JPH0466750B2 - - Google Patents

Description

[Detailed description of the invention]

[Industrial Application Field] The present invention relates to a cargo transfer control device for an unmanned guided vehicle that automatically transports and transfers cargo in a factory or the like. [Prior Art] Unmanned guided vehicles run on pre-built tracks according to a predetermined program, contributing to automation and labor savings in the transportation and transfer of cargo. Some of these unmanned guided vehicles are of a double-sided transfer type that allows cargo to be transferred from both sides of the vehicle body. When controlling this type of unmanned guided vehicle, the control of the unmanned guided vehicle depends on which side of the track the transfer station is located on, and which direction the unmanned guided vehicle faces relative to the station. It is necessary to switch the transfer direction. Here, a conventional transfer direction switching method will be explained. FIG. 2 is a schematic configuration diagram showing a track, and in the figure, 1 is a track and 2 is an unmanned guided vehicle. In this case, trajectory 1 is divided into sections by dividing points DP1 to DP4.
It is divided into Br1 to Br5, and the front of the unmanned guided vehicle 2 is on the right side of the drawing. Then, the transfer direction is controlled by, for example, moving the unmanned guided vehicle 2 forward into section Br3 via section Br2, and at station ST1, transferring from the right side (the right side when facing the front of the vehicle, hereinafter the same). Then, at station ST2, the transfer is performed from the left side. i.e. station ST
1. The orientation of the unmanned guided vehicle 2 in ST2 is determined in advance, and the transfer direction at each station is also determined in advance. and,
Every time the transfer operation is completed, the unmanned guided vehicle 2 is stopped at the home station HS in the same orientation as the initial orientation. This is to control the transfer direction based on the initial state orientation. [Problems to be solved by the invention] By the way, in the conventional control method described above, the direction of the unmanned guided vehicle at each station is determined in advance. In some cases,
The drawback was that the number of travel route patterns was enormous. In addition, in order to determine the direction of the unmanned guided vehicle at each station in advance, the starting point (home station HS) that will be the base point of the driving route
As a result, depending on the station, a detour route is often set, resulting in a large time loss. This invention was made in view of the above-mentioned circumstances, and is an unmanned guidance system that has no restrictions on the starting point and can easily control switching of the transfer direction even when the trajectory is complex and there are many stations. The purpose is to provide a vehicle load transfer control device. [Means for Solving the Problems] This invention has been made to solve the above-mentioned problems, and includes the sensor 105 and the control device 10.
0, the unmanned guided vehicle 2 has a complicated section Br1 to Br5.
The vehicle travels on a track 1 consisting of a train, and can transfer cargo from either the left or right side between stations ST1 and ST2 installed at each base on the track 1. The control device 100 has a CPU 101 and a memory 106, and the memory 106 detects the reference traveling direction of the unmanned guided vehicle 2 for each of the sections Br1 to Br5. and station location information indicating whether each station ST1, ST2 is on the left or right side toward the reference travel direction of the corresponding section, and the CPU 10
1 inputs the output of the sensor 105 and stores it in the memory 1.
Based on the reference running direction of the new section stored in 06 and the station arrangement information of the section, it is determined whether the station is located on the left or right side toward the front of the unmanned guided vehicle 2, and the load is loaded from the side where the station is located. It outputs a control signal for carrying out the transfer. [Operation] Since the correct transfer direction is automatically determined based on the contents of the first and second flags, the orientation of the unmanned guided vehicle with respect to the station is not restricted. [Embodiments] Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 3 is a block diagram showing the configuration of a load transfer control device for an unmanned guided vehicle according to an embodiment of the present invention. This unmanned guided vehicle is installed on each unmanned guided vehicle operating in the unmanned transportation system. In FIG. 3, 101 controls each part of this control device.
CPU (Central Processing Unit) 102 is a current position input device used to input the current position of the unmanned guided vehicle; 103 is controlled by the CPU 101;
This is a driving wheel drive driver that drives the driving wheels 104 of an unmanned guided vehicle. Here, when the unmanned guided vehicle performs a spin turn, the left and right driving wheels 104 are driven to rotate in opposite directions. Further, 105 is a sensor that detects marks placed at each base on the track on which the unmanned guided vehicle runs. 106 is a memory.
The CPU 101 uses the storage area of the memory 106 to store flags that change depending on the running section and the station position (position on the right or left side of the track).
Flags with different contents are set depending on the flag, and the transfer direction of the unmanned guided vehicle is determined and switched based on the value of this flag. Here, these flags will be explained. CD flag (first flag): This flag becomes "1" when the direction of the unmanned guided vehicle matches the reference direction on the track, and becomes "0" when they do not match. Here, the reference direction will be explained. 1st
The figure is a diagram showing the same trajectory as Figure 2, and the second
Portions corresponding to those in the figure are given the same reference numerals. The arrows in this figure indicate the directions in which the unmanned guided vehicle 2 can travel, and as can be seen from the figure, in this embodiment, each section Br1 to Br
5, it is possible to run in both directions. The shaded direction of the arrows is set as the reference direction, and the reference direction side of both ends of each section is set as the end, and the opposite side is set as the start. Furthermore, marks detected by the sensor 105 described above are arranged at the boundary points of each section. CPU101 is sensor 10
5 detects the mark, thereby detecting the entry of the unmanned guided vehicle into a new section. When the CPU 101 detects that the unmanned guided vehicle has entered a new section via the sensor 105, it updates the contents of the CD flag according to the following table.

〔Effect of the invention〕

As explained above, the present invention provides the sensor 10
5 and a control device 100, the unmanned guided vehicle 2 travels on a track 1 consisting of a plurality of sections Br1 to Br5 and is installed at each base on the track 1. each station
Loads can be transferred from either the left or right side between ST1 and ST2, and the sensor 105 detects when the unmanned guided vehicle 2 enters from one section to the next, and the control device 105 detects when the unmanned guided vehicle 2 enters from one section to the next. has a CPU 101 and a memory 106, and the memory 106 has a section Br.
For each of 1 to Br5, the reference running direction of the unmanned guided vehicle 2 and station arrangement information indicating whether each station ST1, ST2 is located on the left or right side with respect to the reference running direction of the corresponding section are stored. Then, the CPU 101 inputs the output of the sensor 105 and moves the unmanned guided vehicle 2 forward to either the left or right side based on the reference running direction of the new section stored in the memory 106 and the station arrangement information of the section. The system determines whether there is a station on the station and outputs a control signal to transfer the load from the side where the station is located, so it is possible to transfer the load to each station in any direction. Even if the system is complex or there are a large number of stations, transfer control can be performed easily. Furthermore, since there are no restrictions on starting points, time loss can be reduced during the run.

[Brief explanation of the drawing]

FIG. 1 is a schematic configuration diagram of a trajectory for explaining one embodiment of the present invention, FIG. 2 is a schematic configuration diagram of a trajectory for explaining a conventional control method, and FIG. 3 is an embodiment of the present invention. 1 is a block diagram showing the configuration of a load transfer control device for an unmanned guided vehicle according to the present invention. 100...control device, 101...CPU, 10
5...sensor, 106...memory, 1...orbit,
2...Unmanned guided vehicle, ST1, ST2...station, Br1 to Br5...section.

Claims (1)

[Claims] 1. A load transfer control device for an unmanned guided vehicle having a sensor 105 and a control device 100, in which the unmanned guided vehicle 2 travels on a track 1 consisting of a plurality of sections Br1 to Br5. It is also possible to transfer cargo from either the left or right side between stations ST1 and ST2 installed at each base on track 1. Detecting the entry into the section, the control device 100 controls the CPU 101 and the memory 10.
6, and the memory 106 stores, for each of the sections Br1 to Br5, the reference running direction of the unmanned guided vehicle 2 and the reference running direction of the corresponding section for each station ST1 and ST2, on either the left or right side. The CPU 101 inputs the output of the sensor 105 and uses the new reference traveling direction of the section stored in the memory 106 and the station arrangement information of the section to create an unmanned guided vehicle. A load transfer control device for an unmanned guided vehicle that determines whether the station is on the left or right side toward the front of the vehicle and outputs a control signal to transfer the load from the side where the station is located.