JPH0296809A - Device for generating command of travel of unmanned carrier - Google Patents

Abstract

PURPOSE:To safely and securely turn by automatically deciding an optimum turning method based on stored data only by means of indicating the travel route of an unmanned carrier. CONSTITUTION:A turning decision means 34 which decides the presence or absence of the necessity of the unmanned carrier for turning, and a turning information storage means 31 which stores information showing the size of an area required for the turn of the unmanned carrier are provided. A turning pattern selection means 42 which selects a turning pattern in which the carrier can pass a crossing among plural and different turning patterns based on respective stored contents of a map information storage means 32 and a turning information storage means 31 when the turning decision means 34 has decided that turning is required. Consequently, the turning pattern in which turning is performed within the range of the area where travel is attained in the crossing to be turned is decided only by indicating the travel section of the unmanned carrier. Thus, the turning can safely and securely be performed.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a device for creating a travel command for an automatic guided vehicle such as a forklift, and in particular, the present invention relates to a device for creating a travel command for an automatic guided vehicle such as a forklift, and in particular, a device for creating a travel command for an automatic guided vehicle such as a forklift. The present invention relates to a device suitable for use when it is necessary to drive the vehicle to a destination.

[Conventional technology]

Conventionally, unmanned guided vehicles (hereinafter referred to as
By dividing the taxiway on which the vehicle (referred to as a vehicle) travels into a plurality of sections, and specifying the sections within the travel section of the vehicle to the destination of the plurality of sections in the order in which the vehicle is traveling,
The applicant of the present application has proposed a device in which the vehicle is caused to travel along the guideway to the destination in the designated order of sections.

In this case, map information indicating a map of the taxiway including the plurality of sections is stored in advance in the map information storage means, and based on the data stored in the map information storage means, the distance between two consecutive sections of the travel section is to determine whether or not to make a turn. If it is determined that a turn is necessary, the vehicle is turned using a predetermined turning method.

[Problem to be solved by the invention]

By the way, when the above-mentioned taxiway is installed indoors, especially in a narrow place such as a factory, equipment such as pillars, walls, etc. may approach the vicinity of the intersection due to the layout, and it may not be possible to secure sufficient space near the intersection. Therefore, depending on the turning method, there is a risk that the vehicle may come into contact with equipment such as the pillars and walls when turning at the intersection. Therefore, it is necessary to determine a turning method to prevent such contact from occurring, and this determination is made by the operator based on the traveling layout drawing. In this case, whether or not the vehicle needs to change its forward/reverse state before and after the intersection, that is, whether to make a simple turn or a switchback turn, the turning performance of the vehicle, and the size of each part of the vehicle. It is also necessary to take into account other factors. These decisions often rely on manual calculations and so-called intuition, and therefore, even if the turning method is determined by an expert, it often comes into contact with the above-mentioned pillars, walls, and other equipment during actual turning. , which has the problem of lacking certainty.

Further, the above-mentioned turning method needs to be determined individually depending on the layout of the taxiway and the travel section of the vehicle. Therefore, the conventional method has a problem in that it lacks flexibility with respect to changes in the layout of these guideways. Furthermore, manually determining the turning method and individually depending on the layout of the taxiway and the section where the vehicle is traveling increases the cost of developing the system.

The present invention was developed in view of these circumstances, and by simply instructing the automatic guided vehicle's travel route to its destination, it automatically determines the optimal turning method according to the layout of the taxiway and the travel route of the vehicle. The purpose of this invention is to provide a two-way system for creating travel commands for automatic guided vehicles.

[Means and effects for solving the problem] Therefore, the present invention includes a map information storage means for storing map information of a taxiway having an intersection, and a map information storage means for storing map information of a taxiway having an intersection, and a driving section on which an automatic guided vehicle should travel on the taxiway. a driving section input means for inputting information indicating the map f [based on the stored contents of the storage means;
a turning determination means for determining whether or not the automatic guided vehicle needs to turn for each intersection in the traveling section; and a turning determination means that indicates the size of an area necessary for the automatic guided vehicle to turn for each of a plurality of different turning patterns. a turning information storage means for storing information;
When the turning determination means determines that it is necessary to make a turn, the intersection is selected from among the plurality of different turning patterns based on the stored contents of the map information storage means and the turning information storage means. A turning pattern selection means for selecting a turning pattern that can be passed through, and a driving command generating means for creating a traveling command including a command corresponding to the selected turning pattern and causing the automatic guided vehicle to travel along the input traveling section. We are trying to equip automated guided vehicles.

That is, simply by indicating the travel section of the automatic guided vehicle, a turning pattern is automatically determined that satisfies the condition that the automatic guided vehicle turns within the travelable area at the intersection where the automatic guided vehicle should turn.

Furthermore, in the present invention, the distinction between forward and backward movement of the vehicle before and after a turn is instructed in advance, and a turning pattern that achieves the instructed forward and backward movement states and also satisfies the above conditions is automatically determined. Ru.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of an automatic guided vehicle travel command generation device according to the present invention will be described with reference to the drawings.

FIG. 2 shows a part of the guideway along which the automatic guided vehicle 50 such as a forklift shown in FIG. 4 runs.

As shown in the figure, this guideway R includes an automatic guided vehicle 50 (
The running line 14, 1 on which the vehicle (hereinafter abbreviated as vehicle 50) runs
5, 16, 17.18 and 19, station A is on the running line 14, and station A is on the running line 16.1.
Stations B, C and D are set on stations 7 and 18, respectively. Further, the travel line 14 intersects the travel line 19 and the travel line 15 at intersections 20.21, respectively, and the travel line 1115 intersects the travel lines [16, 17, and 18] at intersections 22.23 and 24, respectively.

The taxiway R is divided into multiple sections as shown by dotted lines in the figure, and each section has identification numbers 1゜2.3, 4,
5, 6, 7, 8.9, 10, 11°12 and 13 are given. Further, in the figure, 25 indicates a wall within the premises where the taxiway R is laid, and 26 indicates a pillar within the premises.

In addition, in the embodiment, a guide wire buried under the road surface (that is, this means the above-mentioned guide path R) for guiding the vehicle 50, an excitation power source that supplies current to the guide wire, and a conveyance command that is given to the vehicle 50. A central control unit for traffic control, and ground equipment including a cargo handling station (that is, stations A to D described above) for exchanging cargo with processing machines, assembly lines, automatic racks, etc., and mounted on the vehicle 50. We assume an unmanned transportation system consisting of a traveling function that runs along the above-mentioned taxiway R, and an on-vehicle device that has a work function that automatically loads and unloads cargo at the above-mentioned cargo handling station. FIG. 1 is a block diagram for explaining the traveling function of the on-vehicle device, and conceptually shows an example of the traveling command generation device according to the present invention.

Hereinafter, the above work functions are different from the gist of the present invention, so
Explanation regarding this will be omitted. Further, since the technique of controlling the steering of the vehicle 50 so as not to deviate from the course along the guide line is well known, a description thereof will also be omitted. It is assumed that a transport command for the vehicle 50 is given to the vehicle 50 from the central control device through a data communication system configured mainly of a communication device of the central control device and a communication device of the vehicle 50.

Note that the data communication system described above is also capable of transmitting necessary signals from the vehicle 50 to the central control device.

Now, the traveling pattern of the vehicle 50 on the above-mentioned taxiway R includes various combinations of a station (standby point) as a departure point and a station (a cargo handling work point where cargo is loaded and unloaded by the vehicle) as a destination. Combine, A
Point - B point, B point = A point, A point = C point, C point = A point, A point - point D, D point = A point, B point - 0 point, C point → B point, C point =
There are point D, point D → point C, point B → point D, point D → B, and a.

The device shown in FIG. 1 mainly includes a travel command generation unit 30 that creates a travel control signal and a turning control signal for causing the vehicle 50 to travel according to each of the travel patterns described above, and outputs these signals; It is comprised of a control circuit section 40 that receives travel control signals and turning control signals created by the command creation section 30, respectively, and controls travel and steering angle.

The driving route storage device 31 shown in the figure stores driving route data indicating the driving route along which the vehicle 50 travels in correspondence with each of the above-mentioned driving patterns. That is, the travel route for the travel pattern from point A to point B is stored in the form 1-2-3-6 using the identification number of the section, and the travel route for the travel pattern from point A to point C is stored in the form 1-2-3-6. The route is stored in the form 1-2-3-4-7.

That is, the driving route corresponding to each driving pattern is stored in a form indicating the arrangement order of the section identification numbers (the driving order of the vehicle).

The map information storage device 32 stores map information showing a map of the taxiway R including sections 1 to 13. This will be discussed later.

The driving route, map information, etc. are input in advance by the driving route input device t33, which is mainly composed of a keyboard, and are sent to the driving route storage device 31 via the CPU 34.
and the map information storage device 32, respectively.

The command input device 35 is used to input a code number indicating the travel route given from the central control device.

Further, the position mark detector 36 detects the end of passage of the vehicle 50 in each section. That is, when the detector 36 detects the mark provided at the end of the section, it is determined that the passage has ended.

The moving distance measuring device 37 is configured mainly of pulse encoders attached to the wheels of the vehicle 50, and measures the moving distance of the vehicle 50. The outputs of the position mark detector 36 and the moving distance measuring device 37 are respectively applied to the CPU 34.

Further, the travel control circuit 41 and the turning control circuit 42 in the control circuit unit 40 drive and control a travel motor and a steering motor (not shown), respectively, based on the output results of the CPU 34, to move the vehicle 50 to the destination point. This is to drive the vehicle to the station.

Here, the contents stored in the map information storage device 32 will be explained.

Tables 1 and 2 below show the contents stored in the map information storage device 32.

Table 1 Table 2 Table 1 shows partition connection data (■, ■,...
・, ■) and the length of each section 1 to 13 is 111, ...'1
3, and forward/reverse data representing the forward/reverse states F, R, and B of the vehicle 50 when traveling in each station A-D and each section 1-13 are listed.

Here, the above-mentioned section connection data ■ to ■ identify the direction in which the adjacent sections exist when each section 1 to 13 is shown as a figure E whose elongated direction is the same direction as the running line, as shown in Fig. 3. (hereinafter referred to as a terminal).

In addition, the forward/reverse data F, R, and B are as shown by arrow H in FIG. 4 when the fork 51 is driven in advance as shown by arrow G in FIG. These symbols represent the case where the vehicle main body 52 travels in advance (hereinafter referred to as reverse travel) and the case where the vehicle may travel in either the forward direction or the reverse direction (hereinafter referred to as bidirectional travel). Here, station A
The symbols F and R for ~D can be read as "traveling forward and arriving at the station" and "traveling backward and arriving at the station", or "leaving the station traveling backwards" and "traveling forward", respectively. "Depart from that station by driving."

That is, for example, taking section 1 in Table 1 as an example, section 1 is connected to station A at terminal ■, section 2 at terminal ■, section 12 at terminal ■, and section 11 at terminal ■. It can be seen that the section length is No, and that both forward and backward travel is possible in section 1 (symbol B).

Table 2 shows that the vehicle 50 is at each intersection 20.21.22.23.
and 24, the various turning methods used by the vehicle 50 and the distances M To r '' I required for the vehicle 50 to turn using the various turning methods described above in each of the intersecting directions of the traveling lines that intersect at the intersection. rT
It also shows the relationship with TB. Hereinafter, the above distance will be referred to as the turning occupation distance. The contents of Table 2 are also the same.
Like the contents of the table, it is stored in the map information storage device 32.

Here, To is the turning distance in the direction in which the vehicle 50 enters the intersection, T1 is the turning distance in the direction in which the vehicle 50 finishes turning at the intersection and exits, and T + , T o represent the turning occupation distances in directions opposite to the approach direction and the exit direction, respectively.

The various turning methods described above can be roughly divided into so-called simple turning, in which the attitude angle of the vehicle 50 simply changes by 90 @ before and after the turn, and this simple turning, and an operation of reversing the forward/reverse state of the vehicle 50 (so-called switchback). In combination with this, there is a so-called switchback turning in which the forward and backward traveling states of the vehicle 50 are reversed before and after the turn, and the attitude angle changes by 90'.

FIGS. 5(a) and 5(b) show the turning state of the above-mentioned simple turning. By the way, (a) in the same figure corresponds to "simple turning forward" in Table 2, which shows the mode of performing a simple turning while traveling forward).
FIG. 6(b) shows a mode in which a simple turn is performed while traveling backwards (corresponding to "simple turn backwards" in Table 2).

The above-mentioned switchback turns are broadly divided into switchback turns I, in which a simple turn is made after passing through an intersection and a switchback, and switchback turns in which a switchback is made after a simple turn.

6(a) and 6(b) show the turning manner of the switch bank turning 1, and FIGS. 6(c) and 6(d) show the turning manner of the switchback turning H, respectively. By the way, the same figure (
Figure a) shows how the switchback turn I is performed from a backward running state (corresponding to [Switchback turning work reverse J in Table 2), and Figure (b) shows how the switchback turn I is performed from a forward running state. (corresponding to "Switchback turn 1 forward" in Table 2), and Figure (c) shows how a switchback turn ■ is performed from a reverse running state (corresponding to "Switchback turn 1 forward" in Table 2). (d) shows a switchback turn from a forward running state.
("Switchback turn" in Table 2)
(corresponding to "Forward") are shown respectively.

These Figures 5(a), (b) and Figure 6(a)
, (b), (c), and (d) are indicated by broken lines.
11 for the above rotation occupation! The regions determined by the values of T6, T1.7, and TB are necessary for the vehicle 50 to turn, and the dashed lines conceptually represent the traveling trajectory of the vehicle 50.

The distances AtTo, T+, T, and To are, as shown in FIG. It is determined by calculating the following equations (1) 2 to (5) using the time rotation I, the distance r between the rotation center P and the inside of the vehicle body 52, the wheel base WB of the vehicle 50, and the coefficient C as parameters.

To = W/ 2 + r + 1
... (1) (W/2+r) ...
・ (2)7 -W/2+r+max (1,K)T
L...
(3) (W/2+r) ... (4) Here, in equation (3), K indicates the distance until the attitude of the turning radius vehicle 50 is stabilized, and is calculated using the following calculation: K-WBXC-(5) It will be done.

However, the coefficient C varies depending on the performance of the vehicle 50, but is generally in the range of 0.8 to 1.2.

In Table 2 above, l-1860 (aim), lL
-595 (mm), W-1120 (IIm),
r-300 (Imm), WB = 1355
Distance T in the case of (■). , T, , T, and TB are shown.

Note that the distance, IITo, T+, T, and T
The teaching of s may be performed by calculating the above equations (1) to (5) and inputting these values directly from the keyboard, and the above parameters t, IL, W.
, ", WB and C manually from the above keyboard, and C
The above equations (1) to (5) are calculated within the PU 34, and the distance MT0. This may be done by automatically generating TI, T and TB.

The processing performed by the CPU 34 will be described below.

Now, assume that the vehicle 50 is traveling from station A to station B.

In this case, the command input device 35 selects the running pattern A-8.
The code number indicating the code is entered manually. Then, the address corresponding to the travel pattern AB in the travel route storage device 31 is specified, and the travel route data 1-2-3-6 is read out.

First, the section connection data of section 1 through which the vehicle 50 should first pass is read from the map information storage device 32. As is clear from Table 1, it can be seen that station A is connected to section 1, so if the vehicle 50 is currently located at station A, it is determined that the command is valid.

However, if it becomes clear that the vehicle is currently located at a station or section other than station A, and that the station, etc. at the current location is not connected to section 1, then the command is not valid and the operator is instructed not to execute it. Execute the processing to be performed.

Specifically, the vehicle 50 transmits a signal indicating that execution is not possible to the central control unit, so that the content of the signal can be displayed on the display device of the central control unit. In this case, the vehicle 50 stops all processing and waits until the next command is sent from the central control device.

In this case, the current position of the vehicle 50 is detected based on the output of the travel distance measuring device 37.

If the command is valid, then the next command, the section connection data of section 2, is read out from the map information storage device 32. As is clear from Table 1, since the section 2 is connected to the section 1 through the terminal ■, it can be seen that in the section 1, the vehicle 50 only needs to travel straight. However, the vehicle 50
A travel control signal and a turning control signal for causing the vehicle to travel straight in section 1 are generated and output to the travel control circuit 41 and the turning control circuit 42, respectively. As a result, the vehicle 50 travels straight on the travel line 14 in the section 1 at a predetermined vehicle speed and with the steering angle kept at zero. As is clear from the contents of Table 1, the forward/reverse data regarding station A is "Start traveling forward" (symbol R), so in section 1, the vehicle 50 will be traveling forward. .

When the position mark detector 36 detects that the vehicle 50 has moved to the end of the section 1, the section connection data of the section 3, which is the next command, is read out from the map information recorder t11 device 32. As is clear from Table 1, section 3 is connected to section 2 through terminal ■, so between section 2 and section 3,
It can be seen that it is necessary to turn to the right at the intersection 21 between the same sections.

Therefore, a process is performed to select the optimal turning method from among the various turning methods listed in Table 2 above.

Hereinafter, the procedure of this selection process will be explained step by step.

l) Read the forward/reverse data of section 2 and section 3 from the map information storage device 32, perform a switchback, and determine whether it is necessary to reverse the forward/reverse state of the vehicle 50, that is, whether or not it is necessary to perform a simple turn. It is determined whether to perform a switchback turn or a switchback turn. Section 2 here
Since the forward/reverse data is for "bidirectional travel", section 2
It can be seen that the forward/reverse state of the block 1 depends on the forward/reverse state of the section 1 immediately before.

Since forward travel was performed in section 1, the forward/reverse travel state of section 2 becomes "forward travel".

On the other hand, the forward/reverse data for section 3 is "reverse travel", and the forward/reverse state is reversed (forward-reverse), so
It is determined that a switchback turn should be made.

2) When it is thus determined that a switchback turn should be performed, one of the switchback turns IS and the switchback turn H is selected.

As shown in Table 2 above, the required turning occupation distance T0. T, , T, and TB are set according to various turning methods.

Traveling lines 14.1 that intersect at the intersection 21 where you should turn
A turning method is selected that satisfies the condition that the turning occupation distance is equal to or less than the sum of the lengths of the sections existing in the intersecting direction for all of the five running directions.

Specifically, sections 1 and 2 in which the turning occupancy distance T0 in the approach direction of the vehicle 50 at the intersection 21 exist in the same direction
Length II.

l? The total length! , 112 or less, T0≦t, +12 (6), and the turning occupation distance T1 in the direction opposite to the approach direction at the intersection 21 is 116 or less, the length of the section 10 that exists in the same direction. The following conditions apply: T1 ≦'10 - (7), and the turning occupancy distance T in the escape direction of the vehicle 50 at the intersection 21. Length 13. of section 3, 4.5 which exists in the same direction. l.

Conditions for the total length of 15 + 14 + 15 or less, T ≦ 13 + 14 + l, ... (
8) and the condition that the turning occupation distance T8 in the direction opposite to the escape direction at the intersection 21 is equal to or less than the length l of the section 9 existing in the same direction, TB≦I9... (9) are all satisfied. A turning method is selected that satisfies the requirements.

Since the vehicle 50 performs a switchback turn while traveling forward, two types of turning data r, , 'r, 'switchback turn I forward' and 'switchback turn U forward J' in Table 2 are used. ,”r, and TB, and the first
Table section length data l,, 12°11, ! <,
Is, 16, ly, ly, 1嘗, and '10 are read from the map information storage device 32, the above calculations (6) to (9) are executed, and one of the turning methods is selected based on the calculation results. become.

For example, the section length ll of section 9 is 101000 (a
Assuming that, for [switchback turn ■ forward J, T B (= 1455 (a + 11)) > l s (-
1000(■))...(9)', the above conditional expression (9) is not satisfied, and it can be seen that this turning method is inappropriate.

That is, if a turn is made using this turning method as shown in FIG. 6(d), the vehicle 50 will deviate from the section 9 at the point q and come into contact with the wall 25, causing the inconvenience.

3) If the conditions of formulas (6) to (9) above are satisfied for any of the turning methods, prioritize the two turning methods ■ and ■ in advance and select one of them with priority. do it.

Also, for any turning method, see (6) to (9) above.
If the condition of the formula is not satisfied, a process is executed to change direction at the intersection 19 one place before the intersection 21 where the turn should normally be made, and the forward/reverse state of the vehicle 50 is changed to a reverse state ( After that, the turning possibility of "simple turning backward", in which the forward/reverse driving state does not need to be reversed), and then turning while in the backward traveling state, is again changed from (6) to (
9) Make decisions based on formulas. In this way, one of the turning methods, for example "switchback turning I forward", is selected.

This is part 8 of the turning method selection process! It is essential.

In this way, if "switchback turn I forward" is selected, a travel control signal and a turning control signal for turning the vehicle 50 using this turning method are created, and these signals are sent to the driving control circuit 41 and the turning control signal. Output to circuit 42.

``In other words, first, as shown by the arrow ■ in Figure 7, the vehicle 50
A traveling control signal and a turning control signal for causing the vehicle to travel straight on the traveling line 14-to in section 2 and section 10 are generated and outputted to a traveling control circuit 41 and a turning control circuit 42, respectively. As a result, the vehicle 50 travels straight on the travel line 14 in the sections 2 and 10 at a predetermined vehicle speed and with the steering angle held at zero. During this time, when the position mark detector 36 detects that the vehicle 50 has moved to the terminal end S of the section 1, the section connection data of the section 6, which is the next command, is read out from the map information storage device 32. As is clear from Table 1, section 6 has a terminal connected to section 3.
Therefore, it can be seen that between section 3 and section 6, it is necessary to turn to the left at the intersection 22 between the same sections.

Therefore, using the same procedure as 1) to 3) above, the intersection 22
The optimal turning method is selected.

When the position mark detector 36 detects that the vehicle 50 has moved to the end t of the section 10, a running control signal and a turning control signal are output to stop the vehicle 50 at the point t and to turn the vehicle 50 back and forth. be done. As a result, the vehicle 50 shifts from forward traveling to reverse traveling as shown by arrow J, and starts traveling straight again along the traveling line 14 with the steering angle maintained at zero.

Next, a left turn is made from section 10 to section 3, but in order for the vehicle 50 to smoothly move onto the traveling line 15 in section 3 after the turn, it is necessary to position the vehicle 50 at an appropriate position on the traveling line 14 in section 10. You need to start turning the steering wheel. The above-mentioned appropriate position is a position U(
(see FIG. 7).

Therefore, based on the output of the moving distance measuring device 37, the vehicle 5
The current position of 0 is calculated, and the calculated current position and the position U are compared at any time.

Eventually, at the time when the current position coincides with the position U, a travel control signal and a turning control signal are outputted for giving a predetermined steering angle to the steering wheel and making a left turn. As a result, the vehicle 50 turns to the left as shown by arrow K.

Further, in order to smoothly move the vehicle 50 onto the traveling line 15 within the section 3 after turning, it is necessary to continue turning the steering wheel by an appropriate distance. This appropriate distance also applies to vehicles 5
It is assumed that a preset route ML (see FIG. 7) is given using parameters such as wheel base WB of 0 and traveling (turning) speed.

Therefore, based on the output of the moving distance measuring device 37, the moving distance of the vehicle 50 from the above position U and the above preset path A11L are determined.
Comparisons are made from time to time.

Eventually, when the travel distance matches the preset distance, the steering angle is returned to zero and the section 3
A travel control signal and a turning control signal for driving the vehicle straight on the travel line 15 within the vehicle are output. As a result, the vehicle 50
At point U, the attitude angle of the vehicle 50 becomes almost zero with respect to the traveling line 15, and the vehicle 50 travels straight on the traveling line 15 in the section 3 (see arrow M in FIG. 7).

From then on, the vehicle 50 moves to the intersection 22 in section 3 and section 6.
The vehicle then makes a turn using the optimal turning method selected through the same procedure as 1) to 3) above, travels along the travel line 16 within the section 6, and reaches the destination station B. As described above, according to the embodiment, for each intersection direction of an intersection where it is determined that the vehicle 50 will make a turn, the turning occupation distance is equal to or less than the sum of the lengths of the sections, and the turning is not possible. A turning method that provides forward and reverse driving conditions in the sections before and after the intersection to be executed is automatically determined based on the contents of the stored data.

Therefore, it is possible to reliably turn the vehicle without contacting equipment such as pillars or walls (without deviating from the taxiway). Furthermore, instead of individually determining the turning method according to the driving route by hand calculation and intuition based on the taxiway layout drawing, the turning method is automatically determined inside the computer, making it flexible to changes in the layout. In addition, it is possible to reduce the system's Di generation cost.

In the embodiment, a driving pattern is input to the command human power device 35, and the driving route data corresponding to the input driving pattern is retrieved from the driving route storage device 31. However, the driving route data, for example " 1-2-3
-6". In this case, it is possible that the arrangement order of the given partition identification numbers does not match the arrangement order in the actual partition layout due to operator error. The map information storage device 32 determines whether the sections are connected in the above arrangement order.
If the command is determined sequentially based on the stored data, if the command is valid, processing is continued; if the command is not valid, the operator is instructed that the command cannot be executed, as described above. good.

Further, in the embodiment, a transport command (indicating a running pattern) for the vehicle 50 is transmitted from a communication device of the central control device to a communication device of the vehicle 50, and is given to the vehicle 50 by manually inputting it to the command input device 35. However, it is also possible to configure the manual command device 35 to have a keyboard as its main component, and to have the operator manually input the transport command directly from the keyboard.

In the embodiment, the turning possibility of the vehicle 50 is determined in each direction of the intersection where the vehicle 50 should turn by comparing the total length of the sections with the turning occupancy distance of various turning methods. In this case, a travelable area in which the vehicle 50 can travel is set around the intersection, and this area and the turning area necessary for the vehicle to turn (this is the area indicated by the broken line in FIGS. 5 and 6). The judgment can be made by comparing with In short, the setting of the above driveable area is based on vehicle 5.
0 can be arbitrarily set as long as it is within the range in which the vehicle 50 can travel around the intersection, and the turning area can also be arbitrarily set as long as it is at least the area necessary for the vehicle 50 to turn according to various turning methods. .

Furthermore, in the embodiment, the above-mentioned drivable area is set each time it is determined that a turn is necessary, and specifically, the section length of each section existing in the cross direction of the intersection is added for each cross direction. However, it is of course also possible to set and store the above-mentioned driveable area for each intersection in advance and retrieve the stored contents immediately when it is determined that a turn is necessary. be.

Furthermore, in the embodiment, by attaching a mark to the end of each section and detecting this mark by the position mark detector 36, it is detected that the vehicle 50 has moved to the end of the section. In the guidance method, the traveling lines (15 and 19 when traveling 14) perpendicular to the traveling direction can be used as position marks. Furthermore, it is naturally possible to carry out similar detection based on the moving distance measuring device 37 and the data stored in the map information storage device 32 without providing these marks and the detector 36.

Furthermore, in the embodiment, the change in the direction of travel in "Switchback turn ■ Forward" is determined by using the end of the section (1), but this is used as the switchback operation start distance, direction change distance, and turn start distance based on the intersection. The distance is set and memorized in advance, and when "switchback turning forward" is selected, the travel control circuit operates based on the set distance.
Of course, it is also possible to issue a command to the swing control circuit.

〔Effect of the invention〕

As explained above, according to the present invention, instead of individually and manually determining the turning method according to the travel layout and the travel route of the automatic guided vehicle, it is possible to simply instruct the travel route of the automatic guided vehicle. Since the optimal turning method is automatically determined based on the stored data, the automatic guided vehicle can turn safely and reliably without colliding with equipment on the premises where the taxiway is laid.

Furthermore, flexibility with respect to changes in travel layout is improved, and system development costs can be significantly reduced.

[Brief explanation of drawings]

FIG. 1 is a block diagram conceptually illustrating an embodiment of an automatic guided vehicle travel command generation device according to the present invention, FIG. 2 is a conceptual diagram illustrating the layout of a guideway for an automatic guided vehicle, and FIG. The figures are diagrams used to explain the contents stored in the map information storage device shown in Figure 1, Figure 4 is a top view of the automatic guided vehicle of the embodiment, and Figures 5 (a) and (b). 8! shows how the automated guided vehicle shown in Figure 4 turns around an intersection with a simple turn.
Signals, Figures 6 (a), (b), (c), (d) are the fourth
FIG. 7 is a conceptual diagram showing how the automated guided vehicle shown in the figure makes a switchback turn around an intersection. FIG. 2 is a diagram used to explain processing executed by the CPU shown in FIG. 1. FIG. 1-13...section, 14.15,16,17,18.19...travel line, 2
0.21, 22.23.24...Intersection, 30...Travel command creation unit, 31...Travel route storage device, 32...
Map information storage device, 33... Driving route input device, 34... CPU. 35... Command manual device, 36... Position mark detection 2;
, 37... Traveling distance measuring device, 40... Control circuit section, 41... Traveling control circuit, 42... Turning control circuit. Figure 4 Figure 5 Figure 6 Figure 7

Claims (1)

[Scope of Claims] (1) Map information storage means for storing map information of a taxiway having an intersection; and a travel section input for inputting information indicating a travel section of the taxiway in which an automatic guided vehicle should travel. means, a turning determination means for determining whether or not the automatic guided vehicle needs to turn for each intersection in the traveling section based on the stored content of the map information storage means; and for each of a plurality of different turning patterns,
a turning information storage means for storing information indicating the size of an area necessary for turning the automatic guided vehicle; a turning pattern selection means for selecting a turning pattern that allows passing through the intersection from among the plurality of different turning patterns, based on the respective storage contents of the turning information storage means; and a traveling pattern including a command corresponding to the selected turning pattern. A travel command creation device for an automatic guided vehicle, characterized in that the automatic guided vehicle is equipped with travel command creation means for creating a command and causing the automatic guided vehicle to travel along an input travel section. (2) The map information storage means divides the taxiway into a plurality of sections, and stores, corresponding to each of the plurality of sections, section length data indicating the length of the section and connection states with adjacent sections. Claim (1) which stores partition connection data indicating
1) The automatic guided vehicle travel command creation device described above. (3) The travel command for the automatic guided vehicle according to claim 2, wherein the traveling section input means inputs sections included in the traveling section among the plurality of divisions in the order in which the automatic guided vehicle travels. Creation device. (4) The turning determination means determines whether or not a turn is necessary between two consecutive sections based on the section connection data corresponding to two consecutive sections inputted in the running order of the automatic guided vehicle. 3. The automatic guided vehicle travel command creation device according to claim 3, wherein the automatic guided vehicle travel command generation device sequentially determines the following. (5) The automated guided vehicle according to claim (4), wherein the information indicating the size of the area necessary for the automated guided vehicle to turn is a distance necessary for the automated guided vehicle to turn in each crossing direction of the intersection. Vehicle driving command creation device. (6) The turning pattern selection means is configured such that the distance required for the turning in all the intersecting directions at the intersection to be turned is less than or equal to the sum of the lengths of the sections existing in the intersecting directions of the intersection to be turned. 6. The automatic guided vehicle travel command generation device according to claim 5, wherein a turning pattern in which the turning pattern is obtained is selected from among the plurality of different turning patterns. (7) A map information storage means for dividing a guideway on which an automatic guided vehicle runs into a plurality of sections and storing map information regarding the plurality of sections; and a traveling section input means for inputting sections corresponding to the traveling section in the running order of the automatic guided vehicle, and when the sections included in the running section are input by the running section input means in the running order of the automatic guided vehicle. , creating a travel command for an automatic guided vehicle, in which a traveling command for causing the automatic guided vehicle to travel along the guideway in the input section order is created based on the stored content of the map information storage means; In the device, the map information storage means stores, for each of the plurality of sections, forward/reverse data that indicates whether the automatic guided vehicle should move forward or backward, and section length data that indicates the length of the section. and section connection data indicating a connection state with an adjacent section, and when the sections included in the traveling section are input by the traveling section input means in the running order of the automatic guided vehicle, the sections are input in this running order. a turning determination means for sequentially determining whether or not a turn is necessary between two consecutive sections based on the section connection data corresponding to the two consecutive sections of the divided sections; a turning information storage means for storing the distance required for the automatic guided vehicle to turn in each crossing direction of an intersection; and a map information storage means for storing the distance required for the automatic guided vehicle to turn in each crossing direction at the intersection, and when it is determined by the turning determination means that it is necessary to make a turn, the map information storage means and the respective storage contents of the turning information storage means, the distance required for the turning in all the intersecting directions at the intersection to be turned is the sum of the lengths of the sections existing in the intersecting directions of the intersection to be turned. The plurality of different turning patterns satisfy the forward/reverse data specified in correspondence to the two consecutive segments for which the turning determination means has determined that it is necessary to perform a turn. A turning pattern selection means for selecting one of the turning patterns, and a driving command generating means for creating a traveling command including a command corresponding to the selected turning pattern and causing the automatic guided vehicle to travel along the input traveling section. A driving command generation device for an unmanned guided vehicle, characterized by being included in the unmanned guided vehicle. (8) The plurality of different turning patterns include a simple turning in which the forward and backward movement of the automatic guided vehicle is the same in the two consecutive sections, and a simple turning in which the forward and backward movement of the automatic guided vehicle is the same in the two consecutive sections. 8. The automatic guided vehicle travel command generation device according to claim 7, wherein the automatic guided vehicle travel command generation device is broadly divided into switchback turns and switchback turns, which have different states.