JPS59146313A - Guiding method and device of unattended wagon - Google Patents

Abstract

PURPOSE:To change very easily a course, by magnetizing a magnetic material arranged preliminarily in a prescribed position and advancing an unattended wagon while detecting data of running, stop, steering, the position, etc. of the unattended wagon with a sensor provided on the unattended wagon. CONSTITUTION:A wagon 3 is driven preliminarily on the course, where the wagon 3 should be run, by the manual operation due to a manual operating part 6. A magnetic band 23 is magnetized so that the running course and data of stop, steering, the position, etc. are written by writing and erasing coils 31-33 mounted on the wagon 3. This magnetic band 2 for indication of the running course is formed continuously from the holding point of the wagon through passage points and turning points, and data recording parts or the like for indication of stop, steering, the position, etc. are formed selectively in required positions such as the middle point, intersections, branching points, etc. on the course. Sensors 34fl, 34fr, 34bl, and 34br for detection of the magnetic band 23 and data detecting sensors 35fl, 35fr, 35bl, and 35br are arranged.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method and apparatus for guiding an automatic guided vehicle by detecting data magnetically written in advance on a magnetic body arranged on its travel path.

The development of automatic guided vehicles that run unmanned on the factory floor without using rails, and the Tenkawa version, is progressing. Conventional guiding methods for such automated guided vehicles include guiding methods using ground equipment;
There are self-standing methods in which the transport vehicle itself is equipped with a self-localization system, and the A+J@ method is to bury electric wires that form electromagnetic waves as tracing information under the floor surface, or to glue optical tape to the floor surface. However, as for the latter method, there is a method of mounting an ultrasonic triangulation device, an electromagnetic wave surveying device, etc. on a conveyor vehicle.However, in the case of the latter method, for example, the method of burying electric wires requires laborious construction work. It is not easy to change the driving course, and the method using optical tape requires frequent maintenance in a dusty factory, and the method of installing various surveying instruments has the disadvantage of high equipment costs. There was a problem.

The present invention has been made in view of the above circumstances, and its purpose is to provide a magnetic material that is placed in advance in a place where an automatic guided vehicle is to travel, and to prevent the automatic guided vehicle from traveling. A means for magnetizing and demagnetizing a magnetic body in order to write and erase data such as stop, steering, or position data, and a sensor provided in the automatic guided vehicle for detecting data written on the magnetic body;
Based on the detection data of the Senna, by implementing the control unit that guides the automatic guided vehicle, setting and changing the travel course etc. can be easily done simply by magnetizing and demagnetizing the magnetic material.
It is an object of the present invention to provide a method and device for guiding force of an automatic guided vehicle that can be performed quickly.

A method for guiding an automatic guided vehicle according to the present invention (1) A magnetic material placed in advance in a place where the automatic guided vehicle is traveling is made into LA to collect data on the automatic guided vehicle's running, stopping, steering, position, etc. The automatic guided vehicle is characterized by being driven while being detected by a sensor installed in the automatic guided vehicle.

The present invention will be specifically explained below based on the drawings.

Fig. 1 is a partial plan view of a floor in a factory on which an automated guided vehicle to which the present invention is applied runs, and Fig. 2 is a schematic perspective view of the automated guided vehicle, where 1 is the floor and 2 is above the floor 1. Automated guided vehicles (
3 (hereinafter simply referred to as a transport vehicle) is shown. The running path 2 is a waiting point 21 for the transport vehicle 3 depending on the layout of the factory.
, 21', cargo transfer points 22a', 22b, 22c
For example, the shape of the base is defined, and the body surface of that part is finished with a magnetic material or a mixture containing it, such as the product name FE [J-Con (manufactured by ABC Shokai, a floor type company)]. The manner in which the traveling route 2 is set is particularly limited to the shape of the base.

Instead of transporting by connecting the waiting point and each transfer point,
:The most efficient way to run transport vehicle 3 is to add it. The entire area that may become a travel path for the transport vehicle, or the entire floor surface, may be finished with a magnetic material or a mixture thereof.

Of the travel route 2, the route on which the transport vehicle 3 is actually run (referred to as the downward travel course, which may coincide with the travel route 2) is where the transport vehicle 3 is routed prior to traveling for actual cargo transport. 3 is run by manual operation using the manual operation unit 6, and the running course and stop are determined by convolution/erasing coils (magnetizing/demagnetizing heads) 31, 32, and 33, which will be described later, mounted on the transport vehicle 3. , Steering 2nd position 16, etc. are magnetized, and the magnetic band 23 for instructing the traveling course is continuously spread from the waiting point of the carrier vehicle 3 to the passing point and the transfer point. In addition, data recording sections 24a, 24b, etc. for instructions such as stop and two steering positions are selectively formed at necessary points n[, such as the middle of the course, intersections, and branch points. Note that the running course between two points is not limited to a single one, and multiple running courses can be created as needed @ forming the magnetic strip and data recording section 0 Also, when changing the running course, the magnetic strip of the necessary part 23.T-Evening recording section 24a
, 24b, etc., the conveyance vehicle 3 is moved by manual operation in the same manner as described above, and the magnetic strip 23 and the data recording section 2 are moved by the coils 31, 32, and 33.
4a, 24b... are demagnetized, and the magnetic strip 23, data recording section 24a,
24b... etc. are written.

The conveyance vehicle 3 is equipped with wheels 3c and 3eL (front and rear) of the vehicle body, and drive wheels 31 and 3r that are independently driven and controlled on the left and right sides in the central part in the front-rear direction.
, a pair of driven wheels 3f, 3f, 3b at the rear end Kl-j.

3b on the left and right, a controller 4 for guidance is mounted on the vehicle body, and a coil 31 for writing and erasing the driving course described above is located on the underside of the vehicle body, and coils 32 and 33 for erasing other data. Also, detection sensors 34fl, 34fr, for magnet @23 formed by these coils.
34bl, 34br, and data detection sensor 35
fj! 35fr, 35'M', 35br are installed The coil 31 for writing and erasing the travel course is located in the center of the body of the transport vehicle 1, and the coil 3 for writing and erasing other data
2.33 is arranged on both the left and right sides of the coil 31 at a predetermined interval, and is a sensor 34f for detecting a safe running course.
L, 34fr has a trench in the front of the vehicle body.34M, 34
br is arranged symmetrically with respect to the left and right center lines of the vehicle body at the rear of the vehicle body, respectively, and data detection sensors 35 fl and 35
FR has a size of 35BL at the front of the car body.

35br is symmetrical with respect to the left and right center lines of the vehicle body at the rear of the vehicle body, and sensors 35fl, coil 32, and sensor 35M, and sensor 35fr, coil 33, and sensor 35br are located toward the left and right sides of the vehicle body, respectively. is inside the car body.L.
It is arranged so as to be positioned on the iM line parallel to the line.

Each coil 31, 32, 33 is structurally the same; for example, if we look at coil 31, Fig. 3K)
As shown in (v:I), a coil body 3 is attached to an annular iron core 31a with both ends facing each other with a required interval.
1b, and the gap between both ends of the heel 31a faces the floor, and both ends are connected to the transport vehicle 30.
As shown in Fig. 3 (A), when the running course is completed, direct current is applied to the coil body 31b, and when the running course is erased, the As shown in FIG. 3 (b) K, alternating current is made to flow through the coil body 31b in response to a sterilization signal from the manual operation section 6. When blood flow passes through the coil body 31b, iron C.3
An N pole is formed at one end of 1a, and an S pole is formed at the other end of 1a.
A magnet having magnetic pole tips on the left and right sides is formed.

Therefore, by carrying out the work described in -E while running the conveyance vehicle 3, a magnet band 23 in which magnets are connected can be completely formed on the floor surface. On the other hand, when alternating current is applied, an alternating magnetic field is applied to the magnet band 23 through both ends of the iron core 31a, but when the conveyance vehicle moves, the same effect as gradually weakening the alternating magnetic field is produced in the portion where the conveyance vehicle has passed. In addition, the data convolution/erasing coils 32 and 33 pass DC intermittently at appropriate timings according to signals from the manual operation section 6, and demagnetize the magnetic material. , by forming a non-magnetized portion, the data recording portion 24a, .
24b, etc., and erasing is performed by applying an alternating magnetic field while the magnet is running in the same manner as the demagnetization of the magnet band 23. Of course, the data incorporation is not limited to digital data as described above, but may also be performed in an analog manner by changing the voltage. These data recording sections 24a, 24b...
There are no particular restrictions on the content written to the data recording section, for example, the position of each data recording section, traveling speed, pros and cons of stopping, steering, stopping position of turning stop, etc.
3 K-divided parts A, B"'...H (5th
(see figure) etc. in an appropriate order.

In the above-mentioned embodiment, the coil 3 is equipped with the reloading and erasing of travel course and guidance data on the transport vehicle 3 itself.
, 32, 33,
Other special vehicles or machines may be prepared. In the above-described embodiment, separate coils are used for the travel course, data, etc., but one coil may also be used for both purposes. Incidentally, it is preferable that the manual operation section 6 is set to be disabled except for writing and erasing.

In addition, a controller 4 is mounted on the conveyance vehicle 3 for controlling the above-mentioned writing and erasing and traveling to be described later, and for transmitting and receiving data to and from the central control board 5.

Travel course detection sensors 34fl, 34fr, 34
bl.

34br and data detection sensors 35fl, 35fr,
35bl.

The presser foot of 35br is constructed using a Hall element. Generally, when a current is passed through a Hall element in the same direction, and a magnetic field in a direction perpendicular to this is applied,
It has the property of generating an electromotive force according to the strength of the magnetic field in a direction perpendicular to both the direction of current flow and the direction of the magnetic field, and therefore it is possible to detect the magnitude and height of the voltage generated. This method takes advantage of the fact that the strength of the magnetic field, in other words, the distance from the magnet can be detected. FIG. 4 is a schematic diagram showing the positional relationship between the travel course detection sensors 34fl and 34fr and the magnetic band 23. Both sensors 34
fl.

34fr is located above the magnet band 23 and equidistant from the magnetic pole tips on both sides as shown in the figure, in other words, when the center line of the transport vehicle 3 is located parallel to the traveling path 2 iW, normal traveling is performed. When in the state, both sensors 34fl.

The same voltage will be output from 34fr, and when the transport vehicle 3 or the center line of the magnetic strip 23 is traveling to the left or right, both sensors 34fl and 34f will output the same voltage.
The output value from r will be different.

The controller 4 takes in the output values from both sensors 34fl and 34fr, compares the two river force values, determines whether the two river force values are equal, and if they are not equal, further determines the output value from either sensor. A steering control signal is sent to both driving wheels 3I to determine whether the vehicle is large or small and to return the conveyance vehicle 3 to its normal running position. , 3r motor (not shown) and both sensors 34fl.

The control ends when the output values from the 34fr become equal, and the above-described process is repeated at predetermined intervals.

-'175 Theta detection sensor 35fJ, 35fr I
d Data recording section 2 formed at the appropriate σ of the driving course
4a.

24b...The data is detected while the transport vehicle 3 is traveling thereon, and is manually input to the controller 4 as a digital signal. Enroller 4 is input data or data recording section 24
If it is the position data of a, 24b, . . . , the data is transmitted to the central control panel 5, which is the control center of the entire device (3), by means such as wireless. The above position data may be identification data that specifies the data recording units 11a, and the correspondence between the identification data and position information is established on the central control panel 5 side.
All you have to do is z. Based on the presence or absence of a call from the transfer point of the central control panel 5, the type of call transfer point, the position of the transport vehicle in the pond (this is known by transmitting position data from the transport vehicle), etc. , stop (standby), go straight, turn, direction, etc., are transmitted to the transport vehicle 3. The controller of the transport vehicle 3 controls the left and right drive wheels 31 in response to this command! .

Configure the control program to issue the necessary drive (or stop) sterilization signal to the motor of 3r0. Also, if the input data is not the position data as described above, the controller The control program is configured so that the motor 4 itself issues driving and control signals for the motor.

As the sensors 34fl and 34fr, Magnesensor (trade name, manufactured by Sony Magne School Co., Ltd.) or the like may be used. Further, in the above embodiment, a configuration is described in which separate sensors are used for detecting the driving course and for detecting data, but it is also possible to use one sensor for both purposes. Furthermore, a sensor 34fl is installed at the front of the vehicle body of the transport vehicle 3.

Sensor: 3 at the rear of 34fr, 35fl, 35fr
4bl.

34br, 35b#, and 35br are provided in each set. This is because the detection accuracy can be improved by performing detection using a set of sensors, and it is also useful for determining the running posture of the transport vehicle 3. However, if the configuration is such that the vehicle makes a spin turn and returns on its outward journey, the rear sensor can be omitted.

As mentioned above, the magnetizing force of the tri magnet band 23, the data recording sections 24a, 24b, etc. decreases with the winding of the magnetic field 1. It is easily possible to have a function to detect II-, t3, and it is possible to obtain the desired magnetizing force again by looking again when detecting attenuation.

Now, the state of implementation of the apparatus of the present invention will be explained with reference to FIG.

Assume that a transport vehicle is now called from the transfer point 22c to the central control board 5. The central control board 5 is connected to the transport vehicle 3. located at the waiting point 21 or 21'. A command is issued to direct the transport vehicle Go to the transfer point 22c, but in the case of the illustrated example, during the traveling course when the transport vehicle Go is directed to the transfer point 22c, other transport vehicles 3 exists and intersection a
The central control panel 5 detects that the transport vehicle 3 is heading toward the transfer point 22c.

The central control panel 5 has waiting points 21 and 21' to each transfer point 2.
Information on the travel courses from 2a, 22b, and 22c is given in advance, but regarding the travel course from waiting point 21 to transfer point 22c, ■ 21→a, -+a2→a3−+ a4−+ 22
C■ 21→a1→a5→a4→22C ■ 21→a6 na5+a4-+ 22c are given, but due to the presence of transport vehicle 3', ■ or C
) to start driving towards intersection a1 in order to change the driving course. Then, we reached the intersection a1, and the data detection sensor 35fl! detects the data recording section 24a. Position data is recorded in the part of the data recording section 24a closest to the standby point 21, and the controller 4 inputting this data transmits it to the central control panel 5. The central control panel 5 determines the travel course based on a predetermined priority order or the condition of the travel route 2. However, if the guided vehicle 3'' is located between intersections 34 and 45, the central control panel 5 determines the travel course. It makes a decision that (2) is a failure and instructs the controller 4 of the conveyance vehicle 3 to continue traveling straight.

In response to this, the controller 4 controls the left and right drive wheels 31°3r.
Execute split skin that drives equally. It may be better to temporarily stop the drive until a decision is made on the central control XI panel 5 for the three conveyance vehicles.

Next, at the intersection a2, the same process is performed by detecting the position data of the data recording section 24c, but since the destination is the transfer point 22c, the central control panel 5 causes the vehicle to continue traveling straight.

The same is true at intersection a3, but here a right turn is instructed from the central control fil board 5. Furthermore, this intersection a3
For example, in a position where it is impossible to go straight or turn left, the data recording unit 2
4e may be written with data instructing a right turn, which is unrelated to data transmission from the controller 4 to the central control panel 5. However, when transmitting the position data to the central control panel 5, it is possible to wait or stop at the place where the data recording section 24e is detected in the transport vehicle between the intersections 83 to 14, where there are other conveyance vehicles.

Then, the same process is performed at the intersection a4, and the transfer point 2
Data recording section 24h of 0 transfer point 22c to be directed to 2c
Data such as position, stop, and 18Cf turning are written in the controller 4, and by transmitting the position data from the controller 4 to the central control panel 5, the position can be recognized and grasped. When the required transfer is performed on the carrier 3 that has turned 180 degrees, a request command is issued from the transfer point 220 to the central control panel 5 to start traveling to another transfer point or a standby point. The transport vehicle 3 has the data recording unit 2 in the same manner as described above.
The steering at the 0th-order intersection, that is, the turning plate, will be explained in detail in a little more detail.

FIG. 5 shows the magnetic strip 23 and data recording unit 2 when the conveyance vehicle 3 is caused to change its traveling direction by 90 degrees and make a right turn at the intersection a3.
4e, 24f is an explanatory diagram showing an example of the transport vehicle 3.
The O magnet strip 23 is shown as a solid line when approaching the intersection from the direction of the white arrow. The O magnet strip 23 extends along the center line of the driving course to the center 0 of the intersection, and is formed by turning at right angles to the right from here. The data recording section 24e is for the outbound trip, and is located on the left side of the magnet band 23 in the travel path 2a, and is formed so as to extend from the travel path 2a into the intersection. Along the direction, position data is recorded in part A, data on braking commands are recorded in part 8, and data on braking commands when detected by the rear data detection sensor 35M are recorded in part 8. As a result, the sensor 35fl detects the A section, sends the position data to the central side panel 5, detects the 8 section, and stops.Then, the central control panel 5 gives a command to turn right.The controller 4 The vehicle runs on its own until the rear sensor 35bl detects the 8th part, moves at the position indicated by the broken line in the figure, and then moves the left drive wheel t@3j' in the forward direction and the right drive wheel 3r in the opposite direction. The vehicle body is rotated from the state shown by the broken line in Fig. 5 to the position shown by the dashed line, and this 90°
When the rotation of is completed, + 7 ”j 34 f l ,
After receiving the detection signal from 34 f r and confirming the attitude of the transport vehicle 3, it starts traveling straight again based on the detection signals from sensors 34 fl and 34 fr. 〇 Figures 6 and 7 show the time h1 A theory showing how the magnetic band and data recording section are formed when the spin-tan 7 is run on a curve at the Mozu intersection! l:1 figure. In both cases shown in Fig.
The figure shows the case where the vehicle is driven by selecting whether it is self-propelled, a left turn, or a right turn. In the example shown in Figure 6! Proceed westward on ri magnet zone 23.

Three magnetic bands 23a and 23b for left turns and right turns.

23cvc branched magnetic strip 23b for left and right turns
, 23c are curved at a predetermined curvature. Data recording section 2
5a digit 16' data has been transmitted to the central control panel 5, and in response, the driver instructs 8 to go straight, turn left, or turn right. Depending on the command contents of the controller 4, the left and right drive shaft metal seats (in the case of self-propulsion), or the left and right drive shafts for a certain period of time (in the case of self-propulsion), or
Drive U L by changing the number of revolutions of one wheel (left, in case of wart-folding), then sensor 34fl.

34 Ir V (Depending on magnet strip 23a, 23b
Control VC @ to follow. Of course, the above-described fixed steering may be canceled by detecting predetermined data from another data recording section (only 25b for straight travel is shown) without relying on such timer braking. Course inspection 1: H
+1 sensor 34 "r (also 34fJ) invalidates the sensor 34 fl on the left side (also (d stone side) ) The controller 4 may be controlled to follow the left (father is stone) edge of the road.

On the other hand, in the fJ embodiment shown in FIG.
B! Are magnetic bands 23b and 23c for left and right turns formed?
23c is separated from the magnetic band 23a and shaped like ti so as not to cause a shadow attack on the sensors 34fl and 34fr when traveling straight.
I'm 12 years old. Therefore, in such an embodiment,
In response to the position data of the data recording section 26a, if there is a command to go straight from the medium heat control panel 5, the sensors 34fJ, 34
Control using the fr output is sufficient, and steering control using the timer control method in the case of FIG. 6 is sufficient for turning left and turning eight.

In the embodiments shown in FIGS. 1 to 5, the structure in which the magnetic band 23 is formed continuously has been described, but the magnetic band 23 is not limited to this type of force only. It's okay. In the above-mentioned embodiment, the magnetic strip 23, the data recording section 24a, etc. are placed on the left side in the traveling direction of the transport vehicle 3.

Although the configuration in which the data recording is formed in different locations has been described, the data recording may be formed in a part of the magnetic strip. Furthermore, by deceiving the above embodiment, the explanation was given of a configuration in which the running path 2 on the floor surface is finished in a strip shape with a magnetic strip or a mixture thereof. It is also possible to write them in the same line or in parallel.

As described above, in the present invention, by magnetizing a magnetic material placed in advance in a place where an automatic guided vehicle is traveling, data on traveling, stopping, and steering positions are captured, kneading,
is detected by a sensor installed in the transport vehicle, and the transport vehicle is driven by a control signal based on this detection tape, and when changing course, the magnet is demagnetized and magnetized along the new changed course. This is a good thing, and has excellent effects such as making course changes extremely easy.

[Brief explanation of the drawing]

Figure 1 is a schematic diagram of the driving route to which the unexploded 1j14 was applied, Figure 2
The figures are schematic diagrams 1 and 3 showing the positional relationship between the traveling route and the transport vehicle.
Figure (a) shows the driving course written and erased. : A schematic diagram showing the manner in which the course is crowded, 3rd section 1 (b) is a schematic diagram also showing the elimination manner, FIG. 4 is an explanatory diagram showing the manner in which the traveling course is detected by the traveling course detection sensor, 5
The figure is an explanatory diagram showing the manner in which the transport vehicle spins and turns at an intersection, and FIGS. 1... Floor 2... Running path 3... Transport vehicle 31
, 3r...Driver v1 import 3f, 3b...Journey 1 width 4
... Controlled product 2] ... Standby points 22a, 22b ...
Transfer point 23...Magnet strip 24a, 24b...24h
...Data recording section 31, 32, 33 ... Pumping-in erase coil 34fJ. 34fr, 34bA', 34br --- Traveling course detection sensor 35fl, 35fr, 35bl, :zu5 b
R-Theta Detection Sempu Procedure Correction Shop (Voluntary) May 17, 1980 Director General of the Special Interest Agency 1 Display of the case 1932)) Application No. 21932 2 Name of the invention Automatic guided vehicle guidance method and Apparatus 3 Relation to Supplementary iF Consideration iI +I+ Patent Applicant 4 Agent Address 71114-22 Shitennoji I, Tennoji-ku, Osaka 543
No. Nisshin Hill No. 207 - Column f of [-Detailed Description of the Invention J] of the specification? ifi positive contents specification page 20 page 12 at the end of the breakthrough 1 above-mentioned example''
, An unmanned vehicle (general transportation vehicle G) in the Odojo has been explained, but it is not limited to this, for example - a car on the ship road], an airplane on the ground arriving at the airport87-

Claims (1)

[Scope of Claims] 1. Magnetize a magnetic material placed in advance in a place where the automatic guided vehicle will travel, write data such as traveling, stopping, redirection, or position of the automatic guided vehicle; A method of guiding an automatic guided vehicle, which is characterized by driving the automatic guided vehicle while detecting data using a sensor installed in the automatic guided vehicle.2.
a means for magnetizing and demagnetizing the magnetic material in order to store and erase data such as running, stopping, steering, or position of the automated guided vehicle; A guiding device for an automatic guided vehicle, comprising: a sensor that detects written data; and a control unit that guides the automatic guided vehicle based on the detection data of the sensor.