JPH0290210A - Unmanned carrier vehicle controller - Google Patents

Abstract

PURPOSE:To attain highly efficient traveling control by allowing an optional unmanned carrier vehicle to enter into a blocked section without temporarily stopping when another unmanned carrier vehicle is previously traveling the blocked section at the time of arriving the blocked section. CONSTITUTION:When another unmanned carrier vehicle does not enter into the blocked section 14 and collision may not be generated, the unmanned carrier vehicle 1 previously entering into the blocked section 14 is allowed to enter into the section 14 without being temporarily stopped. The succeeding unmanned carrier vehicle 2 is temporarily stopped and waited at an entrance part until the preceding unmanned carrier vehicle 1 passes the blocked section 14. Consequently, an unmanned carrier vehicle control device capable of the efficient traveling control of the blocked section 14 can be obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to an automatic guided vehicle control device for controlling the travel of an automatic guided vehicle in a closed section.

(Prior art) In recent years, automated guided vehicles have been widely used to transport cargo within factories. In order to prevent incoming automated guided vehicles from colliding with each other, it is necessary to perform blocking control to prevent two or more automated guided vehicles from running simultaneously within a blocked area. An automated guided vehicle control device as shown is used.

This conventional automatic guided vehicle control device shows a case in which the automatic guided vehicles 1.2 each travel on the merging travel paths 3 and 4 and exit to the travel path 5. At the entrance to the closed section, a floodlight 8a,
9a, light receivers 8b, 9b are installed, and a light receiver 10 is installed at the section exit of the running path 5 on the merging side. Then, when the automatic guided vehicle 1゜2 enters the entrance of the blockage section 7 and blocks the optical signals from the projectors 8a and 9a, and the receivers 8b and 9b can no longer receive the optical signals, the blockage control device 6 gives a stop signal to each automatic guided vehicle 1.2 and causes it to stop.

Therefore, the blockage control device 6 determines whether or not another automatic guided vehicle is running within the blocked section 7, and causes the automated guided vehicle 1 or 2 to pass through the blocked section 7 one by one.

When the automatic guided vehicle 1 or the automatic guided vehicle 2 passes through the blockage section 7, the light receiver 10 receives a signal from the automatic guided vehicle 1 or the automatic guided vehicle 2, and the signal is sent to the blockage control device 6, thereby controlling the blockage. The device 6 determines that one automated guided vehicle has passed through the blocked section 7, and until then
The remaining automated guided vehicles, which had been temporarily stopped at the entrance, are controlled to travel in the blocked section so that they are allowed to pass through the blocked section.

(Problem to be Solved by the Invention) However, in such a conventional automatic guided vehicle I control device, when each automatic guided vehicle enters a blocked section, it is always stopped temporarily and then given permission to pass through the blocked section. Since the system controls each automatic guided vehicle to travel through the blocked section for the first time, the automatic guided vehicle can be temporarily stopped even in situations where there is no risk of collision because no other automated guided vehicle is traveling in the 111 blocked section. There was a problem in that the running efficiency was poor because it was wasteful to have to give a passing permission signal and then start running again.

This invention was made in view of such conventional problems, and if no other automatic guided vehicle has entered the blocked section and there is no risk of collision, the automatic guided vehicle cannot enter the blocked section. If another automatic guided vehicle is traveling in a blocked section, the automatic guided vehicle that is approaching the vehicle can be allowed to pass through the blocked section without having to stop. It is an object of the present invention to provide an automatic guided vehicle control device that can control the automatic guided vehicle to temporarily stop at the mouth and can efficiently control traveling in a closed section.

[Structure of the Invention] (Means for Solving the Problems) The automatic guided vehicle control device of the present invention defines a surrounding area surrounding an intersection of a plurality of travel routes as a closed section, and enters into each entrance portion of these 11 closed sections. The notification transmitting means, the entry permission notification transmitting means, and the receiving means for receiving the notification signal that the automatic guided vehicle is traveling in the blocked section are set, and the notification signal that the automatic guided vehicle is traveling in the closed section is sent to the exit of the blocked section. the automatic guided vehicle is provided with means for transmitting a notification signal while traveling in a blocked section, and means for receiving a signal from the approach notification transmitting means on the ground side; The signal from the transmitting means is transmitted from the receiving means on the automatic guided vehicle to the transmitting means for notifying that the automatic guided vehicle is traveling in a blocked section, and the signal from the transmitting means for notifying that the vehicle is traveling in a blocked section is transmitted from the receiving means on the ground side. The signal is transmitted from the entry notification transmitting means to the entire ground side, and the signal from the blocked section traveling notification transmitting means on the automatic guided vehicle is transmitted from the blocked section end detection receiving means on the ground side to all of the ground side. The approach notification transmission means and the approach permission notification transmission means are restarted, and the signals from the approach notification transmission means on the ground side are used to control the automatic guided vehicle traveling on each travel route toward the blocked section. The vehicle is equipped with a traveling control means that stops the vehicle when the on-vehicle receiving means cannot receive the signal and waits until it receives a signal from the entry permission notification transmitting means on the ground side.

(Function) In the automatic guided vehicle control device of the present invention, when the automatic guided vehicle approaches the entrance of the blocked section of the tree travel path, the automatic guided vehicle receives a signal from the entry notification transmitting means. The means receives the signal, activates the blocked section running notification transmitting means, and transmits the blocked section running notification signal to the receiving means on the ground side.

The receiving means on the ground side receives this signal and sends it to the blocked section travel control means, and the traveling control means detects that one automatic guided vehicle has entered the blocked section, and transmits the signal to all entry notification transmitting means on the ground side. and stop the operation of the entry permission notification transmitting means.

Therefore, an automatic guided vehicle that enters the blocked section later cannot receive a signal from the entry notification transmitting means at the entrance until the automatic guided vehicle that entered the blocked section first passes. The train will temporarily stop at the entrance to the blocked section.

For the automated guided vehicle that entered first, the blocked section traveling notification transmitting means is activated in response to the signal from the entry reporting transmitting means, and the automatic guided vehicle passes through the blocked section while transmitting the blocked section traveling signal. Go.

Therefore, when the receiving means installed at the exit of this blocked section receives a signal indicating that the blocked section is traveling from the automatic guided vehicle, it gives the received signal to the blocked section traveling control means, which controls the rAM section first. detects that an automated guided vehicle has passed through a blocked section. Then, all of the entry notification transmitting means and the entry permission notification transmitting means installed at the entrance of the blocked section are restarted.

As a result, the automatic guided vehicle that has previously stopped temporarily at the entrance of the blocked section and has come from behind will receive the entry permission signal from the entry permission notification transmitting means by the receiving means, and will transmit the entry permission signal while traveling in the blocked section. The means is operated to give a signal indicating that the vehicle is traveling in a blocked section to the receiving means on the ground side, and the vehicle starts traveling in the blocked section.

The receiving means on the ground side receives a blockage section running signal from an automatic guided vehicle that entered later and provides it to the 111M section running section means, and the blockage section running control means is installed at each entrance of the blocked section. Both the approach notification transmitting means and the approach enhanced notification transmitting means are stopped all at once.

In this way, similarly to the automatic guided vehicle that entered the blocked section first, the automated guided vehicle that entered later also passes through the blocked section and receives the signal that it is traveling in the blocked section by the receiving means at the exit. Other automatic guided vehicles are prevented from entering the blocked section until the transmitting means at each entrance of the blocked section are reactivated all at once.

In this way, when one automated guided vehicle enters a blocked section, it can enter the blocked section without stopping as long as no other automated guided vehicle is traveling in the blocked section. If one of the automated guided vehicles is traveling through the blocked section first, then the automated guided vehicle that is about to enter the blocked section later can be temporarily stopped at the entrance of the blocked section. .

(Example) Hereinafter, embodiments of the present invention will be explained in detail with reference to the drawings.

FIG. 1 shows an embodiment of the present invention, which is an embodiment in a closed section 11f14 where two running routes 11 and 12 merge to form one running route 13.

A floodlight 1 is installed at each entrance from each travel path 11 and 12 in the closed section 14 as an entry notification transmitting means.
5.16, and a floodlight 17.18 as an entry permission transmitting means is installed further forward in the traveling direction.

For each of these projectors 15 to 18, receivers 19 to 18
22 are installed at positions facing each other across the travel path 11 and 12.

Furthermore, a light receiver 2 is installed at the exit of the closed section 14 on the traveling path 13 side.
3 is installed.

Each of the projectors 15 to 18 and the light receivers 19 to 23 are connected to a closed section travel control device 24, and the control device 24 controls the operation and stopping of the operation.

Each automatic guided vehicle 1゜2 traveling on each traveling path 11.12 has a light receiver 25.26 for receiving light from the light projectors 15 to 18, and each light receiver 25.26 receives an optical signal. The vehicle is equipped with light emitters 27 and 28 as a transmitting means for notifying the user that the vehicle is traveling in a closed section.

The operation of the automatic carrier control device having the above configuration will be described next.

FIG. 2 shows that the automated guided vehicle 1 enters the blocked section 14 without stopping temporarily, and while the automated guided vehicle 1 is traveling through the blocked section 14, the automated guided vehicle 2 reaches the entrance of the blocked section 14. , after the previous automatic guided vehicle 1 has passed through the closed section 14, the next automatic guided vehicle 2 enters the closed section 14, and the light emitting operation of each of the projectors 5 to 18 and each of the light receivers 19 until it passes there. ~22
．． 23 light receiving operation, and the traveling operation of the automatic guided vehicles 1 and 2,
Light emitting device mounted on each automatic guided vehicle 1.2 27゜28
3 is a timing chart showing the light emitting operation of FIG.

Therefore, as shown in FIG. 2, the automatic guided vehicle 1
Assuming that the vehicle first enters the blocked section 14 through 1,
In this state, all the light projectors 15 to 18 are operating to emit light, and the light receiver 25 of the automatic guided vehicle 1 receives the light from the light projector 15 for entry notification and causes the light projector 27 to emit light.

Therefore, the light receiver 19 for detecting entry into a closed section receives light from the light projector 27 for notifying that the automatic guided vehicle 1 is traveling in a closed section, and provides a detection signal to the control device 24.

Automatic guided vehicle 1 using this light receiver 19 for detecting entry into a blocked section
Upon detection of the entry of
+).

After this operation, the automatic guided vehicle 1 operates the floodlight 27 for notifying that it is running in the RF1M section and enters the blocked section 14 without stopping while transmitting an optical signal, and continues the blocked section 14 to its exit. It runs.

When the automatic guided vehicle 2 enters the blocked section 14 from the traveling path 12 side at timing t2 while the automatic guided vehicle 1 is traveling through the blocked section 14 first, the entry notification on the traveling path 12 side Since the light projector 16 of the automatic guided vehicle 2 is stopped, the light receiver 26 on the automatic guided vehicle 2 side cannot receive the optical signal from the light projector 16, and therefore the light projector 28 of the automatic guided vehicle 2 cannot emit light either. The light receiver 20 does not receive the optical signal from the automatic guided vehicle 2, and the automatic guided vehicle 2 comes to a temporary stop at this entry point (timing [2]).
).

After that, the automatic guided vehicle 1 that entered first reaches the exit part at timing t3, and the light receiver 23 for passage detection receives the signal from the light emitter 27, and gives a reception signal to the control device 24. The control device 24 operates all the floodlights 15 to 18 on the ground side again, and transmits the optical signal from the floodlight 18, which is provided on the travel path 12 and serves as an entry permission notification transmitting means, to the automatic guided vehicle 2. The light receiver 26 receives this optical signal for notification of entry permission, and the automatic guided vehicle 2 enters the closed section 14 and passes through it.

At this time, the light receiver 26 of the automatic guided vehicle 2 receives the entry permission signal, causes the light projector 28 to emit light, and gives an optical signal to the light receiver 22 on the ground side for detecting the possibility of entry, and the light receiver 22 blocks this signal. The control device 24 receives the entry signal of the automatic guided vehicle 2 into the closed section 14 and stops all the floodlights 15 to 18 at the same time, so that other automatic guided vehicles can resume traveling on the traveling route 11 or traveling. Entry into the blocked section 14 from the road 12 is temporarily stopped (timing 14).

After that, the automatic guided vehicle 2 travels in the blocked section 14, and when the signal from the light projector 28 is received by the light receiver 23 at the exit of the blocked section 14, the blocked section travel control device 24 controls the automatic guided vehicle 2 to move through the blocked section 14. It is detected that the section has been passed, and all the projectors 15 to 18 are operated again (timing js>).

In this way, the automatic guided vehicle 1 that enters the blocked section 14 first enters the m blocked section 14 without stopping,
For the automatic guided vehicle 2 coming later, the automatic guided vehicle 1 is temporarily stopped at the entrance until the preceding automatic guided vehicle 1 passes through the blocked section 14.
It is possible to perform travel control that causes the vehicle to standby.

FIG. 3 shows another embodiment of the invention, in which the running path 1
1.12 shows an example in a closed section 14 of an intersection.

Also in this actual flow example, the projectors 15 to 18 and the light receiver 19 are located at the entrance of the closed section 14 in each travel path 11.12.
22 is installed, and the blockage section 1 on one running road 11 is installed.
A light receiver 23 is provided at the exit portion of 4.

In this embodiment, an exit detection light receiver 29 is additionally provided at the exit of the closed section 14 of the travel path 12.

With this configuration, similarly to the first embodiment, the automatic guided vehicle 1 can enter the closed section 14 through the travel path 11, and the light receiver 23 can detect that it has reached the exit section. It is now possible to detect by the light receiver 29 that the automatic guided vehicle 2 has also entered the closed section 14 through the travel path 12 and reached the exit of the closed section 14, so that any automatic guided vehicle 1. As long as one of the two vehicles enters the closed section 14 first, the other can be temporarily stopped at the entrance of the closed section 14 and placed on standby.

In addition, Fig. 4 shows a blockage section 1 at an intersection where another traveling route 30 merges with the two traveling routes 11 and 12 that merge.
4, and similar to the first embodiment, floodlights 15 to 18 and light receivers 19 to 22 are installed on each of the running routes 11 and 12, and furthermore, in the newly established running route 30, the closed section 1 is also installed.
A floodlight 31 for notifying entry and a floodlight 32 for notifying entry permission are provided at the entrance to 4, as well as a light receiver 33 for detecting entry of an automatic guided vehicle, and a light receiver 34 for detecting entry permission signal.
is provided, and an automatic guided vehicle 35 is made to travel on this travel path 30. Note that the unmanned conveyance vehicle 1135 is equipped with a light receiver 36 and a light projector 37 similarly to the automatic guided vehicles 1 and 2.

The blockage section traveling control device 24 controls the automatic guided vehicle 1.2.
．． 35 enters the closed section 14, all the floodlights 15 to 18, 31, 32 are stopped in response to the automatic guided vehicle that entered first, and it attempts to enter later. It operates so that the automatic guided vehicles cannot enter the closed section 14 at the same time.

Furthermore, when the automatic guided vehicle first enters and passes through the blocked section 14 and receives an exit arrival signal of the automated guided vehicle by the exit light receiver 23, the blocked section travel control device 24 controls all the projectors 1.
5 to 18.31.32 can be operated again to give another automated guided vehicle that had been waiting until then permission to enter the blocked section 14, thus allowing the three automated guided vehicles 1 and 2 to enter the blocked section 14.
．． Regarding No. 35, the first automated guided vehicle enters the blocked section 14 without stopping and passes through it, and for the following automated guided vehicle, the automated guided vehicle that is traveling in the blocked section 14 passes there first. This allows you to temporarily wait until the process is complete.

[Effects of the Invention] As described above, according to the present invention, in a blocked section where a plurality of running roads intersect, an entry notification transmitting means and an entry permission transmitting means are provided at the blocked section entrance portion of each running road. At the same time, a receiving means is provided at the exit of the blocked section, and when the blocked section travel control means detects that one automated guided vehicle enters the blocked section, the automated guided vehicle is temporarily stopped. The other automated guided vehicles are made to temporarily stop and wait at the entrance of the blocked section until the automated guided vehicle that entered the rII blocked section first reaches the exit. This eliminates the need for each automatic guided vehicle to temporarily stop each time it enters a blocked section and then run the 1m blocked section again, as was the case in the past. As long as the automated guided vehicle has not previously traveled through a blocked section, it can enter and pass through the blocked section without stopping, which greatly reduces wasted time when passing through the blocked section, increasing efficiency. Good driving control can be performed.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of one embodiment of this invention, FIG. 2 is a timing chart explaining the operation of the above embodiment, FIG. 3 is a block diagram of another embodiment of this invention, and FIG. 4 is a block diagram of this invention. FIG. 5 is a block diagram of a conventional example. 1.2.35... Automatic guided vehicle 11.12, 13.30... Travel path 14... Blocked section 15-18. 31.32... Floodlight 19-22, 33.34... Light receiver 23.29... Light receiver 24... Blocked section travel control device 25.26.36... Light receiver 27.28.37... Light emitter

Claims (1)

[Claims] A surrounding area surrounding an intersection of a plurality of travel routes is a closed section,
An entry notification transmitting means, an entry permission notification transmitting means, and a receiving means for receiving a notification signal from an automated guided vehicle while traveling in a blocked section are installed at each entrance of the blocked section, and the automated guided vehicle is placed at the exit of the blocked section. A blocking section end detection receiving means for receiving a notification signal from a vehicle while traveling in a blocked section is provided, and the automatic guided vehicle is provided with a means for transmitting a notification signal while traveling in a blocked section and a signal from the approach notification transmitting means on the ground side. and receiving means, and when the receiving means on the automated guided vehicle receives the signal from the entry notification transmitting means, the blocked section traveling notification transmitting means is activated, and the blockage section traveling notification transmitting means is activated. When the receiving means on the ground side receives the signal, the transmitting means for notifying the approach is stopped, and the signal from the transmitting means for notifying that the automatic guided vehicle is traveling in the blocked section is received for detecting the end of the blocked section on the ground side. When the means receives the signal, it restarts all of the approach notification transmitting means and the approach permission notification transmitting means on the ground side, and directs the automatic guided vehicle traveling toward the blocked section on each traveling route to the ground side. An unmanned conveyance vehicle comprising a travel control means that stops the vehicle when the on-vehicle receiving means cannot receive a signal from the approach permission notification transmitting means and waits until it receives a signal from the approach permission notification transmitting means on the ground side. car control device.