JPH10207541A - Controller for automated guided vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely prevent automated guided vehicle from colliding without making a wait time at an intersection long by controlling the transmission state of an intersection entry signal accordingly to the inputted traction state of a carrying truck. SOLUTION: A traction input means is so constituted as to input the traction number of carrying trucks 4a to 4c. According to the input signal of the traction number, the transmission state of the intersection entry signal is controlled and then the transmission of the intersection entry signal is stopped the moment the carrying truck at the tail among 4a to 4c exits from an intersection A. Therefore, while a collision in the intersection A is surely prevented, wait times of other trucks can be minimized and varied with ease. When address plates 15a to 15d are arranged at an exit part of the intersection A at intervals corresponding to the traction size of the carrying trucks 4a to 4c, the number of the installed address plates 15a to 15d is minimized and the installing operation can be simplified.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an automatic guided vehicle that controls a plurality of automatic guided vehicles having a towing portion of a transport vehicle to travel along a traveling route.

[0002]

2. Description of the Related Art Conventionally, as shown in, for example, Japanese Patent Application Laid-Open No. Hei 7-295641, wireless communication is performed between each automatic guided vehicle, and a signal for standby control to another vehicle is started when approaching an intersection. When the identification code for identifying the own vehicle is included in the standby control signal, and the identification code is compared with the confirmation code which is the identification code of the other vehicle, when it is determined that the other vehicle is not a specific automatic guided vehicle, There is known an automatic guided vehicle intersection control method configured to prevent a collision when a plurality of automatic guided vehicles arrive at the intersection at the same time by configuring the vehicle to enter the intersection.

[0003]

As described in the above-mentioned publication, when the intersection control is performed by performing wireless communication between the automatic guided vehicles, the control device provided on the ground has While having the advantage of being able to prevent the collision of unmanned guided vehicles at intersections with a simple configuration without having to grasp the position of the unmanned guided vehicle, this method has the advantage that, when the unmanned guided vehicle is configured to tow a plurality of transport vehicles, In order to surely prevent the transport vehicle from colliding with another vehicle, there is a problem that the waiting time at the intersection must be long.

That is, in the control apparatus for an automatic guided vehicle that pulls a plurality of transport vehicles as described above, in order to prevent collision at the intersection, another vehicle is required until the rearmost transport vehicle exits the intersection. It is necessary to prohibit entry and wait. For this reason, the standby time must be set according to the maximum number of transport vehicles that are always towed by the automatic guided vehicle, and if the automatic guided vehicle is not towing the transport vehicle, or the number of towed transport vehicles. When the number of vehicles is smaller than the maximum number, there is a problem that the automatic guided vehicle must wait at the intersection for an unnecessarily long time.

The present invention has been made in view of the above circumstances, and provides a control device for an automatic guided vehicle capable of preventing a collision at an intersection without increasing a standby time at the intersection.

[0006]

The invention according to claim 1 is
In a control device of an automatic guided vehicle that controls a plurality of automatic guided vehicles having a towing portion of a transport vehicle along a traveling route, a tow input means for inputting a tow state of the transport vehicle, and when entering an intersection Transmitting means for transmitting an intersection approach signal that informs that the vehicle has entered the intersection, and transmission control means for controlling the transmission state of the intersection approach signal according to the towing state of the transport vehicle input by the towing input means; It is provided with.

[0007] According to the above configuration, it is determined whether or not the automatic guided vehicle is towing the transport vehicle in accordance with the input signal of the towing input means, and the transmission is performed at the time of approaching the intersection in accordance with the determination result. The transmission state of the intersection entry signal transmitted from the means is controlled by the transmission control unit, and the timing of entry of the other vehicle to the intersection is controlled according to the transmission state of the intersection entry signal.

According to a second aspect of the present invention, in the automatic guided vehicle control device according to the first aspect, it is determined whether or not the own vehicle is allowed to enter an intersection in accordance with an intersection approach signal transmitted from another vehicle. The intersection control means is provided in each automatic guided vehicle.

According to the above configuration, the intersection control means of each automatic guided vehicle determines whether or not the own vehicle is in a state to enter the intersection in accordance with the transmission state of the intersection entry signal transmitted from the other vehicle. Then, the intersection control according to the result of this determination is executed.

According to a third aspect of the present invention, in the control apparatus for an automatic guided vehicle according to the first or second aspect, the towing input means is used to input the number of towing vehicles, and the input of the number of towing vehicles is performed. The transmission state of the intersection entry signal is controlled based on the signal.

According to the above construction, the number of transport vehicles towed by the automatic guided vehicle is determined according to the input signal of the tow input means, and the intersection approach transmitted from the transmitting means is determined according to the determination result. The transmission state of the signal is controlled by the transmission control means, and the timing of the entry of the other vehicle to the intersection is controlled according to the transmission state of the intersection entry signal.

[0014] The invention according to claim 4 is the above-mentioned claims 1-3.
In the automatic guided vehicle control device according to any one of the above, while installing a plurality of address plates at the exit portion of the intersection, provided with an address plate detecting means for detecting the data of the address plate in each automatic guided vehicle, The traveling position of the own vehicle is detected by the transmission control means in accordance with the detection signal of the main plate detecting means, and the rear end of the vehicle and the rear end of the transport vehicle located at the rear end are detected in accordance with the detection data. The transmission of the intersection entry signal is stopped when it is confirmed that the located portion has left the intersection.

According to the above construction, when the automatic guided vehicle exits the intersection, the address plate data is detected by the address plate detecting means, and the data is located at the rear end and the rear end of the own vehicle according to the detection signal. When it is confirmed that the rear portion of the rear end of the transporting vehicle that has exited the intersection, the transmission of the intersection entry signal is stopped, and another vehicle is allowed to enter the intersection. .

According to a fifth aspect of the present invention, in the control apparatus for an automatic guided vehicle according to the fourth aspect, the respective address plates installed at the exit portion of the intersection are arranged at intervals corresponding to the tow dimensions of the transport vehicle. It was done.

According to the above configuration, when the automatic guided vehicle exits the intersection, the rear end portion of the rear end portion of the vehicle and the rear end portion of the transport vehicle located at the rear end exit from the intersection. This is effectively determined in accordance with the installation position of the address plate.

[0016] The invention according to claim 6 is the above-mentioned claims 1-3.
In the control device for an automatic guided vehicle according to any one of the above, in response to an input signal of the traction input means, from the front end of the own vehicle to the rear end of the own vehicle and the rear end of the rear end of the transport vehicle located at the rear end The transmission control means sets the transmission time of the intersection entry signal corresponding to the distance to the portion located at the position, and starts the transmission of the intersection entry signal from the time when the own vehicle enters the intersection, and the time of the transmission time is The transmission of the intersection approach signal is stopped when it is confirmed that the transmission time has elapsed after the start.

According to the above configuration, when the automatic guided vehicle enters an intersection, the above-mentioned transmission control means transmits an intersection entry signal, and executes the entry control to the intersection while lapse of the transmission time. Then, when it is confirmed that the transmission time set by the transmission control means has elapsed, the transmission of the intersection entry signal is stopped, and another vehicle is allowed to enter the intersection.

The invention according to claim 7 is the invention according to claims 1 to 3.
The control device for an automatic guided vehicle according to any one of the above, wherein an intersection approach signal having a frequency corresponding to an input signal of the traction input means is transmitted from the transmission means.

According to the above configuration, when the automatic guided vehicle enters the intersection, the frequency of the intersection entry signal transmitted from the transmission means is set to the frequency corresponding to the input signal of the traction input means by the transmission control means. Then, the intersection control corresponding to this frequency is executed.

According to an eighth aspect of the present invention, in the automatic guided vehicle control device according to the seventh aspect, the automatic guided vehicle according to the seventh aspect of the present invention controls the automatic guided vehicle according to the frequency of the intersection entry signal transmitted from the transmitting means of the automatic guided vehicle entering the intersection. A standby time setting means for setting a standby time when entering an intersection is provided.

According to the above configuration, according to the frequency of the intersection entry signal transmitted from another vehicle entering the intersection, the waiting time corresponding to the towing state of the transport vehicle towed by this other vehicle is the waiting time. The vehicle is allowed to enter the intersection at the time set by the setting means and when it is confirmed that the standby time has elapsed.

According to a ninth aspect of the present invention, in the automatic guided vehicle control device according to the seventh aspect, a standby time for setting an intersection approach time according to a frequency of an intersection approach signal transmitted from another vehicle. Setting means for determining whether or not the standby time set by the standby time setting means has elapsed when an intersection entry signal is transmitted from another vehicle when entering the intersection, and the standby time has elapsed. The intersection control means for controlling the own vehicle to enter the intersection at the time when it is confirmed is provided in each automatic guided vehicle.

According to the above configuration, the automatic guided vehicle in the standby state at the intersection starts the elapse of the standby time set in accordance with the frequency of the intersection entry signal of the other vehicle received by the receiving means, When it is confirmed that the time has elapsed, it is allowed to enter the intersection.

[0024] The invention according to claim 10 is the above-described claim 1.
9. The control device for an automatic guided vehicle according to any one of 9
Priority input means for inputting the priority of the vehicle when entering the intersection, and standby time setting means for setting a standby time corresponding to the priority input by the priority input means are provided in each automatic guided vehicle. At the time when the vehicle arrives at the intersection, it is determined whether or not the standby time set by the standby time setting means has elapsed. When it is confirmed that the standby time has elapsed, the vehicle is switched to the intersection. It is configured to determine whether or not to enter the vehicle.

According to the above configuration, when the vehicle arrives at the intersection, the elapse of the standby time corresponding to the priority set by the standby time setting means is started, and the time when the elapse of the standby time is confirmed. Thus, the intersection control is performed to determine whether or not the own vehicle is to enter the intersection according to the transmission state or frequency of the intersection entry signal transmitted from the other vehicle.

[0026]

FIG. 1 shows an embodiment of a control device for an automatic guided vehicle according to the present invention. The control device performs automatic conveyance of mechanical parts and the like by causing a plurality of automatic guided vehicles 1 to travel along a traveling route set in advance in a factory. As shown in FIG. 2, a battery 2 serving as a driving energy source and a control unit 3 are installed, and a towing unit 5 includes a towing hook 5 for towing the carriages 4a to 4c at the rear of the automatic guided vehicle 1. Part is provided.

Further, below the automatic guided vehicle 1,
Driving wheels 6 and 7 including a pair of left and right front wheels and driving means including driving motors 8 and 9 for individually rotating the driving wheels 6 and 7 are provided at a front portion, and a pair of right and left wheels are disposed at a rear portion. Followed wheels 10, 11 composed of rear wheels are provided.

Further, the automatic guided vehicle 1 is provided with a guide sensor 13 for detecting the installation position of the guide means 12 buried on the floor in the factory or adhered on the floor. The guide means 12 is a magnetized 5 cm
The surface of a magnetic tape having a width dimension of about one is made of a tape-like material covered with a protective tape, and is installed along the traveling route of the automatic guided vehicle 1.

As shown in FIG. 3, the guide sensor 13 includes 16 Hall elements arranged at predetermined intervals in the vehicle width direction of the automatic guided vehicle 1, that is, in a direction intersecting the traveling direction of the automatic guided vehicle 1. , And five of the sixteen detection means 14 are arranged so as to face the guide means 12, whereby the five detection means 14 are turned on. The detection signal is output to the control unit 3.

As shown in FIG. 2, the traveling route of the automatic guided vehicle 1 has an address plate for displaying an intersection position, a speed setting position, a traveling direction setting position, a stop position, and the like provided on the traveling route. Reference numeral 15 is provided on the side of the guide means 12, and address plate detecting means including an address plate sensor 16 for detecting data of the address plate 15 is provided at a front portion of each automatic guided vehicle 1.

As shown in FIG. 1, a plurality of address boards 15a to 15a are provided at the exit of intersection A provided on the traveling route.
5d are installed at predetermined intervals, and the address plates 15a to 15d
The running position of the vehicle is detected by the control unit 3 in accordance with the detection signal of the address plate sensor 16 for detecting the data of the vehicle. It is determined that a rear portion of the rear end of the carriage 4c has exited the intersection A.

That is, each of the address plates 15a to 15d
Are arranged at the retreating portion of the intersection A at intervals corresponding to the total length of the automatic guided vehicle 1 and the towing dimensions of each of the transport vehicles 4a to 4c, so that when the transport vehicle is not towed, When the rear end exits from intersection A, intersection A
If the data of the first base plate 15a closest to is detected by the above-mentioned base plate sensor 16 and one carrier 5a is being pulled, the rear end of the carrier 5a has exited the intersection A. At this time, the data of the second base plate 15b adjacent to the first base plate 15a is
6 to be detected.

The unmanned carrier 1 has two carriers 5 on it.
When a and 5b are being towed, when the rear end of the transport vehicle 5b located at the rear end has exited from the intersection A,
The data of the third base plate 15c adjacent to the second base plate 15b is detected by the base plate sensor 16, and
When the trucks 5a, 5b, 5c are towed, the rear end of the trailing truck 5c is located at the intersection A.
At the time when the user exits from the server, the installation intervals of the respective address plates 15a to 15d are set such that the data of the fourth address plate 15d adjacent to the third address plate 15c is detected by the address plate sensor 16.

The control unit 3 includes, as shown in FIG. 4, a towing input means 17 for inputting the towing state of the transport vehicles 4a to 4c, and other information that the own vehicle has entered the intersection A when the vehicle has entered the intersection A. There is provided a transmission control means 19 for transmitting an intersection approach signal to be notified to the vehicle from the transmission means 18 and controlling a transmission state of the intersection approach signal based on an input signal of the traction input means 17. Also, the control unit 3 includes an intersection control unit 21 that determines whether or not the own vehicle is to enter the intersection A according to the intersection entry signal of the other vehicle received by the receiving unit 20, and an approach to the intersection A. A priority input means 22 for inputting the priority of the own vehicle at the time and a standby time setting means 23 for setting a standby time corresponding to the priority input by the priority input means 22 are provided.

The towing input means 17 has a function of inputting the number of the transport vehicles 4a to 4c towed by the automatic guided vehicle 1 in accordance with the operation of the worker. It is configured to output. Instead of the above-described configuration in which the transport vehicles 4a to 4c are input in accordance with the operation of the operator, a tow input means for detecting and inputting the number of the transport vehicles 4a to 4c according to the tow weight, or an unmanned vehicle A structure in which each of the automatic guided vehicles is provided with traction input means for inputting the number of vehicles in accordance with a detection signal of a limit switch or the like for detecting the number of the trolleys 4a to 4c at the time of work of towing the trolleys 5 to the traction unit 5 of the carrier 1 Is also good.

The transmission control means 19 determines the towing state of the transport vehicles 4a to 4c in accordance with the input signal of the towing input means 17, and responds to the detection signal of the address plate detecting means comprising the address plate sensor 16. When the traveling position of the own vehicle is detected and it is confirmed that the transport vehicles 4a to 4c are towed by the own vehicle according to the input signal of the towing input means 17, the transport vehicle located at the rear end thereof When it is confirmed that 4a to 4c have left the intersection A, the transmission means 18 stops the transmission of the intersection entry signal.
Is configured to be output.

The intersection control means 21 starts the standby time setting means 23 from the time when the vehicle arrives at the intersection A.
The elapse of the standby time set by (1) is started, and when it is confirmed that the standby time has elapsed, it is determined whether there is an intersection approach signal transmitted from another vehicle, and the intersection approach signal is transmitted. It is configured to prohibit entry to the intersection A when it is confirmed. And
If the intersection control unit 21 confirms that the intersection entry signal has not been transmitted, the transmission unit 18 outputs a control signal for transmitting the intersection entry signal to the transmission control unit 19, and outputs the control signal. Intersection control for driving the motors 8 and 9 to make the vehicle enter the intersection A is executed.

The priority input means 22 inputs the priority of the own vehicle according to the operation of the worker, and outputs this input signal to the standby time setting means 23 so that the own vehicle enters the intersection A. When the intersection control for determining whether or not to perform the intersection control is performed, the standby time is set. In addition, instead of the above-described embodiment configured to input the priority of the own vehicle according to the operation of the worker, the priority is automatically input according to the designation signal output from the auxiliary equipment 5, Alternatively, the priority order of the own vehicle may be determined according to a signal transmitted from another vehicle, and the priority order may be input.

The standby time setting means 23 sets the standby time to 0 when the own vehicle is confirmed to be the highest priority vehicle in accordance with the output signal of the priority input means 22, and sets the standby time to 0. Is determined to be low, the standby time is gradually increased in accordance with the priority.

The control operation of the automatic guided vehicle 1 performed by the control unit 3 of the automatic guided vehicle 1 will be described with reference to flowcharts shown in FIGS. When the control operation is started, first, the towing number n of the transport vehicles 4a to 4c is input by the towing input means 17, and the priority of the own vehicle is input by the priority input means 22 (steps S1 and S2). Next, after setting the standby time t corresponding to the priority order by the standby time setting means 23 (step S3), it is determined whether or not the start button of the automatic guided vehicle 1 is pressed (step S4), and YES is determined. At this point, the automatic guided vehicle 1 is started.

Then, it is determined whether or not the data of the address plate 15 has been detected by the address plate sensor 16 (step S6).
It is determined whether or not the vehicle is in an intersection approach state in which the own vehicle has reached the approach portion of the intersection A according to the data of Step 5 (Step S).
7). If YES is determined in this step S7, the automatic guided vehicle 1 is stopped (step S8), and the presence / absence of an intersection approach signal transmitted from another vehicle is determined by the receiving unit 20.
And waits until it is determined that the intersection approach signal is not transmitted (step S
9).

Next, after reading the priority input by the priority input 22, it is determined whether or not the own vehicle is the highest priority vehicle (steps S10 and S11). As a result of this determination, if it is confirmed that the own vehicle is not the highest priority vehicle, the elapse of the standby time t set by the standby time setting means 23 is started, and whether or not the standby time t has elapsed is determined. Is determined (step S12).

Then, when it is confirmed that the standby time t has elapsed, the presence or absence of an intersection approach signal transmitted from another vehicle is determined again according to the reception state of the reception means 20 (step S13), and NO When it is determined that the intersection entry signal is not transmitted from another vehicle, the automatic guided vehicle 1 (own vehicle) is activated while transmitting the intersection entry signal from the transmission means 18 of the own vehicle. To enter the intersection A (steps S14, S15). If YES is determined in the above step S11, and it is confirmed that the own vehicle is the highest priority vehicle, the process proceeds to step S14 at this time.
To the transmitting unit 1 without executing the standby control.
While transmitting the intersection entry signal from 8, the automatic guided vehicle 1 is started to enter the intersection A.

Thereafter, the address plates 15a to 15a installed at the exit of the intersection A in accordance with the detection signal of the address plate sensor 16 described above.
It is determined whether or not the 16d data is detected (step S16). If the determination is YES, the address plate 1 is determined.
After incrementing the number of detections p of 5a to 16d (step S17), the number of detections p is equal to the number of the traction input unit 1.
7 to determine whether the number is larger than the value of the number of towed vehicles n (step S18), thereby determining the rear end of the rear end of the own vehicle and the rear end of the transport vehicles 4a to 4c located at the rear end. It is confirmed whether or not the portion located at the intersection has exited from the intersection, and if NO is determined, the process proceeds to step S1.
Returning to step 6, the above control operation is repeated.

Then, YES is determined in the above step S18, and it is confirmed that the rear portion of the rear end portion of the vehicle and the rear end portions of the transport vehicles 4a to 4c located at the rear end have exited the intersection. At this time, after the transmission of the intersection entry signal is stopped (step S19), it is determined whether the vehicle has reached the speed setting position according to the detection signal of the address plate sensor 16 (step S20). If YES is determined, speed control for setting the traveling speed of the own vehicle is executed based on the data of the address plate 15 installed at the speed setting position (step S21).

Next, it is determined whether or not the vehicle has reached the traveling direction set position in accordance with the detection signal of the address plate sensor 16 (step S22). If YES, the traveling direction setting is performed. Based on the display data of the address plate 15 installed at the position, the traveling direction control for turning the vehicle right, left or straight ahead is executed (step S23). Further, it is determined whether or not the own vehicle has reached the stop position according to the detection signal of the address plate sensor 16 (step S24), and YES
Is determined, or when it is confirmed in step S25 that the stop button of the automatic guided vehicle 1 is operated, stop control for stopping the own vehicle is executed (step S26), and thereafter, the control operation is performed. finish.

If the determination in step S25 is NO and it is confirmed that the stop button of the automatic guided vehicle 1 is not operated, the process returns to step S6, and the control operation is repeated. Step S6
Is determined to be NO, and the address plate sensor 16
If it is confirmed that the data No. 5 has not been detected, the process proceeds to step S25, and it is determined whether or not the stop button of the automatic guided vehicle 1 has been operated. Further, when it is determined as NO in the step S7 and it is confirmed that the data of the address plate 15 detected by the address plate sensor 16 does not indicate the intersection position, the process proceeds to step S20 and the address plate 15 It is determined whether or not the data indicates the speed setting position.

As described above, the towing input means 17 for inputting the towing state of the transport vehicles 4a to 4d and the intersection entry signal for informing other vehicles that the own vehicle has entered the intersection A when entering the intersection A are transmitted. The transmission means 18 and the transmission control means 19 for controlling the transmission state of the intersection approach signal according to the towing state of the transport vehicles 4a to 4d input by the towing input means 17 are provided. It is determined whether or not the automatic guided vehicle 1 is towing the transport vehicles 4a to 4c according to the input signal, and the transmission state of the intersection approach signal transmitted from the transmitting unit 18 is determined according to the determination result. By controlling at 19, the timing of entry of the other vehicle to the intersection is properly controlled according to the transmission state of the intersection entry signal, and the collision at the intersection A is effectively prevented. Door can be.

That is, when it is confirmed that the automatic guided vehicle 1 is not towing the transport vehicles 4a to 4c according to the input signal of the tow input means 17, the transport vehicles 4a to 4c are used.
The transmission time of the intersection entry signal transmitted from the transmission means 18 is set shorter than that in the case where the vehicle is towing c, and the transmission of the intersection entry signal is stopped. By configuring the other vehicle to enter the intersection at the time when the intersection control unit 21 determines, the other vehicle can enter the intersection at an appropriate timing without waiting unnecessarily.

Further, when it is confirmed that the automatic guided vehicle 1 is towing the carriages 4a to 4c in accordance with the input signal of the towing input means 17, the transmission from the transmitting means 18 is performed accordingly. By setting the transmission time of the intersection entry signal to be long, it is possible to reliably prevent a situation in which another vehicle enters the intersection A while the transport vehicles 4a to 4c are located on the intersection A. be able to.

In particular, as shown in the above embodiment, the number of the towing vehicles 4a to 4c is inputted by the towing input means 17, and the intersection entry signal is transmitted based on the input signal of the number of towing vehicles. By controlling the state, the transmission at the intersection A is stopped when the transport vehicles 4a to 4c located at the rear end have left the intersection A. This has the advantage that the standby time of another vehicle can be set to the minimum necessary while the standby time can be easily changed.

In the above embodiment, the priority input means 22 for inputting the priority of the own vehicle when entering the intersection A.
Standby time setting means 2 for setting a standby time corresponding to the priority input by the priority input means 22
And when the vehicle arrives at the intersection A, it is determined whether or not the standby time set by the standby time setting means 23 has elapsed, and when it is confirmed that the standby time has elapsed. Therefore, since it is configured to determine whether or not the vehicle enters the intersection A, when the plurality of automatic guided vehicles 1 arrive at the intersection A simultaneously or consecutively, the automatic guided vehicle 1 having a higher priority is set. Can enter the intersection A preferentially. Therefore, by setting the priority of the automatic guided vehicle 1 for transporting important parts to a high value,
The work of transporting the important parts can be efficiently performed.

In the above embodiment, a plurality of address boards 15a to 15d are installed at the exit of the intersection A,
An address plate sensor 16 for detecting data of the address plates 15a to 15d is provided in the automatic guided vehicle 1, and the address plate sensor 16
The traveling position of the own vehicle is detected in accordance with the detection signal, and the rear portion of the rear end portion of the own vehicle and the rear end portions of the transport vehicles 4a to 4c located at the rear end are detected in accordance with the detection data. The transmission of the intersection entry signal transmitted from the transmission means 18 is stopped when it is confirmed that the vehicle has exited from the intersection A. Therefore, the intersection entry signal is transmitted in response to the detection signal of the address plate sensor 16. By appropriately setting the transmission time, it is possible to reliably prevent the collision at the intersection A, and to easily change the transmission time of the intersection entry signal corresponding to the towing state of the transport vehicles 4a to 4c. it can.

Further, the respective address plates 15a to 15d installed at the exit of the intersection A as described above are combined with the transport vehicles 4a to 4d.
In the case of arranging at an interval corresponding to the traction dimension of 4c, the number of the address plates 15a to 15d to be installed can be set to the minimum necessary to simplify the installation work,
According to the detection data of the address plate sensor 16, it is possible to accurately detect that the rear portion of the rear end portion of the carriages 4 a to 4 c located at the rear end and the rear end located at the rear end of the vehicle has exited the intersection A. There is an advantage.

It should be noted that instead of the above configuration, the traction input means 1
7, an intersection approach signal corresponding to the distance from the front end of the vehicle to the rear end of the rear end of the vehicle and the rear end of the transport vehicles 4a to 4c located at the rear end. The transmission time is set in the transmission control means 19, the transmission of the intersection entry signal is started from the time when the own vehicle enters the intersection, and the lapse of the transmission time is started to confirm that the transmission time has elapsed. The transmission of the intersection entry signal may be stopped at the point in time.

In the case of the above configuration, the intersection A
The transmission time of the intersection entry signal is appropriately set according to the input signal of the traction input means 17 so as to prevent collision at the intersection A without installing a plurality of address plates 15a to 15d at the exit portion of the vehicle. be able to. When the traveling speed of the automatic guided vehicle 1 passing through the intersection A changes, it is desirable to set the transmission time of the intersection entry signal in consideration of the traveling speed.

Further, as shown in FIG.
7, a transmission control means 19 for setting the frequency of the intersection approach signal in accordance with the input signal, and a standby time for setting the standby time at the intersection approach in accordance with the frequency of the other vehicle's intersection approach signal received by the receiving means 20. The setting unit 23 determines whether or not the standby time set by the standby time setting unit 23 has elapsed when an intersection entry signal is transmitted from another vehicle when entering the intersection. At the time when it is confirmed that the vehicle has passed, an intersection control means 21 for controlling the vehicle to enter the intersection is provided, and when approaching the intersection, from the front end of the vehicle to the rear end and the rear end of the vehicle. By setting the frequency of the intersection entry signal by the standby time setting means 23 in accordance with the distance to the rear portion of the rear end of the transport trucks 4a to 4c located, It may be configured to perform an intersection control.

That is, the own vehicle enters the intersection A in accordance with a detection signal of the address plate detecting means including the address plate sensor 16 for detecting data of the address plate 15 installed at the entrance of the intersection A. Is confirmed, the intersection control means 21 determines whether or not an intersection entry signal is transmitted from another vehicle based on the output signal of the reception means 20, and the intersection entry signal of another vehicle is not transmitted. When it is confirmed that the intersection approach signal of the frequency corresponding to the input signal of the traction input means 17 is transmitted, the transmission control means 19
The intersection control for causing the own vehicle to enter the intersection A is executed while the intersection entry signal is output from the transmitter 18 by setting the following.

Then, when it is determined whether or not the own vehicle is to enter the intersection A, if it is confirmed that the intersection entering signal transmitted from the other vehicle has been received by the receiving means 20, this intersection entering is determined. The standby time corresponding to the towing state of another vehicle according to the frequency of the signal
The intersection control of causing the own vehicle to enter the intersection A is executed at the time when it is confirmed that the standby time has elapsed while the own vehicle is prohibited from entering the intersection until the standby time elapses. It is supposed to be.

In the case of the above configuration, the intersection A
By setting the standby time on the automatic guided vehicle side in the standby state without providing the automatic guided vehicle side in the entering state with the function of controlling the transmission time of the intersection entry signal, the collision at the intersection A can be prevented. It is possible to easily and appropriately control the waiting time of the automatic guided vehicle 1 by changing the frequency of the intersection entry signal in accordance with the presence or absence of the transport vehicles 4a to 4c or the number of towed vehicles, while being able to prevent. Can be.

In addition, the standby time setting means 23 has a function of setting the standby time for making the vehicle wait until another vehicle passes through the intersection A, and a function of the priority input by the priority input means 22. When a plurality of automatic guided vehicles 1 arrive at the intersection A at the same time or before and after the intersection A, the automatic guided vehicle 1 has both a standby time setting function for preferentially entering the intersection A with a higher priority. Therefore, there is an advantage that both of the above controls can be properly executed with a simple configuration.

It is to be noted that a control device provided on the ground may be configured to determine whether or not each of the automatic guided vehicles 1 is allowed to enter an intersection. It is necessary to install a wireless communication device for transmitting and receiving signals between the apparatus and each of the automatic guided vehicles 1, and it is inevitable that equipment costs increase. For this reason, as shown in the above-described embodiment, it is desirable that the intersection control means 21 provided in each automatic guided vehicle 1 be configured to determine the timing of entering the intersection.

Further, the guide means 12 is made of a material having the magnetic tape, and the guide sensor 13 is replaced with the above-mentioned embodiment which is made up of a plurality of detection means 14 comprising Hall elements. The guide means 12 may be constituted by a tape-shaped material having the following, and the guide sensor 13 may be constituted by detection means including a photo sensor. In addition, the present invention is applicable to a control device of the automatic guided vehicle 1 configured to omit the guide unit 12 and to cause the automatic guided vehicle 1 to travel along the traveling route stored in the storage unit. .

[0064]

As described above, the present invention relates to an automatic guided vehicle control apparatus for controlling a plurality of automatic guided vehicles having a towing portion of the transported vehicle to travel along a traveling route. Towing input means for inputting a towing state, and transmitting means for transmitting an intersection approach signal for notifying another vehicle that the own vehicle has entered the intersection when approaching the intersection,
Transmission control means for controlling the transmission state of the intersection approach signal in accordance with the towing state of the transport vehicle input by the towing input means, so that the own vehicle can cross the vehicle in accordance with the intersection approach signal transmitted from another vehicle. By judging whether or not to enter the vehicle, there is an advantage that the collision of the automatic guided vehicle at the intersection can be reliably prevented with a simple configuration without increasing the waiting time at the intersection.

Further, the present invention provides a transmission control means for setting a frequency of an intersection approach signal transmitted from the transmission means in accordance with an input signal of the towing input means, and a frequency of an intersection approach signal transmitted from another vehicle. Standby time setting means for setting a standby time at the time of entering the intersection in accordance with the above, the standby time set by the standby time setting means when an intersection approach signal is transmitted from another vehicle when entering the intersection It is determined whether or not has elapsed, and at the time when it is confirmed that this standby time has elapsed, the vehicle is controlled so as to enter the intersection, without increasing the standby time at the intersection, The collision of the automatic guided vehicle at the intersection can be reliably prevented, and by changing the frequency of the intersection approach signal in accordance with the towing state of the carrier, The standby time of the automatic guided vehicle is advantageous, such as can be easily and properly controlled.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an embodiment of a control device for an automatic guided vehicle according to the present invention.

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

FIG. 3 is an explanatory diagram showing a configuration of a guide sensor.

FIG. 4 is a block diagram illustrating a configuration of a control unit of the automatic guided vehicle.

FIG. 5 is a first process diagram of a flowchart showing a control operation of the automatic guided vehicle.

FIG. 6 is a second process diagram of the flowchart.

FIG. 7 is a third process diagram of the flowchart.

FIG. 8 is a block diagram showing another example of the control unit.

[Explanation of symbols]

 DESCRIPTION OF REFERENCE NUMERALS 1 automatic guided vehicle 5 towing hook (towing portion) 15 address plate 16 address plate sensor (address plate detecting means) 17 towing input means 18 transmitting means 19 transmission control means 20 receiving means 21 intersection control means 22 priority input means 23 standby time Setting means

Claims (10)

[Claims] 1. A control device for an automatic guided vehicle that controls a plurality of automatic guided vehicles having a towed portion of a transport vehicle to travel along a traveling route, wherein a towing input means for inputting a tow state of the transport vehicle; Transmission means for transmitting an intersection entry signal that informs that the vehicle has entered the intersection when approaching the intersection, and control of the transmission state of the intersection entry signal according to the towing state of the transport vehicle input by the towing input means. And a transmission control means for controlling the automatic guided vehicle. 2. An automatic guided vehicle provided with an intersection control means for judging whether or not to enter the intersection in accordance with an intersection entry signal transmitted from another vehicle. Automatic guided vehicle control device. 3. The method according to claim 1, wherein the number of towing vehicles is input by the towing input means, and the transmission state of the intersection approach signal is controlled based on the input signal of the number of towing vehicles. The control device for an automatic guided vehicle according to claim 1 or 2. 4. A plurality of address plates are provided at the exit of the intersection, and address plate detecting means for detecting data of the address plates is provided in each automatic guided vehicle, and according to a detection signal of the address plate detecting means. The traveling position of the vehicle is detected by the transmission control means, and the rear portion of the rear end of the vehicle and the rear end of the transport vehicle located at the rear end of the vehicle exiting the intersection according to the detection data. The control device for an automatic guided vehicle according to any one of claims 1 to 3, wherein the transmission of the intersection approach signal is stopped when the condition (1) is confirmed. 5. The automatic guided vehicle control device according to claim 4, wherein the respective address plates installed at the exit of the intersection are arranged at intervals corresponding to the traction dimensions of the transport vehicle. 6. A distance from a front end of the own vehicle to a rear end of a rear end of the transport vehicle located at the rear end and the rear end of the own vehicle according to an input signal of the towing input means. The transmission time of the intersection entry signal is set by the transmission control means, and the transmission of the intersection entry signal is started from the time when the own vehicle enters the intersection, and the transmission time elapses after the transmission time elapses. The control device for an automatic guided vehicle according to any one of claims 1 to 3, wherein the transmission of the intersection entry signal is stopped when it is confirmed that the intersection entry signal has been transmitted. 7. The automatic guided vehicle according to claim 1, wherein an intersection approach signal having a frequency corresponding to an input signal of the traction input means is transmitted from the transmission means. Control device. 8. A waiting time setting means for setting a waiting time when entering an intersection according to a frequency of an intersection entry signal transmitted from a transmitting means of an automatic guided vehicle entering an intersection. The control apparatus for an automatic guided vehicle according to claim 7. 9. A waiting time setting means for setting a waiting time when entering an intersection according to the frequency of an intersection entry signal transmitted from another vehicle, and an intersection entry signal is transmitted from another vehicle when entering the intersection. In the case, it is determined whether or not the standby time set by the standby time setting means has elapsed,
9. An automatic guided vehicle according to claim 8, further comprising: an intersection control means for controlling the vehicle to enter the intersection when the waiting time has elapsed. Control device. 10. An unattended priority input means for inputting a priority of a vehicle when entering an intersection, and a standby time setting means for setting a standby time corresponding to the priority input by the priority input means. Provided on the carrier, at the time when the vehicle reaches the intersection, it is determined whether the standby time set by the standby time setting means has elapsed, and when it is confirmed that this standby time has elapsed, The automatic guided vehicle control device according to any one of claims 1 to 9, wherein the control device is configured to determine whether or not the vehicle is allowed to enter the intersection.