JPH02253406A - Section control method in unmanned carrying system - Google Patents

Abstract

PURPOSE:To contrive the miniaturization and the reduction in cost of a transmitter/ receiver and to improve reliability by setting a block point at a position before the branch and confluence points of a travel path at every destination direction, and deciding a rule one a map to output an unmanned vehicle entering signal by an unmanned vehicle at the block point. CONSTITUTION:The block points P1, P2, and P1' are set at the position before the branch and confluence points of the traveling path at every destination direction, and a transmission part and a reception part are arranged at every point, and it is decided in advance on the map of the unmanned vehicle 10 that block control is applied at the block points P1, P2, and P1' corresponding to the destination direction. A ground controller 26 can discriminate the destination direction of the unmanned vehicle 10 arriving at the block points P1, P2, or P1' by judging from which block point P1, P2, or P1' a block control request is received, and also, signals to permit/ neglect entrance to the block points P1, P2, and P1' are issued from the ground controller 26, and the unmanned vehicle 10 at the block point P1, P2, or P1' receives the signal, and judges the entrance or standby. In such a manner, it is possible to attain the miniaturization and the reduction in the cost of the transmitter/receiver, and also, the reliability can be improved.

Description

[Detailed Description of the Invention] [Field of Industrial Application] This invention relates to an unmanned transportation system in which cargo is transported in factories, automated warehouses, etc. by driving unmanned vehicles using guidance such as magnetism, light, and electromagnetic induction. , concerning a section control method to prevent unmanned vehicles from blocking each other at branch points, which was realized through simple communication with the ground side.

[Conventional technology]

Recently, in factories, automated warehouses, etc., the introduction of unmanned transportation systems that use unmanned vehicles to transport cargo is increasing due to the demand for FA (factory automation). The unmanned transportation system installs magnetic materials, optical reflective tape, guide wires, etc. along the route of the unmanned vehicle, and controls the steering by installing sensors such as magnetic sensors, light emitters/receivers, and pickup coils on the unmanned vehicle. This allows the unmanned vehicle to travel along the route.

In unmanned transportation systems, control at branching or merging positions is important, and if control is not done well, blocking (unmanned vehicles colliding with each other or glaring at each other and becoming unable to move) may occur.

Conventionally, in order to prevent blocking, an unmanned vehicle transmits information such as its own vehicle number and destination before a branching or merging point, and the ground-side control device receives this information and analyzes the information. If the destination direction is blocked, give a stop command to this unmanned vehicle and make it temporarily stop.
When the destination direction is vacant, the unmanned vehicle is given permission to enter the destination direction.

[Problem to be solved by the invention]

According to the conventional control method, the unmanned vehicle side transmits information such as its own vehicle number and destination, and the ground-side control device receives this information, analyzes the information, performs calculations, and calculates the calculation result (approach The unmanned vehicle must receive it, analyze the information, and decide whether to enter or stop temporarily, making the content of the communication signal complex However, there were problems with the cost and reliability of the transmitting and receiving equipment.

The present invention aims to solve these problems in the conventional methods and provide a section control method for an unmanned transportation system that can prevent blocking through simple communication.

[Means to solve the problem]

The present invention provides an unmanned transportation system in which an unmanned vehicle runs while detecting markers set on a traveling route, and operates according to a map that each unmanned vehicle has. Block points are set for each destination direction at the location, a transmitter and a receiver are installed at each of these, and the map of the unmanned vehicle is predetermined to perform block control at the block points corresponding to the destination direction. When a vehicle reaches this block point, it sends out an unmanned vehicle entry signal, and the receiving section of the block point receives this and sends it to the ground control device, and the ground control device instructs the transmitting section of this block point to allow or disallow entry. This is characterized in that the unmanned vehicle receives this signal and enters or waits.

[For production]

According to this invention, block points are set for each destination direction at positions before branching points and merging points of the driving route, and a transmitting section and a receiving section are installed at each of these, and the map of the unmanned vehicle is displayed according to the destination direction. The ground control device determines the destination direction of the unmanned vehicle that has reached that block point depending on which block point it receives the block control request from. By being able to determine whether the unmanned vehicle at that block point is allowed or not to enter the block point by issuing a signal from the ground control device indicating permission or disallowance to enter the block point, the unmanned vehicle at the block point receives this signal and determines whether it is allowed to enter the destination direction or whether it should wait. can be judged.

Therefore, the communication between the unmanned vehicle and the ground control device is simply the transmission and reception of the unmanned vehicle approach, and the transmission and reception of entry permission and denial, and there is no need to transmit and receive vehicle number and destination information.
The transmitting/receiving device can be made smaller and less expensive, and its reliability can also be improved.

〔Example〕

A practical example of this invention will be described below. FIG. 2 is an overall configuration diagram showing an example in which the present invention is applied to an unmanned withdrawal system in automatic 1tIi. A magnetic material, an optical reflective tape, an electromagnetic induction wire, etc. are laid on the floor on which the unmanned vehicle 10 travels, forming a travel path 12. shelf 1
The load 16 discharged from the vehicle 4 is placed on the unmanned vehicle 10, transported along the travel path 12 toward the destination, and transferred to the conveyor 18 at the destination. The operations of the unmanned vehicle 10 (travel direction, traveling speed, loading, unloading, etc.) are performed according to the map that the unmanned vehicle 10 has individually. Some markers PO are set on the travel path 12 at appropriate intervals. Also,
Block points Pi, P2, .・・・・・・
・ is set (at branch point 20 in the example in Figure 2, 2
Since the direction branches, two block points Pi and P2 are set on each running route 12.
Here, one block point P1 is set. )
, there is also a block point P at the end of the branch or confluence.
l' is set, and when an unmanned vehicle passes Pl', the block control for that section is released. Some of these markers PO and block points Pi, P2 .
For example, markers such as pieces of iron are installed at ......
The unmanned vehicle 10 detects this with a proximity switch attached to its bottom, counts the number, and reaches the count value shown on the map! to execute the action indicated on that map.

Each block point Pi, P2 is controlled by the ground control device 2.
6 is carried out through a cable 30 buried in the floor.

Block point PI before branch point 20.

An example of the configuration of P2 and an example of the configuration of the bottom of the unmanned vehicle 10 are shown in FIG. There is. An iron piece d (
1), e (1) and iron piece d (2), e (2)
is installed.

In addition, there is a receiving section a(1) (for example, a pickup coil, a light receiving element, etc.) for receiving the block control request signal, and a light emitting element, etc. for oscillating a signal (for example, an AC signal of a specific frequency) that is allowed to pass through. A transmitter b(1) and a transmitter C(1) such as a light projecting element that oscillates a signal (for example, an alternating current signal of a specific frequency) that permits activation are installed. If the transmitting units b(1) and c(1) are always in an oscillating state, they stop oscillating only when passage is prohibited or activation is prohibited.

The block point P2 is set at a position close to the branch point 20, and corresponds to, for example, the straight direction. This block point P2 has an iron piece d for block point detection.
(2), e (2) (also used as block point P1) and iron pieces d(3) and e(3) are installed. Additionally, there is a receiving section a (2) for receiving a block control request signal, and a transmitting section b (2) for allowing a signal to pass (for example, a transmitting section b (2)).
A transmitter b(2) that oscillates a signal similar to that of transmitter c(1)) and a transmitter c(2) that oscillates a signal that allows activation (for example, the same signal as transmitter c(1)) are installed. Transmitter b (
2), c (2) is assumed to be in a constant oscillation state (1), and oscillation is stopped only when passage is prohibited or activation is prohibited.

Incidentally, a pair of iron pieces d and e are also installed as markers at each marker part PO in FIG. 2, respectively.

On the other hand, on the bottom of the unmanned vehicle 10, iron pieces d(1 to 3) e(
Proximity switch D for detecting 1-3).

E, a transmitting part A for oscillating an unmanned vehicle approach signal, a receiving part (pickup coil, light receiving element, etc.) for receiving a passing permission signal, and a receiving part (pickup (coil, light receiving element, etc.) C is installed. The transmitter A' is the transmitter A' when traveling in the reverse direction.
It is also something to be ordered in place of.

A map as shown in FIGS. 4 and 5, for example, is set on the unmanned vehicle 10 by inputting from a keyboard or the like. Figure 4 shows the case of turning left at junction 20 in Figure 3.
Figure 5 shows the case of going straight. 0, each time the unmanned i10 simultaneously detects some of the markers PO and the markers d and e of the block point P1 using the proximity switches D and E, the operation number is assigned one by one. Then, the predetermined action content for that action number is executed.

When using the map shown in Figure 4, the number of markers from the start position is counted, and the count value n corresponding to the marker part PO immediately before the block point P1 is calculated.
When the number reaches +1, the operation content is switched to the operation number n+1.

Then, when iron pieces (d(1), e(1)) are detected simultaneously, the operation content is switched to operation number n+2 and an unmanned vehicle approach signal is issued.As a result, approach permission is issued from the ground control device 26. (transmitters S and C continue to oscillate), the next iron piece d (2) 1. After simultaneously detecting e (2), move straight at low speed, move number n + 3), and then move to the next iron piece d (3), e
After simultaneously detecting (3), turn left at low speed along the travel path 12'' that branches to the left (action number n+4), and after issuing the unmanned vehicle approach signal, a standby command is issued from the ground control device 26. In this case (transmitters S and C stop oscillating), the receiver B will no longer receive the oscillation signal (passing command) from the transmitter B, so the next iron pieces d(2) and e(2) will be sent at the same time. When the detection is detected, the traveling is stopped (operation number n+2), and when permission to enter is issued from the ground control device 26 (the transmitters S and C resume oscillation), the receiver C receives the signal from the transmitter C.
Since the A signal (starting command) is received, the vehicle starts traveling again (operation number n+3), and after simultaneously detecting the next iron pieces d(3) and e(3), turns left at low speed along the traveling path 12' (operation Number n+4).

When using the map shown in Fig. 5, count the number of markers from the start position and move straight at high speed to the count value n+1 corresponding to the marker part PO immediately before the block point P1 (action number n + 1). 1) Then, after simultaneously detecting the next iron piece (d (1) e (1)), it continues to drive straight at high speed, and then detects the next iron piece (d (2), e
(2)) When simultaneously detecting
When permission to enter is issued from 6 (transmitters S and C continue to oscillate), proceed straight ahead at high speed even after simultaneously detecting the next iron pieces d (3) and e (3). Operation number n + 4) Branch point 20 pass. In addition, if a standby command is issued from the ground control device 26 after issuing an unmanned vehicle approach signal (transmitters A and C stop oscillating), the receiver B receives an oscillation signal from the transmitter B (
Passing command) is no longer received, so the next iron piece d(3)
When e(3) is detected at the same time, the vehicle stops traveling (operation numbers n +, 4), and when permission to enter is issued from the ground control device 26 (transmitters S and C resume oscillation), the receiver Since the oscillation signal (starting intention) from the transmitter C is received at C, the vehicle resumes running and passes through the branch point 20 (action number n+4).

A flowchart of control for executing the above operations is shown in FIG. 1. The framework in FIG. 0 is the control on the unmanned vehicle 10 side, and the general framework is the control on the ground control device 26 side.

While traveling along the travel path 12, the unmanned vehicle 10 simultaneously detects each marker #PO and the markers d and e of the block points Pi and P2 using the proximity switches D and E (step S1), and calculates the number of detections. Count 82)
, causes the action content corresponding to the action number on the map indicated by the count value to be executed.

It is detected whether the count value has reached the operation number for requesting block control on the map (S3), and when it reaches this, the transmitter A is set to oscillate (S4), and an unmanned vehicle approach signal is issued. Receiving unit a on the side receives this and (8
5), the signal is sent to the ground control device 26 (86), and the ground control device 26 determines whether or not it is possible to enter the branching direction based on the presence or absence of a vehicle in the pond in the branching direction corresponding to the block point that received the unmanned vehicle entry signal. 37), and if the approach is permitted, the ground side transmitter S and C will continue to oscillate (S
8), the unmanned vehicle 10 receives #B.

When this is received at C (S9), the driver takes actions according to the map (driving straight, turning left, etc.) and passes through the junction 20 (810).

In addition, if entry is prohibited, the ground side transmitter will be used.

Stop the oscillation state of C (Sll). As a result, the receiving section B of the unmanned vehicle 10 will no longer receive the signal from the transmitting section S. Next, the timing when the proximity switches D and E simultaneously detect the iron pieces d and e. Stop running at (812) (313)
, After that, when permission to enter is issued from the ground control device 26 (
87), the oscillation of the transmitting parts S and C is restarted (S8), and when the unmanned vehicle 1 transmits the signal from the transmitting part C at the receiving part C (
S9), the vehicle performs actions according to the map (driving straight, turning left, etc.) and passes through the junction 20 (310).

In the above embodiment, control at the branch point 2o has been described, but the confluence point 21 can also be configured in the same manner as the block point P1 in FIG. 3 and controlled in the same manner as the branch point 2o.

[Example of change]

In the above embodiment, the case of two-way branching was explained, but
It can also be applied to branch points in three or more directions, and in that case, block points can be set according to the branch directions.

[Effects of the Invention] As explained above, according to the present invention, the branching of the running road,
Block points are set for each destination direction in front of the confluence point, and transmitters and receivers are installed at each of these points.
The unmanned vehicle map is preset so that an unmanned vehicle approach signal is issued at a block point corresponding to the destination direction, so the ground control device can determine from which unmanned vehicle approach signal a block control request is received. By being able to determine the destination direction of an unmanned vehicle that has arrived at that block point, and by issuing a signal from the ground control device to permit or disallow entry to that block point, the unmanned vehicle at that block point will receive this signal and proceed to its destination. It is possible to judge whether it is okay to proceed in a direction or whether to wait. Therefore, communication between the unmanned vehicle and the ground control device is simply the transmission and reception of the unmanned vehicle approach signal and the transmission and reception of entry permission and denial, and there is no need to send and receive vehicle number and destination information. Costs can be reduced and reliability can be improved.

[Brief explanation of drawings]

FIG. 1 is a diagram showing an embodiment of the present invention, and is a flowchart showing the branch point passing control shown in FIG. FIG. 2 is an overall configuration diagram showing an embodiment in which the present invention is applied to an automated warehouse. FIG. 3 is a plan view showing a configuration example of the branch point 20 and a configuration example of the bottom surface of the unmanned vehicle in FIG. 1. Figures 4 and 5 are diagrams showing examples of maps mounted on the unmanned vehicle shown in Figure 3. Figure 4 shows the map when turning left at junction 20, and Figure 5 shows the map when going straight. It is. DESCRIPTION OF SYMBOLS 10... Unmanned vehicle, 12... Travel path, 20... Branch point, 20... Merging point, 26... Ground control device, A.
... Unmanned vehicle side transmitting section, B, C... Unmanned vehicle side receiving section, D
, E...Proximity switch for block point detection, PO
...Part of marker, Pi, P2...Block point, a...Ground side receiving section, b, c...Ground side transmitting section,
d, e... Iron piece.

Claims (1)

[Scope of Claims] An unmanned transportation system in which an unmanned vehicle travels while detecting markers set on a traveling route, and operates according to a map that each unmanned vehicle has. Block points are set in the foreground for each destination direction, a transmitter and a receiver are installed at each of these, and the map of the unmanned vehicle is predetermined to perform block control at block points according to the destination direction. , When the unmanned vehicle reaches this block point, it sends out an unmanned vehicle entry signal, and the receiving section of the block point receives this and sends it to the ground control device, and the ground control device sends a signal to the transmitting section of this block point to permit entry or 1. A section control method in an unmanned transportation system, characterized in that a signal of disapproval is sent out, and the unmanned vehicle receives the signal and enters or waits.