JPH08286742A - Automated guided vehicle route guide system and post incorporating data carrier - Google Patents

Abstract

PURPOSE: To provide the guide system where the route is easily changed by burying a data carrier at each point on carrying routes and reading movement information of data carriers and moving an unattended carrier based on these information. CONSTITUTION: An automated guided vehicle 50 reads data of the data carrier of a post 1 incorporating the data carrier at a point A to go straight and reads data for straight-going of the data carrier at a point B to go straight and reads data for turning to the left of the data carrier at a point C to turn to the left. Further, it reads data for straight-going of the data carrier at a point D to go straight and reads data for straight-going of the data carrier at a point E to go straight and reads data for turning to the left of the data carrier at a point F to turn to the left and reads data for straight-going of the data carrier at a point G to go straight and reads data for straight-going of the data carrier at a point H to be guided to a straight route.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automated guided vehicle route guiding system and a data carrier built-in pile.

[0002]

2. Description of the Related Art Conventionally, on a rail in which a magnetic tape or the like is embedded, a transport vehicle carries out a predetermined work while detecting the rail so as to move along a route in a factory. Further, a program in which the traveling distance and the work pattern are stored in advance is installed in the automatic guided vehicle, and the automatic guided vehicle is controlled in accordance with the program to perform work and movement.

[0003]

However, the conventional system has the following problems. (1) When a rail having a magnetic tape or the like embedded therein is used, it is not easy to change the route because the rail must be replaced in order to change the route. (2) In the case where the unmanned guided vehicle is preliminarily loaded with a program in which the traveling distance and the work pattern are stored, the creation of the program itself is troublesome, and the program needs to be changed every time the route is changed. It is not easy to change the route.

Further, there is a problem that a discrepancy occurs between the actual route and the program route. The present invention
It is an object of the present invention to eliminate the above problems and to provide an unmanned guided vehicle route guidance system and a data carrier built-in stake that can reliably arrange a data carrier according to an actual route and can easily change the route. To do.

[0005]

In order to achieve the above-mentioned object, the present invention provides: (1) In an unmanned guided vehicle route guiding system, the unmanned guided vehicle is preliminarily driven at each point on the guided route of the unmanned guided vehicle. The data carrier built-in pile in which the data carrier in which the movement information is stored is provided, and the unmanned guided vehicle is provided with a reader for reading the movement information of the data carrier of the built-in data carrier. It is designed to move based on information.

(2) In an unmanned guided vehicle route guiding system, a data carrier built-in pile in which a data carrier in which the movement and work information of the unmanned guided vehicle is stored, which is previously driven at each point on the guided route of the unmanned guided vehicle, is embedded. When,
A reader provided on the automatic guided vehicle for reading movement and work information of the data carrier of the pile with built-in data carriers, and carrying out movement and work based on information from the reader.

(3) In the unmanned guided vehicle route guiding system described in (1) or (2) above, the data carrier at the point is made replaceable. (4) The data carrier built-in pile is formed by embedding the data carrier in which the information regarding the movement of the moving body is stored.

(5) The data carrier built-in pile comprises a pile main body and a cap in which a data carrier storing information relating to the movement of a movable body detachably mounted on the pile main body is embedded.

[0009]

[Action]

(1) According to the unmanned guided vehicle route guidance system of claim 1, a data carrier embedded with a data carrier in which movement information of the unmanned guided vehicle is stored in advance, which is driven at each point on the conveying route of the unmanned guided vehicle. A built-in stake and a reader provided on the unmanned guided vehicle for reading movement information of the data carrier of the data carrier built-in stake,
Since the movement is performed based on the information from the reader, the data carrier can be surely arranged according to the actual route.

(2) According to the automatic guided vehicle route guiding system of the second aspect, the movement and work of the data carrier of the pile with the built-in data carrier is read by the reader to surely perform the movement and work of the unmanned guided vehicle. be able to. (3) According to the automatic guided vehicle route guiding system of the third aspect, the data carrier can be freely replaced at the point, so that the route can be easily changed.

(4) According to the data carrier built-in stake described in claim 4, it is possible to guide the moving body with a simple structure. (5) According to the pile with a built-in data carrier according to claim 5,
When the pile is driven in, only the cap having the data carrier can be replaced by leaving the pile body and the data can be easily changed.

[0012]

Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic configuration diagram of an automated guided vehicle route guiding system showing an embodiment of the present invention, FIG. 2 is a sectional view of a pile with a built-in data carrier used therein, FIG. 3 is an exploded sectional view of the pile with a built-in data carrier, and FIG. Configuration diagram of the pile with built-in data carrier and its reader of the automatic guided vehicle route guidance system,
FIG. 5 is a block diagram of a control / drive device for an automated guided vehicle.

As shown in FIGS. 2 and 3, the data carrier built-in pile 1 comprises a pile body 2 made of a hard resin and a cap 5 made of a hard resin. The pile body 2 is screwed onto the cap 5. Therefore, the hollow portion 3 is provided, and the female screw 4 is formed on the outer periphery of the hollow portion 3. On the other hand, the data carrier 10 is embedded in the cap 5. Movement data of the automated guided vehicle 50 is stored in advance in the data carrier 10. On the outer peripheral surface of the cap 5, the pile main body 2
A male screw 6 is formed so as to be screwed with, and a cross groove, for example, is formed on the surface of the cap 5 as a driver engagement groove 7 with which a driver is engaged.

This data carrier built-in pile 1 is driven in at each point on the transfer route of the automatic guided vehicle 50. In that case, when it is desired to change the data of the data carrier of the data carrier built-in pile 1 which has been driven once, the driver is engaged with the driver engagement groove 7 formed on the surface of the cap 5 and the reverse of the screw engagement. In the direction of, the cap body 5 that has been driven into the floor is left, and only the cap 5 is removed. be able to.

It goes without saying that the pile 1 with a built-in data carrier can be an integrated type in which the data carrier 10 is embedded. In that case, in order to replace the point movement data, the already loaded data carrier built-in pile 1 is pulled out and replaced with the data carrier built-in pile 1 in which other data is stored. on the other hand,
The automated guided vehicle 50 is provided at its bottom with a reader 21 capable of reading the movement data stored in the data carrier 10 of the data carrier built-in pile 1.

Then, the control / drive device 40 operates according to the information read by the reader 21 to drive the wheels 51 to move the automated guided vehicle 50. Hereinafter, the configuration of each part and the operation of the automatic guided vehicle will be described in detail. First,
The structure of the data carrier and the reader will be described with reference to FIG.

The data carrier built-in pile 1 has a built-in data carrier 10 as a microchip, and the data carrier 10 is an antenna or a special application (ASI).
C). More specifically, the receiving antenna (coil antenna) 11 and the demodulator 1
2, SP / PS converter 13, main controller 14, data memory (ROM) 15, oscillator 16, modulator 17, amplifier 1
8 and a transmission antenna (coil antenna) 19.

On the other hand, the reader (transmission / reception device) 21 for reading the data carrier 10 arranged at each point of the route of the automatic guided vehicle 50 has a main controller 22, a PS / SP converter 23 along the flow of signals. , Modulator 24, oscillator 2
5, amplifier 26, transmission antenna (coil antenna) 2
7, receiving antenna (coil antenna) 28, amplifier 2
9. It has a demodulator 30. In addition, the signal control unit 31,
Upper interface control unit 32, data buffer RA
An M33 and a power supply unit 34 are provided.

Therefore, the transmitting antenna 2 of the reader 21
When radiating radio waves from 7 to the data carrier 10,
Data carrier (microchip) 1 by the radio wave
Electric power is generated in the receiving antenna (coil antenna) 11 within 0 by electromagnetic induction, and the operation of the data carrier 10 is activated. The activated data carrier 10 reads out data stored in advance in the data memory (ROM) 15 and transmits it by electromagnetic induction radio waves.

Then, the transmitted radio wave is received by the receiving antenna (coil antenna) 28 of the reader 21,
Read as data. Next, the operation of the control / drive device of the automatic guided vehicle will be described with reference to FIG. Figure 5
As shown in, the data read by the reader 21 is read by the control device 42 via the interface 41. The output from the control device 42 turns on the power switch 43 of the power supply 44, and drives the servo mechanism 46 that drives the motor 45 and the handle 47. Then, the handle 47 is operated according to the information from the control device 42 to the servo mechanism 46, and the wheels 51 are driven by the drive of the motor 45. Further, a control signal from the control device 42 drives an actuator 49, which will be described later, which works at a certain point. Also, switch 48
Is a manual switch of the power switch 43 connected to the control device 42 used in an emergency. In addition to this, a visual sensor is provided to have a function of stopping in the event of a path abnormality. , Various functions can be added.

With this construction, the automatic guided vehicle 50
Can read the movement data of the data carrier 10 entered at each point on the transportation route in the factory for each point and move in the factory accordingly.
FIG. 6 is a diagram showing an example of route guidance of the automated guided vehicle route guidance system of the present invention. As shown in this figure, the automated guided vehicle 5
0 goes straight by reading the data “straight ahead” from the data carrier 10 of the data carrier built-in pile 1 at the point A, and then goes straight ahead at the point B.
And then go straight ahead, and at point C, read the data "Left turn" of the data carrier 10 and turn left. Further, at point D, the data “straight ahead” of the data carrier 10 is read to go straight, then at point E, the data carrier 10
Read the data “Go straight” and go straight, then point F
Read the data "turn left" of the data carrier 10 and turn left. Further, at point G, the data “straight ahead” of the data carrier 10 is read to go straight, and at point H, the data “straight ahead” of the data carrier 10 is read and a straight path is guided.

However, if the movement of the automated guided vehicle 50 is hindered at the points C and D, it is necessary to change the route. In that case, the data "straight ahead" of the data carrier 10 at the point B is changed to the data carrier 20 in which the data "left turn" is stored.
Replace with. And the point I is the data "go straight",
By changing the data from point J to the data "right turn" and point E to the data "straight turn" to the data "left turn",
The route can be changed easily.

In the above embodiment, only the movement of the automated guided vehicle 50 has been described. However, the work data of the automated guided vehicle 50 is stored in the data carrier 10, for example,
As shown in FIG. 1, the control mounted on the automatic guided vehicle 50
By driving the actuator 49 of the drive device 40, at the point X, the hopper 52 pivotally mounted on the pivot shaft 53.
It is also possible to push open to discharge the earth and sand as cargo loaded in the automatic guided vehicle 50 to the point X. Further, various other work actuators may be mounted on the automated guided vehicle 50, and various works can be performed at points along the route according to the work data stored in the data carrier 10.

In the above embodiment, the case where the data carrier built-in stakes are arranged on the floor of the factory has been described, but the invention is not limited to the factory, and the floor surface is not a building material, It can also be used on concrete or asphalt. Further, it can be sufficiently applied even in a place where waterproofing is a problem. The present invention is not limited to the above-mentioned embodiments, and various modifications can be made based on the spirit of the present invention, and these modifications are not excluded from the scope of the present invention.

[0025]

As described in detail above, according to the present invention, the following effects can be achieved. (1) According to the invention as set forth in claim 1, a data carrier built-in pile in which a data carrier in which movement information of the automatic guided vehicle is stored in advance is driven into each point on the transportation route of the automatic guided vehicle, and It is provided in the automatic guided vehicle, and is provided with a reader for reading the movement information of the data carrier of the pile with built-in data carriers, so that the movement is performed based on the information from the reader, so that it can be adjusted according to the actual route. , The data carrier can be surely arranged.

(2) According to the second aspect of the present invention, the movement and work information of the data carrier of the pile with built-in data carriers can be read by the reader, and the movement and work of the automatic guided vehicle can be reliably performed. (3) According to the third aspect of the invention, since the data carrier can be freely replaced at the point, the route can be easily changed.

(4) According to the invention described in claim 4, the data carrier built-in pile can guide the moving body with a simple structure. (5) According to the invention of claim 5, when the pile is driven in, the pile main body can be left and only the cap having the data carrier can be replaced, so that the data can be easily changed.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of an automated guided vehicle route guidance system showing an embodiment of the present invention.

FIG. 2 is a cross-sectional view of a pile with a built-in data carrier showing an embodiment of the present invention.

FIG. 3 is an exploded sectional view of a pile with a built-in data carrier showing an embodiment of the present invention.

FIG. 4 is a configuration diagram of a pile with a built-in data carrier and a reader thereof in an automated guided vehicle route guidance system according to an embodiment of the present invention.

FIG. 5 is a configuration diagram of a control / drive device for an automated guided vehicle showing an embodiment of the present invention.

FIG. 6 is a diagram showing an example of route guidance of the automated guided vehicle route guidance system of the present invention.

[Explanation of symbols]

 1 Pile with a built-in data carrier 2 Pile body 3 Hollow part 4 Female screw 5 Cap 6 Male screw 7 Driver engagement groove (cross groove) 10,20 Data carrier 11,28 Reception antenna (coil antenna) 12,30 Demodulator 13 SP / PS converter 14 Main controller 15 Data memory (ROM) 16,25 Oscillator 17,24 Modulator 18,26,29 Amplifier 19,27 Transmitting antenna (coil antenna) 21 Reader (transceiver) 22 Main controller 23 PS / SP conversion unit 31 signal control unit 32 upper interface control unit 33 data buffer RAM 34 power supply unit 40 control / driving device 41 interface 42 control device 43 power switch 44 power supply 45 motor 46 servo mechanism 47 handle 48 switch 49 actuator 50 unmanned guided vehicle51 Wheels 52 Hoppers 53 Pivoting Axis

Claims (5)

[Claims] 1. A pile including a data carrier, in which (a) a data carrier, in which movement information of the automatic guided vehicle is stored in advance, is driven in at each point on a conveying route of the automatic guided vehicle, and (b) the automatic guided vehicle. An unmanned guided vehicle route guidance system, comprising: a reader provided on a vehicle for reading movement information of a data carrier of the data carrier built-in pile; and (c) moving based on information from the reader. . 2. (a) A data carrier built-in stake in which a data carrier in which movement and work information of the automatic guided vehicle is stored is previously driven, which is driven in at each point on the transfer route of the automatic guided vehicle, and (b) A reader provided on an automated guided vehicle for reading movement and work information of the data carrier of the data carrier built-in pile, and (c) moving and working based on information from the reader. Automated guided vehicle route guidance system. 3. The automatic guided vehicle route guiding system according to claim 1, wherein the data carrier at the point is replaceable. 4. A data carrier built-in stake in which a data carrier storing information on movement of a mobile body is embedded. 5. A pile with a built-in data carrier, comprising: (a) a pile body; and (b) a cap having a data carrier embedded therein, which stores information relating to the movement of a movable body detachably mounted on the pile body.