JPH07122824B2 - Branching control system for mobile vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention allows a moving vehicle to travel along the guiding line at an intersection of a guiding line for guiding the moving vehicle and a branch guiding line branched from the guiding line. A line switching unit is provided which can be switched between a state in which the line is made to travel and a state in which the vehicle is branched to the side of the branch guidance line, and a branch control unit is provided for switching control of the line switching unit based on destination information of the moving vehicle. The present invention relates to branch traveling control equipment for a moving vehicle.

[Conventional technology]

The branch traveling control equipment for a mobile vehicle of this type is explained, for example, in the case of applying it to an assembly line or the like, along a guide line of a mobile vehicle carrying various parts or a branch guide line branched from the guide line. A work place will be provided. Therefore, depending on the position of the work site for supplying parts, at the intersection of the guide line and the branch guide line,
It is necessary to switch the line switching unit to switch the traveling route of the moving vehicle.

As a means for controlling the switching of the line switching unit, for example, an internal memory or the like is provided in each of the moving vehicles, and the identification number or the like unique to the moving vehicle is stored for each moving vehicle, and the operation of the entire equipment is performed. A communication device connected to the central control unit that manages is installed at a location in front of the intersection, etc.When the moving vehicle arrives at the intersection, the moving vehicle sends the identification number of the moving vehicle to the central control unit via the communication device. Notifying, the central control device determines whether or not to branch the moving vehicle at the intersection based on the notified identification number,
It is conceivable that the branch control means for controlling the switching of the line switching unit is operated. In this case, the central control unit manages the operation of the entire facility including the switching control of the line switching unit. Therefore, the processing load becomes heavy, and there is a disadvantage that it is difficult to operate the moving vehicle efficiently.

Therefore, conventionally, an electric resonator is provided for each moving vehicle to give destination information of the moving vehicle as a resonance frequency peculiar to the moving vehicle, and a detecting means for detecting the resonance frequency of the moving body is provided in front of the intersection. It is installed at a side location, and when a moving vehicle traveling on the guidance line moves to a location on the front side of the intersection,
The resonance frequency of the resonator provided on the moving vehicle is detected by the detecting means provided on the front side of the intersection, and based on the detection result, it is determined whether or not the moving vehicle is branched at the intersection. A technique for switching control of a line switching unit has been proposed (see, for example, Japanese Patent Laid-Open No. 53-104978).

Then, in this conventional technique, when changing the destination information of the moving vehicle, the resonator is replaced with a resonator having a resonance frequency corresponding to the destination information, or the resonance circuit of the resonator is changed. ing.

[Problems to be solved by the invention]

In the branch travel control facility for a moving vehicle, it is desirable to efficiently operate the entire facility while identifying not only the destination of the moving vehicle but also the current state of each moving vehicle by identifying the moving vehicle. According to the above, unless a means for identifying a moving vehicle is provided for each moving vehicle in addition to the resonator that gives the destination information of the moving vehicle, the current state of each moving vehicle cannot be grasped and the structure becomes complicated. There are drawbacks.

Further, according to the above-mentioned conventional technique, when it is desired to change the destination information of a moving vehicle, it is necessary for an attendant to visit the moving vehicle each time to replace the resonator or change the resonant circuit of the resonator. Therefore, there is a drawback that it is difficult to operate the entire equipment efficiently.

Furthermore, in order to change the destination information of the moving vehicle, it is necessary for an attendant to visit each moving vehicle and perform a predetermined change work.
There is also a drawback that it is easy to make a mistake in the destination information to be changed.

The present invention has been made in view of the above circumstances, and by devising a means for giving destination information of a moving vehicle to the moving vehicle, it is possible to reduce the processing load of the central control device, while having a simple structure. , The purpose is to enable efficient operation of the entire equipment.

[Means for solving problems]

The characteristic configuration of the present invention for achieving the above-mentioned object is a state in which a moving vehicle is run along the guide line at an intersection of a guide line for guiding the moving vehicle and a branch guide line branched from the guide line, and A branch of a moving vehicle provided with a line switching unit that can be switched to a state in which the vehicle is branched to a branch guidance line side, and with branch control means that controls switching of the line switching unit based on destination information of the moving vehicle. A travel control facility, wherein the mobile vehicle stores destination information of the mobile vehicle and an identification code unique to the mobile vehicle, and the destination information is rewritable by communication with a writing unit, and the memory. And a controller for controlling reading and writing of information to and from the memory, and transmitting and receiving of reading information and writing information to and from the memory. The storage medium and an antenna,
While being provided separately from the traveling control device for the moving vehicle, a reading unit that receives and reads the destination information transmitted from the antenna is provided at a position on the front side of the intersection, and the branch control unit reads the read destination information. On the basis of the above, the line switching unit is configured to switch control.

[Action]

When the moving vehicle approaches the intersection, the destination information stored in the storage medium of the moving vehicle is read without using the traveling control device of the moving vehicle, and the line switching unit
Switching control is performed based on the read destination information.

The storage medium storing the destination information stores the identification code of the moving vehicle in addition to the destination information. The moving vehicle is identified from the identification code and the current state of each moving vehicle is grasped. it can.

Further, when it is desired to change the destination information of the moving vehicle, the destination information stored in the storage medium can be easily rewritten by communicating with the writing means without using the traveling control device of the moving vehicle.

Further, since the destination information can be rewritten without the staff having to visit each moving vehicle, it is easy to accurately change the destination information.

〔The invention's effect〕

Therefore, it is possible to efficiently operate the entire facility with a simple structure that does not complicate the control program of the traveling control device of the moving vehicle while reducing the processing load of the central control device.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 7, a guide line (L) for guiding the moving vehicle is provided along the traveling route of the moving vehicle (A) for load transportation, and at a plurality of locations of the guiding line (L), Branch guide line (La) branching from the guide line (L)
Is provided so as to join the guide line (L) again, and the traveling route of the moving vehicle (A) is provided at each of the intersections (CR) between the guide line (L) and the branch guide line (La). A line switching unit (K) for switching is provided.

Then, the guide line (L) and the branch guide line (L
A plurality of stations (STn), which are destinations of the moving vehicle (A), are provided on the lateral sides of the respective a). However, as described later, the moving vehicle (A) transfers the load transferred at the first station (ST ₁ ) located on the guide line (L) to the other stations (ST ₂ ) to (ST ₆ ). The transportation is controlled to return to the first station (ST ₁ ) after being transported to any one of the above and unloading the cargo.

Further, as shown in FIG. 3, on the moving vehicle (A) side, destination information, that is, the number (n) of each station (STn)
And an ID card (D) as a storage medium that stores a moving vehicle number, which is a unique identification code for distinguishing between moving vehicles (A), and is provided on the front side of each intersection (CR),
A reader (R) is provided as a reading means for reading the information stored in the ID card (D) in a non-contact state, and the moving vehicle (R) is completed until the line switching of the line switching unit (K) at the intersection (CR) is completed. In order to temporarily stop (A) at a position on the front side of the intersection (CR), a ground communication device (1a) for transmitting a stop command and a start command to the moving vehicle (A) is provided.

Each of the reader (R) and the ground communication device (1a) is connected to a branch control device (B) as a branch control means for controlling the switching of the line switching unit (K).

In addition, a leader (R) for determining whether or not the approaching moving vehicle (A) is the moving vehicle (A) that should be stopped at a location on the front side of each of the stations (STn), and the moving vehicle (A) In the case of stopping A), a ground side communication device (1a) that transmits a deceleration command for decelerating the moving vehicle (A) to a set speed is provided, and the movement is performed in each of the stations (STn). While the vehicle (A) is stopped, a writer (W) for rewriting the stored information of the ID card (D), and a command for transmitting a stop command or a start command to the moving vehicle (A) Each ground side communication device (1a) is provided, and each of the reader (R), writer (W), and ground side communication device (1a) is connected to each station (ST).
connected to n).

Next, the configuration of each part will be described.

The structure of the guide line (L) and the branch guide line (La) will be described. As shown in FIG. 2, a guide that radiates a guiding AC signal (f ₁ ) of a set frequency as an electromagnetic wave for guiding a moving vehicle. The wire (2) for burial is buried along the traveling road surface of the moving vehicle (A) in a state of bypassing the line switching portion (K) at each intersection (CR), and the wire for war record guidance (2) is Both ends are connected to an oscillator (OSC) that oscillates the induction AC signal (f ₁ ) of the set frequency, and so-called electromagnetic induction type induction lines (L) and (La) are formed.

The line switching unit (K) will be described below.
As shown in the figure, like the guide line (L) and the branch guide line (La), the guide line (L) or the branch guide line (La) in a state of being divided at the intersection (CR).
Each of the pair of branch guide wires (2a) and (2b) is connected to the moving vehicle (A) so as to connect between the guide wires (2).
Embedded along the traveling road surface, and selectively energize _{one of the} pair of branch guiding wires (2a) and (2b) with the guiding AC signal (f ₁ ) of the set frequency. , An oscillator (OSC) having the same configuration as the oscillator (OSC) connected to the guiding wire (2) via a relay (RY)
Connected to each of. In other words, the relay (RY) switches the branch guidance wires (2a) and (2b) for energizing the guidance AC signal (f ₁ ) to move the moving vehicle (A) at the intersection (CR). It is configured to be switchable between a state of passing along the guide line (L) and a state of branching along the branch guide line (La).

Explaining the structure of the moving vehicle (A), as shown in FIG. 3 and FIG. 4, a pair of left and right propulsion wheels (3) are separately provided by a traveling motor (4) at the center of the vehicle body. The pair of left and right driven wheels (5), (5) are provided at both front and rear ends of the vehicle body so that the forward and reverse rotations can be freely stopped. A steering control sensor (6) for detecting the guide line (L) and the branch guide line (La) is provided on each of the front and rear ends of the vehicle body with its detection action surface facing the lower side of the vehicle body. A vehicle body side communication device (1b) for the ground side communication device (1a) is provided on a side portion of the vehicle body. However, the steering control sensors (6) provided at the front and rear of the vehicle body selectively use the front side when moving forward and the rear side when moving backward.

Further, the steering control sensor (6) and the communication device (1
There is provided a control device (7) which also serves as steering control means for discriminating the information instructed via a) and (1b) and controlling the traveling of the moving vehicle (A). In FIG. 4, (8) is a drive device for the traveling motor (4), and (9) is an encoder for detecting the rotation speed of the traveling motor (4). It can be detected. Also, (C)
For instructing various control information to each of the line switching device (B) and the station (STn), and managing the operation of the entire facility based on the arrival information of the moving vehicle (A). It is a central controller.

Explaining the structure of the steering control sensor (6), as shown in FIG. 4, the horizontal direction of the electromagnetic waves radiated from the guiding wire (2) and the branch guiding wires (2a) and (2b). Left and right pair of coils (10), (10) for detecting components
Is provided in the center below the front of the vehicle body, and detection circuits (11), (11) for detecting the detection signals thereof are provided.
However, in a state where the position of the moving vehicle (A) in the lateral width direction is in an appropriate state with respect to the guide line (L) and the branch guide line (La), both coils (10), (10)
It is attached so that the center between them is located directly above the guide wire (2) and the branch guide wires (2a), (2b).

The controller (8) is connected to the pair of coils (1
The pair of left and right propulsion wheels (2), (2) so that the difference in induced voltage induced in each of (0), (10) approaches zero.
The driving motors (3) and (3) for driving the vehicle are configured to control the number of revolutions to control the steering, and a start command is transmitted through the communication devices (1a) and (1b). The traveling of the moving vehicle (A) is controlled so that the vehicle starts at the set speed as it travels, decelerates to the set speed as the deceleration command is transmitted, and then stops as the stop command is transmitted. It is configured so that direct information is not exchanged with the central controller (C).

The structure of the ID card (D) will be described. As shown in FIG.
2), a controller (13) for controlling reading and writing of information with respect to the memory (12), and transmission / reception of reading information and writing information with respect to the reader (R) by an electromagnetic induction method in a non-contact state. Each of the antennas (14) is integrally sealed and provided in a resin case or the like. Although not shown, the memory (1
In 2), the stored information is held by the battery built in the ID card (D).

Explaining the structure of the reader (R), as shown in FIG. 1, the antenna (15) for the antenna (14) on the ID card (D) side, and both antennas (14), (1).
A controller (16) for instructing the controller (13) to input / output stored information to / from the memory (12) is provided via 5).

However, the controller (16) on the reader (R) side is kept in a state of constantly transmitting a read command of stored information to the controller (13) on the ID card (D) side, and the ID card (D) ) Side controller (13) is kept in a state where it can receive read commands at all times, so that the ID card can be used as the moving vehicle (A) approaches the intersection (K) or station (STn). The information stored in (D) can be automatically read.

Also, a writer (W) provided in the station (STn)
While the reader (R) is configured to only read the stored information of the ID card (D), not only the reading operation but also the writing of information to the ID card (D). The reader (R) has the same structure as that of the reader (R), and its description is omitted.

Next, the operation of the branch controller (B) for controlling the switching of the line switching unit (K) at the intersection (CR) while explaining the operation of the moving vehicle (A) based on the flowchart shown in FIG. Will be described in detail.

While the load is being transferred to the moving vehicle (A) stopped at the first station (ST ₁ ), the central controller (C)
Transmits the number (n) of the station (STn) as destination information of the moving vehicle (A) and writes the number (n) in the ID card (D) through the writer (W). As the load transfer work is completed, a start command is transmitted to the moving vehicle (A) side via the communication devices (1a) and (1b), and the moving vehicle (A) starts.

After the moving vehicle (A) has started, the guide line (L) or the branch guide line (La) is controlled while the steering is controlled based on the information detected by the steering control sensor (6) as described above.
It will run automatically along.

As the moving vehicle (A) approaches the front side of the intersection (CR), the reader (R) provided on the ground side operates, and along with the operation, the branch control device (B). But,
A stop command is issued via the ground communication device (1a) so as to temporarily stop the moving vehicle (A) at a position near the intersection (CR) until the operation of the line switching unit (K) is completed. send. The mobile vehicle (A) automatically stops when it receives a stop command, and transmits the stop completion to the branch control device (B) through the communication devices (1a) and (1b).

As the moving vehicle (A) stops, the reader (R) reads the stored information of the ID card (D) and transmits the read information to the branch control device (B).
The branch control device (B) uses the station number (n) read by the reader (R) and the station information previously transmitted from the central control device (C), that is, the branch guidance for branching at the intersection (CR). The number of the station arranged on the line (La) is collated, and it is determined whether or not the read number (n) is on the branch guide line (La) branching from the intersection (CR).

When the read number (n) is in the branch guidance line (La), the guidance AC signal (f) is applied to the branch guidance wire (2b) on the branch guidance line (La) side to branch the moving vehicle (A). ₁ ) is energized and the branch guide wire (2a) on the side of the guide line (L) is cut off, while the read number (n) is not on the side of the branch guide line (La), it moves. In order to pass the vehicle (A) along the guide line (L), the branch guide wire (2a) on the guide line (L) side is energized with the guide AC signal (f ₁ ) and the branch guide is provided. After activating the relay (RY) provided in the line switching unit (K) so as to cut off the power supply to the branch guide wire (2b) on the line (La) side, the call is transmitted to the moving vehicle (A). Send a command.

That is, as the moving vehicle (A) moves forward to a position where it can receive the stop signal transmitted from the ground-side communication device (1a), the moving vehicle (A) stops the vehicle via the communication device (1b) on the vehicle body side. Receive the signal and stop until there is a start command,
When the line switching of the line switching unit (K) is completed, a start command is transmitted through the communication devices (1a) and (1b), and the number (n) stored in the ID card (D) is stored. Will automatically branch or pass at the intersection (CR) toward the line where the station (STn) is located.

Next, the control operation for automatically stopping or passing the moving vehicle (A) in each station (ST) will be described based on the flowchart shown in FIG.

At each of the stations (STn), the leader (R) attached to the front side operates as the moving vehicle (A) approaches,
The number (n) stored in the ID card (D) is read and collated with the station number given in advance from the central controller (C).

When the read number (n) and the number given to the station (STn) that the moving vehicle (A) approaches are the same, the station (ST) is set to stop the moving vehicle (A) at the station (ST). The deceleration command is transmitted to the moving vehicle (A) via the ground side communication device (1a) provided at the front side of the station (ST) and the station (STn)
A stop command is transmitted from the communication device (1a) attached to the. However, if the read number (n) and the number given to the station (STn) that the moving vehicle (A) approaches are not the same, a deceleration signal and a stop signal to pass the approaching moving vehicle (A). Will be stopped.

When the deceleration command is transmitted to the moving vehicle (A), as the moving vehicle (A) approaches the communication device (1a) that transmits the deceleration command, the vehicle body side communication device (1
The deceleration command is received via b), the deceleration command is decelerated to the set speed in response to the reception, and the stop command is received as the station (STn) is received as the station (ST) is approached. ) And the station (STn) is notified of the completion of the stop.

When the moving vehicle (A) is stopped, the load transfer work is started, and when the load transfer work is completed, the central controller (C) is notified of the completion of the work.

When the central controller (C) is notified of the completion of work,
Next, the station number (n) to be stopped is notified to the station (STn) where the moving vehicle (A) is stopped, and the process is terminated.

The station (STn) then switches the writer (W) to the write operation state upon receiving the station number (n) for stopping the moving vehicle (A),
After rewriting the information stored in the ID card (D), a start command is transmitted to the moving vehicle (A) via the communication device (1a).

The moving vehicle (A), as the start command is received,
As described above, the automatic traveling is restarted along the guide line (L) or the branch guide line (La).

In other words, the moving vehicle (A) is the ground-side communication device (1a).
The position of the station (STn) to be stopped can be determined simply by performing a simple traveling control such that the vehicle starts moving when it receives a start command, decelerates when it receives a deceleration command, and stops when it receives a stop command. Even if you do not know at all, you can stop at each intersection (CR) by reading the stored information of the ID card (D) attached to the moving vehicle (A) by the reader (R) provided on the ground side. It can be automatically stopped as it passes or branches to the guide line (L) side where the power station is located and branches to the guide line (La) side and arrives at the station (STn) to be stopped. is there.

Further, since the stored information of the ID card (D) is freely rewritable, the ID card (D) can be repeatedly used in the same mobile vehicle with the ID card (D) attached to each mobile vehicle (A). The destination command for (A) can be changed. Further, for example, when a plurality of moving vehicles (A) are automatically driven toward different stations (STn) at the same time, even if the order of the moving vehicles (A) arriving at each intersection (CR) is changed,
ID card (D) that stores destination information on the moving vehicle (A) side
Since there is attached, there is no possibility that an erroneous load is transported to each station (STn). Furthermore, since the information stored in the ID card (D) is rewritable,
It is also possible to automatically drive different moving vehicles (A) toward the same station, and there is no need to issue information for identifying the moving vehicles (A) to the moving vehicle control device (8) at all. It was made possible.

Further, since it is not necessary for the central control unit (C) to directly exchange information with the ID card (D), the central control unit (C) only manages the operation of the entire equipment, which is the original purpose. The processing load can be reduced.

[Another embodiment]

In the above-described embodiment, as information to be stored in the ID card (D), the number (n) of the station (STn) that carries the load, which is the destination information of the moving vehicle (A), and the moving vehicles (A) are identified. For example, work information at each station (STn), such as work information on whether loading or unloading of cargo, the number of packages to be unloaded, etc. May be stored in combination. Further, in the above embodiment, the case where only one station number is stored and the next station number is rewritten in the stopped station is exemplified, but a plurality of destination information may be stored together. The specific contents of the destination information stored in the ID card (D) can be changed in various ways.

Further, in the above embodiment, the case where the ID card (D) which can read the stored information by the electromagnetic induction type is used as the storage medium for storing the destination information of the moving vehicle is exemplified. The stored information may be read in a non-contact manner by using, and the specific configuration of the storage medium can be variously changed.

Further, in the above embodiment, a reader (R) for reading stored information
The case where the writer (W) for rewriting the stored information and the writer (W) is separately provided is illustrated, but the reader / writer may be configured to be used in common.

Further, in the above embodiment, the ID card (D) as the storage medium
Although the example in which the vehicle is attached to the moving vehicle (A) is illustrated, the storage medium only needs to be able to move integrally with the moving vehicle (A). For example, an article conveyed by the moving vehicle (A). Alternatively, the storage medium may be attached to a container or the like for storing the article, and the attachment form of the storage medium may be variously changed.

In the above embodiment, the guide line (L) and the branch guide line (La) are electromagnetic induction type in which the guide wires (2), (2a) and (2b) are embedded in the traveling road surface. Although illustrated, the present invention can be applied to equipment of a type in which a moving vehicle (A) automatically travels along a traveling guide, for example, and includes a guide line (L) and a branch guide line (La). ) And the specific configuration of each part of the moving vehicle (A) can be variously changed.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

1 is a block diagram showing the configuration of a storage medium and branch control means, FIG. 2 is a diagram showing the configuration of a line switching unit, and FIG. FIG. 3 is a drawing showing the structure of the moving vehicle and the arrangement of the reading means, FIG. 4 is a block diagram showing the control structure on the moving vehicle side, FIG. 5 is a flow chart showing the operation of the branch control means, and FIG. FIG. 7 is a flowchart showing the operation, and FIG. 7 is a schematic plan view showing the layout of the entire equipment. (7) …… Running control device, (12) …… Memory, (13)…
... controller, (14) ... antenna, (W) ... writing means, (A) ... moving vehicle, (D) ... storage medium,
(B) ... Branching control means, (L) ... guidance line, (L
a) …… Branch guidance line, (CR) …… Intersection, (K)…
… Line switching unit.

Claims (1)

[Claims] 1. A mobile vehicle (A) at the intersection (CR) of a guide line (L) for guiding a mobile vehicle and a branch guide line (La) branching from the guide line (L). )
A line switching unit (K) is provided that is switchable between a state of traveling along the line and a state of branching toward the branch guide line (La) side, and the line is based on the destination information of the moving vehicle (A). A branch traveling control facility for a moving vehicle, which is provided with branch control means (B) for switching and controlling a switching unit (K), wherein destination information of the moving vehicle (A) and its movement are provided to the moving vehicle (A). The identification code unique to the car (A) is stored, and
A memory (12) capable of rewriting the destination information by communication with a writing means (W), a controller (13) for controlling reading and writing of information to and from the memory (12), and read information to the memory (12). A storage medium (D) having an antenna (14) for transmitting and receiving writing information is provided separately from the traveling control device (7) of the mobile vehicle (A), and a location on the front side of the intersection (CR). Is provided with a reading means (R) for receiving and reading the destination information transmitted from the antenna (14), and the branch control means (B) is provided with the line switching section (K) based on the read destination information. Branching control equipment for mobile vehicles, which is configured to control switching.