result, the electromagnetic pickup coil 6 as the traveling route detecting means is selected again, and step 1
As shown in 27, the automatic guided vehicle 1 is guided by electromagnetic induction. When the automatic guided vehicle 1 enters the factory area, the mark brake (17h) is read in step 128, the photodetector 33 as a traveling route detection means is selected, and the automatic guided vehicle 1 moves along the reflector 31a. Travel inside Factory E and return to the original position.

In this way, we will use the lower-cost optical induction method in places with favorable environmental conditions, such as inside factories E and F, and use the highly reliable and durable [magnetic induction method] in places where there are problems with contamination and durability. By adopting this, it is possible to keep the cost of the entire system low, and it is possible to create a flexible system.

Although the application example of the conveyance system shown in Fig. 4 shows a combination of electromagnetic induction and magnetic induction, in this case, a combination of electromagnetic induction and optical induction as in the second embodiment may also have the same effect. Effects can be obtained. Similarly, the application example in Figure 9 shows a combination of electromagnetic induction and optical induction, but the same applies to this conveyance system as well as the combination of electromagnetic induction and magnetic induction shown in Figure 1. Effects can be obtained. In this way, by combining each guidance method (A+B, A+C), it is possible to create a system that is superior to the conventional single guidance method, as shown in Table 1.

Furthermore, in addition to those shown in each example, it is also possible to combine the electromagnetic induction method with other guidance methods (laser beam or image recognition), and by bringing out the merits of each guidance method, further flexibility in the conveyance system can be achieved. improvement is expected.

〔Effect of the invention〕

As explained above, when the automatic guided vehicle selective guidance method of the present invention is used, the automatic guided vehicle is equipped with an electromagnetic induction detection means for detecting an induced magnetic field from a guide wire laid on a traveling road surface. A route detection means is provided, and a different type of guidance means suitable for the conditions of the traveling road surface is laid on the traveling road surface in a place where it is impossible to lay a guide line, and when the automatic guided vehicle is traveling, it is installed on the traveling road surface side. Since the selection command means selects the traveling route detecting means that matches the various guiding means installed on the traveling road surface from among the plurality of traveling route detecting means, it is possible to operate an automatic guided vehicle in a place that was previously considered impossible. It becomes possible to travel, and the degree of freedom in designing the travel route can be expanded.

Furthermore, since one automatic guided vehicle can support various guidance methods, a flexible transport system can be achieved. Furthermore, since it becomes possible to select the guiding means according to the usage environment, it is not necessary to make the entire transport system high-grade specifications, and the cost of the transport system can be suppressed.

[Brief explanation of the drawing]

FIG. 1 is a schematic configuration diagram of a traveling route detecting means according to the automatic guided vehicle selection guidance method according to the first embodiment of the present invention, and FIG. 2 is an automatic guided vehicle to which the traveling route detecting means of FIG. 1 is attached. Fig. 3 is a side view of Fig. 2, Fig. 4 is a plan view of the traveling route of the automated guided vehicle shown in Fig. 2, Fig. 5 is a sectional view of Fig. 4, and Fig. 6 is a side view of Fig. 2. FIG. 7 is a flowchart showing the flow of control when the automatic guided vehicle shown in FIG. 2 travels along the travel route shown in FIG. 4, and FIG. A schematic configuration diagram of the route detection means, FIG. 8 is a front view of the automatic guided vehicle to which the traveling route detection means of FIG. 7 is attached, FIG. 9 is a side view of FIG. 8, and FIG. FIG. 11 is a plan view of the traveling route along which the guided vehicle travels; and FIG. 11 is a flowchart showing the flow of control when the automatic guided vehicle of FIG. 8 travels along the traveling route of FIG. 10. 1...Automated guided vehicle 6...Electromagnetic induction detection means (electromagnetic big amplifier coil) 8...Guidance wire 12...Travel route detection means (magnetic sensor )13
...Guiding means (magnetic body) 17 ... Selection command means (mark plate) 31
...Guiding means (reflector) 33 ... Travel route detection means (photodetector) Patent Applicant Toyota Motor Corporation = 80-

Claims (1)

[Claims] 1. In a guidance method for guiding an automatic guided vehicle based on a guidance means installed along a preset travel route,
The automatic guided vehicle is provided with a plurality of types of travel route detection means including an electromagnetic induction detection means for detecting an induced magnetic field from a guide wire laid on the traveling road surface, and the automatic guided vehicle is provided with a plurality of types of traveling route detection means including an electromagnetic induction detection means for detecting an induced magnetic field from a guide wire laid on the traveling road surface, and the automatic guided vehicle is provided with a plurality of types of traveling route detection means, including an electromagnetic induction detection means for detecting an induced magnetic field from a guide wire laid on the traveling road surface. A different type of guidance means suitable for the conditions of the traveling road surface is installed, and when the automatic guided vehicle is traveling, the selection command means provided on the traveling road surface selects various types of guidance means installed on the traveling road surface from among the plurality of traveling route detection means. 1. A selective guidance method for an automatic guided vehicle, comprising: selecting a traveling route detecting means that matches the guiding means, and guiding the automatic guided vehicle along the various guiding means.