JPH04242403A - Operation controller for unmanned vehicle - Google Patents

Abstract

PURPOSE:To simplify an unmanned conveyance system by easily judging the loading and unloading positions of a work, and to speed up the operation of the system, reduce the cost, and shorten the delivery date. CONSTITUTION:An ultrasonic sensor 13 as a work detecting means which detects whether or not there is a work at each station, a photoelectric switch 15 as a position detecting means which detects the unloading position, and a roller 10 and a driving motor 11 as a load transfer device are fitted to the body of an unmanned carriage 1 as the unmanned vehicle. Further, a CPU 21 is provided as a detection control means and a load transfer control means which performs load transfer control according to the detection signals of said ultrasonic sensor 13 and photoelectric switch 15.

Description

Description: [0001] The present invention relates to an operation control device for an unmanned vehicle used in an unmanned transportation system or the like. [0002] Conventionally, in this type of unmanned conveyance system, for example, as shown in FIG. 6, when loading workpieces at a loading station 30 that performs loading work,
A ground work sensor 31 attached to the loading station 30 detects the presence or absence of a work at the loading station 30. Then, the detection signal is sent to the automatic guided vehicle control panel 32 also installed at the loading station 30.
Based on the detection signal, the automatic guided vehicle control panel 3
2 determines the presence or absence of a workpiece. Then, the destination instruction is transmitted to the automatic guided vehicle 35 via the destination indicator 34a connected to the automatic guided vehicle control panel 32 by a cable 33. [0003] The automatic guided vehicle 35 that has received the destination instruction,
It automatically travels along a guide line 36 laid on the road surface and stops at an unloading station 38 where workpieces are transferred. Then, the automatic guided vehicle control panel 32 determines the presence or absence of a work from each ground work sensor 31 attached to the unloading station 38, and transfers the work to the automatic guided vehicle 35 via the transfer indicator 34b connected by a cable. Send transfer instructions and destination instructions. The automatic guided vehicle 35 that has received the transfer instruction transfers the workpiece loaded from the loading station 30 to the instructed unloading station 38. When the transfer is completed, the automatic guided vehicle 35 returns to the loading station 30 and repeats the above steps. [0004] However, the above-described unmanned transportation system detects the presence or absence of a workpiece based on the above-mentioned ground workpiece sensors 31, and based on the detection result, the unmanned transportation control panel 32 controls the loading of the workpiece. , and gave operating instructions to the automatic guided vehicle 35 based on the judgment of the unloading position and the judgment result. In other words, the unmanned transportation control panel 32 performed all judgment processing and operation instruction control. [0005] Therefore, since all processing is performed via the automatic guided vehicle control panel 32, the processing takes time, which poses a problem in increasing the speed of the transport system. Furthermore, the increased size of the system has also been a problem in terms of cost reduction. Furthermore, in this transportation system, the ground work sensor 31 that detects the presence or absence of a workpiece and the indicators 34a and 34b all transfer data to the automatic guided vehicle control panel 32 via cables, so each device and member must be installed. The amount of work involved was enormous, and it was also a problem in trying to shorten the system delivery time. The present invention has been made to solve the above problems, and its purpose is to simplify the unmanned conveyance system by easily determining the loading and unloading positions of workpieces, and to increase the speed of the system. An object of the present invention is to provide an operation control device for an unmanned vehicle that can reduce costs, reduce costs, and shorten delivery times. [Means for Solving the Problems] A loading station is provided on the roadside of the travel route and performs work loading work, and a loading station is also provided on the roadside of the travel route and unloads the workpieces. In an unloading station and an unmanned vehicle that automatically travels along a guide line laid on the road surface and transports workpieces between the two stations, a sensor is attached to the body of the unmanned vehicle and detects the presence or absence of workpieces at each station. a workpiece detection means for detecting the unloading position of one station; a position detection means also attached to the body of the unmanned vehicle for detecting the unloading position of one station; and a transfer device disposed on the loading platform of the unmanned vehicle for transferring the workpiece. a detection control means for activating the workpiece detection means to detect the presence or absence of a workpiece at the unloading position when the position detection means detects the unloading position during traveling; and a detection control means for detecting the workpiece based on the detection control means. When the means detects that there is no workpiece, it stops the unmanned vehicle, activates the transfer device, controls the transfer device to transfer the workpiece to the unloading position, and also detects the presence of the workpiece. The gist of the system is that it consists of a transfer control means that controls the movement of the unmanned vehicle to the next unloading position when the vehicle is unloaded. [Operation] When the workpiece detection means attached to the unmanned vehicle detects a workpiece placed on the loading station, the transfer control means activates the transfer device disposed on the loading platform of the unmanned vehicle. and transfer the work from the loading station onto the loading platform. When the loading of the work onto the loading platform is completed, the transfer control means causes the unmanned vehicle to automatically travel along the travel route to the unloading station. When the position detection means detects that the workpiece has arrived at the unloading station, the detection control means activates the workpiece detection means to detect the presence or absence of a workpiece at the unloading station. If the workpiece is not detected, the transfer control means operates the transfer device to transfer the workpiece to the unloading position. Further, when the workpiece detection means detects a workpiece, the transfer control means controls the movement of the unmanned vehicle to the next unloading position. DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is embodied in a conveyance system will be described below with reference to FIGS. 1 to 5. FIG. 3 shows a schematic configuration of the transport system of the automatic guided vehicle 1, in which a guide tape 3 as a guide line made of magnetic tape is laid on the road surface 2 between the loading station T and the unloading station N. Route 4 is formed. Further, operation marks A to C for instructing operation information to the automatic guided vehicle 1 are arranged at predetermined positions on the travel route 4. The automatic guided vehicle 1 is configured to read information on these operation marks using a known method. [0010] Of these operation marks A to C, the operation information indicated by operation mark A is operation information for stopping the automatic guided vehicle 1 at a predetermined position, and the operation information indicated by operation mark B is the operation information indicated by operation mark A. This is operation information that causes the automatic guided vehicle 1 to reduce the vehicle speed and travel at a low speed, and furthermore, the operation information indicated by the operation mark C is operation information that causes the automatic guided vehicle 1 to return from the unloading station N to the loading station T. . The automatic guided vehicle 1 is connected to each of these stations T.
,N perform various unmanned tasks. As shown in FIGS. 1 and 2, the automatic guided vehicle 1 moves forward and backward according to the forward and reverse rotation of a front wheel 5, which serves as both a steering wheel and a driving wheel, and a pair of rear wheels 6 that follow the front wheel 5. Further, a mark sensor 7 for detecting the operation marks A to C is installed at the bottom of the automatic guided vehicle 1, and a mark sensor 7 for detecting the guide tape 3 is installed at the bottom of the automatic guided vehicle 1. A magnetic sensor 8 is also attached. Further, on the loading platform 9 of the automatic guided vehicle 1, a roller 10 serving as a transfer device that is driven when loading and unloading the workpiece W is rotatably supported. Each of these rollers 10 is configured to rotate as a drive motor 11 disposed within the body of the automatic guided vehicle 1 is activated. Further, stoppers 12 made of metal pipes are attached to both front and rear ends and one side of the loading platform 9 of the automatic guided vehicle 1 to prevent the workpiece W from shifting or falling. The front stopper 12 is provided with workpieces W at the loading station T and the unloading station N.
An ultrasonic sensor 13 is attached to detect the presence or absence of. Further, a limit switch 14 is attached to the stopper 12 on one side to detect whether the loading operation of the workpiece W is completed. In addition, in FIG. 1, a reflective photoelectric switch (hereinafter referred to as a photoelectric switch) 1 as a position detection means is mounted on the side of the automatic guided vehicle 1 on the station N side.
5 is attached. The loading station T is composed of a table 16 equipped with a roller that is rotated by the activation of a motor (not shown), and the roller is normally rotated inward of the travel path 4 in FIG. . That is, the work W loaded on the rollers is transported toward the inner side of the travel path 4. On the other hand, as shown in FIGS. 1 and 3, the unloading station N is similar to the loading station T.
It consists of a plurality of adjacent tables 17 each having a roller 18 attached thereto which rotates when a motor is activated. The rollers 18 of the unloading station N normally rotate clockwise in FIG. That is, the workpiece W loaded on the unloading station N is transported toward the outside of the travel path 4. [0014] Also, the front of each table 17 (left side in the figure)
A reflecting plate 19 for reflecting light from the photoelectric switch 15 attached to the automatic guided vehicle 1 is attached to each of the panels. Note that the motors that rotate the rollers of the loading station T and unloading station N of this unmanned conveyance system do not constantly rotate, but are rotated by arbitrary operations, so that they are irregularly driven. Next, the automatic guided vehicle 1 constructed as described above will be described.
The electrical configuration of the transfer control device mounted on the vehicle will be explained based on FIG. A microcomputer 20 is mounted inside the body of the automatic guided vehicle 1. The microcomputer 20 functions as a detection control means and a transfer control means.
ROM2 that stores PU21, control programs, etc. in advance
2. RAM 23 that temporarily stores calculation results of the CPU 21, etc.
The driving operation of the automatic guided vehicle 1 is executed according to the control program stored in the ROM 22. The CPU 21 outputs a signal to that effect to the traveling motor 24 based on a predetermined control program, and drives the traveling motor 24. Further, the CPU 21 inputs a detection signal from the magnetic sensor 8, outputs a signal to that effect to the steering device 25 based on the detection signal, and controls the steering angle of the front wheels 5. Further, the CPU 21 inputs a detection signal from the mark sensor 7, and determines the presence or absence of various operation marks A to C based on the detection signal. Then, when the CPU 21 determines the presence of the various operation marks A to C based on the detection signal from the mark sensor 7, it controls the travel of the automatic guided vehicle 1 based on the information indicated by the operation marks A to C. Further, the CPU 21 determines instructions for loading and transferring the work W based on the detection signal from the ultrasonic sensor 13. Then, the CPU 21 controls the ultrasonic sensor 1.
After determining the command from 3, the drive motor 11 is started. Furthermore, when the CPU 21 receives an ON signal from the limit switch 14, the CPU 21 stops the activation of the drive motor 11. Furthermore, the CPU 21
When an on signal is input from 5, it is determined that the vehicle has arrived at unloading station N. Next, the operation of the CPU 21 at each station T, N and on the traveling route 4 in the operation control system configured as described above will be explained with reference to the flowchart shown in FIG. First, in a state where the automatic guided vehicle 1 is stopped at the starting point S shown in FIG. If the ultrasonic sensor 13 detects the workpiece W, it is determined that the workpiece W is loaded on the table 17 of the loading station T, and the process moves to the next step. In step 102, the CPU 21 starts the drive motor 11 in order to load the workpiece W onto the platform 9. When the drive motor 11 is started, the roller 10 is rotated, and the workpiece W on the table 17 of the loading station T is transferred to the loading platform 9 of the automatic guided vehicle 1. Next, the process moves to step 103, where the workpiece W contacts the limit switch 14 and the limit switch 14
is turned on, the CPU 21 determines that loading of the work W is completed, stops the drive motor 11, and then proceeds to the next step 10.
Move on to 4. In step 104, the CPU 21 uses the ROM
The traveling control of the automatic guided vehicle 1 is performed according to the control program stored in the automatic guided vehicle 22. Then, proceeding to step 105, the CP
U21 determines whether the mark sensor 7 has detected the operation mark B or not. If the mark sensor 7 detects the operation mark B, the process moves to step 106, whereas if the mark sensor 7 does not detect the operation mark B, the process jumps to step 104 and runs while waiting for the operation mark B to be detected. When the automatic guided vehicle 1 reaches the position of the operation mark B, in step 106, the CPU 21 turns on the driving motor 24 in order to make the automatic guided vehicle 1 travel at a low speed based on the information instruction signal from the operation mark B. Control the rotation speed to low rotation speed. Then, the process moves to the next step 107 while the vehicle is running at a low speed, and the CPU 21 determines whether or not the photoelectric switch 15 is turned on. In other words, the light emitted by the photoelectric switch 15 is transmitted to the reflector 19 attached to the unloading station N.
It is determined whether the photoelectric switch 15 receives the reflected light, that is, whether the light has arrived at each unloading position of the unloading station N. If the photoelectric switch 15 is turned on, that is, if the first unloading position of the unloading station N is reached, the process moves to the next step 108, whereas if the photoelectric switch 15 is not turned on, the vehicle moves at low speed. Continue. In step 108, the CPU 21 determines whether the ultrasonic sensor 13 is turned on. That is, the workpiece W is placed at the first unloading position of the unloading station N.
Determine whether or not it is loaded. If the ultrasonic sensor 13 is on, the process moves to step 109, and the vehicle continues to travel at low speed until the next unloading position. In other words, it is determined that the workpiece W cannot be transferred to the table 17 because the rollers 18 of the table 17 at the unloading station N are not driven and the previously transferred workpiece W has not yet been transported. The vehicle continues to run at low speed until the next unloading position. [0022] Then, in the next step 110, the CPU 2
1 determines whether the mark sensor 7 has detected the operation mark C or not. When the mark sensor 7 detects the operation mark C, that is, when there is no unloading position and the vehicle has traveled to the operation mark position, the process moves to step 111 and the CPU
21 stops driving the driving motor 24, and the automatic guided vehicle 1
stop running. Then, the automatic guided vehicle 1 is made to return to the loading station T. On the other hand, if the operation mark C is not detected, step 10
Jump to 6. That is, it is determined whether or not the automatic guided vehicle 1 can be moved to the table 17 at the unloading position adjacent to the table 17 to which the load was to be transferred and unloaded again. In step 108, if the ultrasonic sensor 13 is not turned on, the process moves to step 112, where the driving motor 24 is stopped and the automatic guided vehicle 1 is turned on.
stop running. That is, since no workpiece W is loaded on the table 17 at this unloading position, the ultrasonic sensor 13 is not turned on, and the CPU 21 stops the automatic guided vehicle 1 from traveling. Then, the process moves to the next step 113, and C
The PU 21 starts the drive motor 11 and rotates the roller 10 in order to transfer the work W to the table 17. Then, the process moves to the next step 114, and the CPU 21 determines whether the workpiece W has been transferred to the unloading station N or not. That is, when the workpiece W is transferred to the unloading station N, the CPU 21 activates the ultrasonic sensor 13.
It is determined that the workpiece W has been transferred because an on signal is input from the terminal. When the CPU 21 confirms that the workpiece W has been transferred to the unloading station N, it stops the drive motor 11 and proceeds to step 115. On the other hand, if the transfer has not been completed, the process jumps to step 113. The driving motor 11 continues to be started and the work of transferring the workpiece W is repeated. [0025] Then, in step 115, the CPU
21 controls the traveling motor 24 to rotate in reverse in order to return the automatic guided vehicle 1 to the loading station T. Then, in the next step 116, the CPU 21 determines whether or not the mark sensor 7 has detected the operation mark A. If the mark sensor 7 detects the operation mark A, the process moves to step 117, where the drive of the travel motor 24 is stopped, the automatic guided vehicle 1 is stopped at a predetermined position of the loading station T, and the operation program is started again. . On the other hand, if the operation mark A is detected, the process jumps to step 115 and the return run is continued. As described above, according to the automatic guided vehicle 1 having the configuration of this embodiment, in the conventional automatic guided vehicle system, the ground work sensor 31 is attached to each of the loading station 30 and the unloading station 38. ,
The presence or absence of a workpiece was detected by the automatic guided vehicle control panel 32 based on the signal from the ground workpiece sensor 31, but in this embodiment, one ultrasonic sensor 13 attached to the automatic guided vehicle 1 is used to detect the presence or absence of the workpiece. Since the workpieces on each table at the loading station T and the unloading station N can be detected, the unmanned transportation system can be simplified, and the microcomputer 20 mounted on the automatic guided vehicle 1 can Since it is possible to give transfer instructions and destination instructions, it is possible to reduce the cost of the transportation system, and to reduce the cost and time required for system construction, adjustment, etc. Furthermore, as in the past, the automatic guided vehicle 35 travels after arriving at the unloading station 38 and determining the station to transfer the workpiece, but in this embodiment, the automatic guided vehicle 35 travels after arriving at the unloading station 38 and determining the station to which the workpiece W is to be transferred. Since the current situation can be determined in real time, the time from loading to unloading can be shortened and speed can be increased. Therefore,
The transport system can be constructed using a smaller number of automatic guided vehicles 35 than the number of automatic guided vehicles 35 used in a conventional transport system. It should be noted that the present invention is not limited to the above-mentioned embodiments, and may be configured as follows, for example, without departing from the spirit of the invention. (1) In the above embodiment, the automatic guided vehicle 1 uses a magnetic induction type in which the guide tape 3 made of magnetic tape is detected by a magnetic sensor to configure the traveling route, but instead of this magnetic induction type, an electromagnetic type or The traveling route may be configured by using an optical method or the like. (2) In the above embodiment, the transport system used the automatic guided vehicle 1 to transport and move the workpiece W, but instead of this automatic guided vehicle 1, an unmanned forklift or the like that performs cargo handling work may be used. Good too. (3) In the above embodiment, the ultrasonic sensor 13 is used as the workpiece detection device, but the ultrasonic sensor 13 may be replaced with an optical sensor. [0030] As described in detail above, according to the present invention, it is possible to simplify the unmanned conveyance system by easily determining the loading and unloading positions of the workpieces, speeding up the system, and increasing the speed of the system. This has the excellent effect of reducing costs and shortening delivery times.

[Brief explanation of the drawing]

FIG. 1 is a front view of an automatic guided vehicle and an unloading station.

FIG. 2 is a plan view of the automatic guided vehicle.

FIG. 3 is a schematic configuration diagram of an unmanned transportation system.

FIG. 4 is a block diagram showing the electrical configuration of the automatic guided vehicle.

FIG. 5 is a flowchart illustrating the operation of the CPU mounted on the automatic guided vehicle.

FIG. 6 is a schematic configuration diagram of a conventional unmanned transportation system.

[Explanation of symbols]

1 Unmanned guided vehicle 2 as an unmanned vehicle Road surface 3 Guide tape 4 as a guide line Travel route 7 Mark sensor 8 Magnetic sensor 10 Roller 11 as a transfer device Drive motor 13 Ultrasonic sensor 14 as workpiece detection means
Limit switch 15 Photoelectric switch 19 as position detection means Reflector plate 21 CPU as detection control means and transfer control means
T Loading station N Unloading station W Work

Claims (1)

[Claims] Claim 1: A loading station located on the roadside of the travel route where work is loaded, an unloading station also located on the roadside of the travel route where work is unloaded, and a loading station located on the road surface. In an unmanned vehicle that automatically travels along a guide line laid at the station and transports a workpiece between the two stations, a workpiece detection means is attached to the body of the unmanned vehicle and detects the presence or absence of a workpiece at each station. , a position detection means that is also attached to the body of the unmanned vehicle and detects the unloading position of one station, a transfer device that is installed on the loading platform of the unmanned vehicle and transfers the workpiece, and a position detection means that detects the position while driving. detection control means for activating the workpiece detection means to detect the presence or absence of a workpiece at the unloading position when the means detects the unloading position; and a detection control means for detecting whether there is no workpiece based on the detection control means. When detected, the unmanned vehicle is stopped, the transfer device is activated, and the transfer device is controlled to transfer the workpiece to the unloading position, and when the presence of a workpiece is detected, the next unloading is started. An unmanned vehicle operation control device comprising a transfer control means for controlling the unmanned vehicle to travel to a location.