JPH03111910A - Unmanned carrying device - Google Patents

Unmanned carrying device

Info

Publication number
JPH03111910A
JPH03111910A JP1249542A JP24954289A JPH03111910A JP H03111910 A JPH03111910 A JP H03111910A JP 1249542 A JP1249542 A JP 1249542A JP 24954289 A JP24954289 A JP 24954289A JP H03111910 A JPH03111910 A JP H03111910A
Authority
JP
Japan
Prior art keywords
charging
vehicle
route
guided vehicle
unmanned
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP1249542A
Other languages
Japanese (ja)
Inventor
Osamu Matsushima
修 松嶋
Sumio Fujii
藤井　澄夫
Hideaki Matsuoka
英明 松岡
Katsuaki Suzuki
克明 鈴木
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Holdings Corp
Original Assignee
Matsushita Electric Industrial Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Matsushita Electric Industrial Co Ltd filed Critical Matsushita Electric Industrial Co Ltd
Priority to JP1249542A priority Critical patent/JPH03111910A/en
Publication of JPH03111910A publication Critical patent/JPH03111910A/en
Pending legal-status Critical Current

Links

Classifications

    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Landscapes

  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

PURPOSE:To improve the operation rate of an unmanned carrying vehicle by connecting a communication equipment before a charging device and allowing a centralized controller to control electric charge. CONSTITUTION:When the traveling request of the unmanned carrier vehicle is inputted to the centralized controller 6, the communication equipment 5 allows the vehicle to start. After completing work, the vehicle arrives at the communica tion equipment 4. When there is an unprocessed unmanned carrying vehicle, no unmanned carrying vehicle arrives at the equipment 5 and charging is unnec essary, the unprocessed vehicle is moved to the equipment 5 through a by-pass route 9. When unused charging devices 7, 8 exist, the vehicle is moved to the devices 7, 8 along a charging route 10 and allowed to wait on the equipment 4. When the vehicle concerned is being charged with electricity and there is no unmanned carrying vehicle in the communication devices 4, 5, the vehicle in charging is allowed to start if it is possible and moved to the equipment 5.

Description

【発明の詳細な説明】 産業上の利用分野 本発明は、無人搬送装置に関するものである。[Detailed description of the invention] Industrial applications The present invention relates to an unmanned transport device.

従来の技術 近年、充電機能を有した無人搬送車をコンピュータ等で
集中制御するシステムが導入されている。BACKGROUND OF THE INVENTION In recent years, systems have been introduced in which automatic guided vehicles with a charging function are centrally controlled using a computer or the like.

以下図面を参照しながら、上述した従来の無人搬送装置
の一例について説明する。An example of the conventional unmanned transport device mentioned above will be described below with reference to the drawings.

第６図は、従来の無人搬送システムの構成及び走行ル−
トを示すものである。第６図において２１．２２は充電
機能を有した無人搬送車（以下ＡＧＶ：Ａｕｔｏｍａｔ
ｉｃ　Ｇｕｉｄｅｄ　Ｖｅｈｉｃｌｅ　）で、２３は無
人搬送車の走行ルートを示したもので時計回りに動く。Figure 6 shows the configuration and traveling route of a conventional unmanned transportation system.
This shows the In Figure 6, 21 and 22 are automatic guided vehicles (hereinafter referred to as AGVs) with charging functions.
ic Guided Vehicle), 23 indicates the driving route of the automatic guided vehicle, which moves clockwise.

２４は無人搬送車用通信装置で、コンピユータ、シーケ
ンサ等で構成される集中制御２５と接続されている。２
６は充電装置である。24 is a communication device for an automatic guided vehicle, and is connected to a central control 25 composed of a computer, a sequencer, and the like. 2
6 is a charging device.

以上のように構成された無人搬送装置について、以下そ
の動作について説明する。The operation of the unmanned conveyance device configured as described above will be explained below.

集中制御装置２６に、ＡＧＶの走行要求が入力されると
ＡＧＶ通信装置２４から、走行要求にもとづく走行デー
タ等よりなる情報を送信後、ＡＧＶに発車をかける。Ａ
ＧＶは走行ルートに沿って移動し作業完了後、自動充電
器２６前に到着し自動充電を行う。この例では、自動充
電に必要な時間は走行時間の約％である。自動充電が完
了後ＡＧＶは自動充電装置２６を発車し、ＡＧＶ通信装
置２４に移動する。When a travel request for the AGV is input to the central control device 26, the AGV communication device 24 transmits information including travel data based on the travel request, and then starts the AGV. A
The GV moves along the driving route, and after completing the work, it arrives in front of the automatic charger 26 and automatically charges. In this example, the time required for automatic charging is approximately % of the driving time. After the automatic charging is completed, the AGV leaves the automatic charging device 26 and moves to the AGV communication device 24.

発明が解決しようとする課題 しかし、前記の場合、ＡＧＶが２台以上ある時、１台の
ＡＧＶが充電中の場合、もう−台のＡＧＶは充電器後方
２１に待機することになり、ＡＧＶの稼動率が低下する
という問題が生じる。Problem to be Solved by the Invention However, in the above case, when there are two or more AGVs, if one AGV is charging, the other AGV will wait behind the charger 21, and the AGV A problem arises in that the operating rate decreases.

課題を解決するための手段 そして上記問題点を解決する本発明の技術的な手段は所
定の通路よりなるメインルート及び、メインルートより
分岐して並列に設けられた充電ルートを有した走行路と
、走行駆動部のバッテリーを有し走行路に沿って移動可
能な無人搬送車と、充電ルートでの無人搬送車のバッテ
リーを充電可能に設けられている充電装置と、メインル
ートを走行する無人搬送車を、充電必要の有無を判断し
、無人搬送車の情報を送受信可能な制御装置を設けたも
のである。Means for solving the problems and technical means of the present invention for solving the above-mentioned problems include a main route consisting of a predetermined passage, and a running road having a charging route branching from the main route and provided in parallel. , an automated guided vehicle that has a battery for its drive unit and can move along a travel route, a charging device that is installed to charge the battery of the automated guided vehicle on the charging route, and an automated guided vehicle that runs on the main route. The system is equipped with a control device that can determine whether the vehicle needs to be charged and can send and receive information about the automatic guided vehicle.

作　　用 本発明は上記の方法により、従来の装置に比べて、ＡＧ
Ｖの稼動率を向上させることができる。Effect The present invention uses the above-mentioned method to improve AG performance compared to conventional devices.
The operating rate of V can be improved.

実施例 以下本発明の一実船例を第１図に基づいて説明する。１
，２は自動充電機能を有した無人搬送車（ＡＧＶ）であ
り、７，８は充電装置であり、第２図はその一例の外観
図である。無人搬送車が充電装置の前に到着するとノズ
Ａ／１５が、無人搬送車と接続され充電を行う構造とな
っている。３はＡＧＶの走行ルートを示したもので、時
計回りに移動するメインルート３と充電装置用の充電ル
ート１０からなる。４．５は無人搬送車（ＡＧＶ）用通
信装置であり、コンピュータ、シーケンサ等で構成され
る集中制御装置６と接続されている。EXAMPLE Hereinafter, an example of a ship according to the present invention will be explained based on FIG. 1
, 2 is an automatic guided vehicle (AGV) having an automatic charging function, 7 and 8 are charging devices, and FIG. 2 is an external view of an example thereof. When the automatic guided vehicle arrives in front of the charging device, the nozzle A/15 is connected to the automatic guided vehicle to perform charging. 3 shows the running route of the AGV, which consists of a main route 3 that moves clockwise and a charging route 10 for the charging device. 4.5 is a communication device for an automatic guided vehicle (AGV), which is connected to a central control device 6 composed of a computer, a sequencer, and the like.

以下その動作について説明する。集中制御装置６に、Ａ
ＧＶの走行要求が入力されると通信装置６から、通信装
置前にいるＡＧＶに走行要求にもとづく走行データを送
信後、ＡＧＶに発車をかける。ＡＧＶは走行ルートに沿
って移動し、作業完了後、通信装置４に到着する。The operation will be explained below. In the central control device 6, A
When a GV travel request is input, the communication device 6 transmits travel data based on the travel request to the AGV in front of the communication device, and then the AGV is started. The AGV moves along the travel route and arrives at the communication device 4 after completing its work.

通信装置４における動作について第３図のフローチャー
トに基づいて説明する。The operation of the communication device 4 will be explained based on the flowchart of FIG.

まず、未処理のＡＧＶ要求が有り（ステップ１）、通信
装置６にＡＧＶが無く（ステップ２　）　、ＡＧＶ充電
不要（ステップ３）の場合、ＡＧＶは第１図のバイパス
ルート９を通って通信装置６へ移動する（ステップ４）
。ここでステップ３でのＡＧＶが充電不要か否かを判断
する一例としては、連続して何回まで充電をしないで走
行するか（連続走行回数）を集中制御装置６で管理する
方法がある。First, if there is an unprocessed AGV request (step 1), there is no AGV in the communication device 6 (step 2), and there is no need to charge the AGV (step 3), the AGV passes through bypass route 9 in FIG. Move to 6 (step 4)
. Here, as an example of determining whether or not the AGV does not require charging in step 3, there is a method in which the central control device 6 manages how many times the AGV can run without being charged (number of consecutive runs).

また、未使用の充電装置が有るか判断しくステップ５）
、あれば充電ルートに沿ってＡＧＶを未使用の充電装置
７，８へ向って移動させ（ステップ５）、なければ通信
装置４で待機させる。Also, determine if there is an unused charging device (Step 5)
, the AGV is moved along the charging route toward the unused charging devices 7 and 8 (step 5), and if not, the AGV is placed on standby at the communication device 4.

また、充電装置における動作について説明するとＡＧＶ
が充電中でしかも、通信装置４．６いずれにもＡＧＶが
無い場合、充電中のＡＧＶが発車可能（上記ステップ３
のルールと同様）であれば、充電中のＡＧＶに発車をか
け通信装置５へ移動させる。Also, to explain the operation of the charging device, AGV
is charging and there is no AGV in any of the communication devices 4.6, the charging AGV can depart (step 3 above)
(same as the rule), the charging AGV is started and moved to the communication device 5.

なお、本実施例では、通信装置と自動充電装置を別装置
として考えていたが、かわりに通信装置と同等の機能を
持った自動充電装置であってもよい。第４図はその場合
の実施例である。第４図１１．１２は通信装置の機能を
有した充電装置である。Note that in this embodiment, the communication device and the automatic charging device are considered as separate devices, but an automatic charging device having the same function as the communication device may be used instead. FIG. 4 shows an embodiment in that case. FIG. 4 11.12 shows a charging device having the function of a communication device.

以下未処理のＡＧＶ要求がある場合、動作について第６
図のフローチャートに基づいて説明する。If there is an unprocessed AGV request, please refer to the 6th section below regarding the operation.
This will be explained based on the flowchart shown in the figure.

まず、未処理のＡＧＶ要求があり（ステップ１）、充電
中のＡＧｖが有り（ステップ２）、そのＡＧＶが発車可
能（ステップ３）の場合、充電中のＡＧＶに、走行要求
にもとづく走行データを送信後発車をかける。First, if there is an unprocessed AGV request (step 1), there is an AGv being charged (step 2), and the AGV is ready to depart (step 3), driving data based on the driving request is sent to the charging AGV. After sending the message, start the train.

また、充電中のＡＧＶが無くて（ステップ２）、通信装
置１３にＡＧＶが有シ（ステップ５）、そのＡＧＶが発
車可能（ステップ５）の場合、通信装置１３のＡＣｉＶ
に、走行要求にもとづく走行データを送信後、発車をか
ける。In addition, if there is no AGV being charged (step 2), there is an AGV in the communication device 13 (step 5), and the AGV is ready to depart (step 5), the ACiV of the communication device 13
After transmitting travel data based on the travel request, the vehicle starts moving.

なお、ＡＧＶが通信装置１３に到着時、未処理のＡＧＶ
要求が無くて、未使用の充電器があれば、通信装置１３
のＡＧＶに、充電装置１１．１２へ向って移動させるま
た、充電器がすべて使用中で、充電を完了したＡＧＶが
ある場合は、そのＡＧＶに空運転ルート１４を通って通
信装置１３へ移動させ、通信装置１３のＡＧＶを、充電
装置１１゜１２へ移動させる。Note that when the AGV arrives at the communication device 13, the unprocessed AGV
If there is no request and there is an unused charger, the communication device 13
In addition, if all the chargers are in use and there is an AGV that has completed charging, move that AGV to the communication device 13 through the idle operation route 14. , move the AGV of the communication device 13 to the charging device 11°12.

また本実施例では、通信装置又は充電装置においてＡＧ
Ｖが充電不要か否か（発車回能か否か）を判断する手段
として、連続走行回数の管理で行っていたが、かわりに
ＡＧＶのバッテリ容量による管理であってもよい。Further, in this embodiment, AG in the communication device or the charging device
As a means of determining whether or not the V needs charging (whether or not it is capable of starting), the number of continuous trips has been managed, but instead, the management may be based on the battery capacity of the AGV.

なお、本実施例では、自動充電装置は２台であったが、
１台以上であれば何台でもよい。In addition, in this example, there were two automatic charging devices, but
Any number of devices may be used as long as it is one or more.

発明の効果 以上のように本発明は、充電装置手前に通信装置を設け
、集中制御装置で充電管理を行わせることによシ、ＡＧ
Ｖの稼動率を向上させることができる。Effects of the Invention As described above, the present invention provides a communication device in front of the charging device and allows the central control device to manage charging.
The operating rate of V can be improved.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は本発明の一実施例における無人搬送装置の構成
図、第２図は充電装置の斜視図、第３図は第１図の無人
搬送装置における通信装置の処理のフローチャート図、
第４図は本発明の他の実施例における無人搬送装置の構
成図、第６図は第４図の無人搬送装置における通信処理
のフローチャート図、第６図は従来の無人搬送装置の構
成図である。 １．２・・・・・・無人搬送車、４，５．１３・・・・
・・通信装置、７，８・・・・・・充電装置、１５・・
・・・・充電用ノズル、１１．１２・・・・・・通信装
置の機能を有した充電装置。FIG. 1 is a configuration diagram of an unmanned conveyance device according to an embodiment of the present invention, FIG. 2 is a perspective view of a charging device, and FIG. 3 is a flowchart of processing of a communication device in the unmanned conveyance device of FIG. 1.
FIG. 4 is a configuration diagram of an unmanned transportation device according to another embodiment of the present invention, FIG. 6 is a flowchart of communication processing in the unmanned transportation device of FIG. 4, and FIG. 6 is a configuration diagram of a conventional unmanned transportation device. be. 1.2...Automated guided vehicle, 4,5.13...
... Communication device, 7, 8... Charging device, 15...
... Charging nozzle, 11.12 ... Charging device with the function of a communication device.

Claims (5)

【特許請求の範囲】[Claims] （１）所定の通路よりなるメインルート及び、メインル
ートより分岐して並列に設けられた充電ルートを有した
走行路と、走行駆動部のバッテリーを有し走行路に沿っ
て移動可能な無人搬送車と、充電ルートでの無人搬送車
のバッテリーを充電可能に設けられている充電装置と、
メインルートを走行する無人搬送車を、充電必要の有無
を判断し、無人搬送車の情報を送受信可能な制御装置か
らなる無人搬送装置。(1) An unmanned transport system that has a main route consisting of a predetermined path, a charging route branched from the main route and provided in parallel, and a battery for the travel drive unit that can move along the travel route. A charging device that is provided to charge the battery of the vehicle and the automatic guided vehicle along the charging route;
An unmanned guided vehicle that is comprised of a control device that determines whether or not an unmanned guided vehicle traveling on a main route needs to be charged and can send and receive information about the unmanned guided vehicle. （２）充電ルートが複数の並列ルートを有した特許請求
の範囲第１項記載の無人搬送装置。(2) The unmanned transportation device according to claim 1, wherein the charging route has a plurality of parallel routes. （３）制御装置は無人搬送車の情報を送受信可能な通信
装置と、充電必要の有無を判断し、メインルートか充電
ルートかを選択可能な制御部からなることを特徴とする
特許請求の範囲第１項記載の無人搬送装置。(3) Claims characterized in that the control device consists of a communication device capable of transmitting and receiving information about the automatic guided vehicle, and a control section that determines whether charging is necessary and can select the main route or the charging route. The unmanned transport device according to item 1. （４）充電完了時に、無人搬送車に指令を送信する機能
を有した充電装置を備えたことを特徴とする特許請求の
範囲第１項記載の無人搬送装置。(4) The automatic guided vehicle according to claim 1, further comprising a charging device having a function of transmitting a command to the automatic guided vehicle upon completion of charging. （５）無人搬送車に情報を送受信可能な機能を有した充
電装置を備えたことを特徴とする特許請求の範囲第１項
記載の無人搬送装置。(5) The automatic guided vehicle according to claim 1, further comprising a charging device having a function of transmitting and receiving information to the automatic guided vehicle.
JP1249542A 1989-09-26 1989-09-26 Unmanned carrying device Pending JPH03111910A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1249542A JPH03111910A (en) 1989-09-26 1989-09-26 Unmanned carrying device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1249542A JPH03111910A (en) 1989-09-26 1989-09-26 Unmanned carrying device

Publications (1)

Publication Number Publication Date
JPH03111910A true JPH03111910A (en) 1991-05-13

Family

ID=17194539

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1249542A Pending JPH03111910A (en) 1989-09-26 1989-09-26 Unmanned carrying device

Country Status (1)

Country Link
JP (1) JPH03111910A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07204255A (en) * 1994-01-25 1995-08-08 Udono Iki:Kk Sterilizing and transport system for medical instruments
JP2007519535A (en) * 2004-01-27 2007-07-19 ファフコ、インコーポレイテッド Sprockets, tubes and inserters for manufacturing heat exchangers
JP2009146322A (en) * 2007-12-18 2009-07-02 Mazda Motor Corp Work system using automatic guided vehicle
JP2012041128A (en) * 2010-08-19 2012-03-01 Daifuku Co Ltd Picking equipment and method for charging battery in the picking equipment
US8288989B2 (en) 2008-01-31 2012-10-16 Toyota Jidosha Kabushiki Kaisha Method and system for managing charge of automated guided vehicle

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07204255A (en) * 1994-01-25 1995-08-08 Udono Iki:Kk Sterilizing and transport system for medical instruments
JP2553463B2 (en) * 1994-01-25 1996-11-13 株式会社ウドノ医機 Sterilization / transportation system for medical equipment
JP2007519535A (en) * 2004-01-27 2007-07-19 ファフコ、インコーポレイテッド Sprockets, tubes and inserters for manufacturing heat exchangers
JP2009146322A (en) * 2007-12-18 2009-07-02 Mazda Motor Corp Work system using automatic guided vehicle
US8288989B2 (en) 2008-01-31 2012-10-16 Toyota Jidosha Kabushiki Kaisha Method and system for managing charge of automated guided vehicle
JP2012041128A (en) * 2010-08-19 2012-03-01 Daifuku Co Ltd Picking equipment and method for charging battery in the picking equipment

Similar Documents

Publication Publication Date Title
JP6992500B2 (en) Power management system
JP6897495B2 (en) Vehicle allocation system and vehicle allocation method
JP7456414B2 (en) Software update method for vehicle control device and vehicle operation system
WO2017154566A1 (en) Automatic vehicle allocation system and server device
WO2009096103A1 (en) Method and system for managing charge of automated guided vehicle
CN112997154A (en) Method for using a computer unit
US20190236519A1 (en) Collection and delivery system and information processing apparatus
JPH11134027A (en) System and method for managing access to service resource by group of moving machines
CN111463860A (en) Cooperative charging method and device and logistics equipment
JP7230422B2 (en) DRIVING ASSIST DEVICE, DRIVING CONTROL SYSTEM FOR VEHICLE, DRIVING CONTROL METHOD, AND DRIVING CONTROL PROGRAM
JP2020154420A (en) Operation control device, operation control method, and vehicle
CN112895925A (en) Vehicle charging method and device, electronic equipment and storage medium
JP7100827B2 (en) Operation control device and operation control method
WO2024066840A1 (en) Vehicle energy supplementation control method, computer device, storage medium, and vehicle
JP2019161708A (en) Management device, vehicle, and program
JPH03111910A (en) Unmanned carrying device
JP7486081B2 (en) Charging control method, program, and charging control system
JP2021174277A (en) Control device, information processing device, and information processing method
JP2909179B2 (en) Control method of unmanned transfer device
US20210214078A1 (en) Transportation system and transportation management server, flying body, and travelling body
JP2022050259A (en) Charging control method, program, and charging control system
JP2022059985A (en) Information processing apparatus, information processing system, program, and autonomous driving vehicle
CN113888627A (en) Unmanned equipment, and interaction system, method and device of unmanned equipment
JP2576258B2 (en) How to charge unmanned car battery
JP2646738B2 (en) Charge area management device for unmanned vehicle system