JPS59178506A - Device for controlling automatic movement of unattended car - Google Patents

Abstract

PURPOSE:To surely and correctly control the movement of an unattended car and, at the same time, to reduce the cost of equipment, by controlling the movement in such a way that, until a specific point of the work line, the control is performed by means of a central controlling machine on the ground and, after the specific point, the control is made by the unattended car itself. CONSTITUTION:When an unattended car A reaches a prescribed location of a work line R2 based on a command from a central controlling machine 16, the controlling machines 16 transmits data regarding the destination of the unattended car, such as the speed reducing location, stopping location, etc. Upon receiving the data, the control operator 15 of the unattended car A stores the data regarding the destination of the car in a memory 19. Then the device 15 counts the number of a running location display body 9 installed to the work line R2 based on the detect signal of a sensor 10. Then the operator 15 calculates the counted value and the data signal of the memory 19 and, when judges that the car A reaches the speed reducing location indicated by the data, controls the running of the car A by outputting a corresponding control signal. Therefore, the movement of the unattended car A can be controlled surely and correctly while reduction in the cost of equipment can be contrived.

Description

Detailed Description of the Invention The F3A of the present invention operates an unmanned vehicle such as an electromagnetic induction type or an optical guidance type used for transporting workpieces in warehouse facilities, assembly production lines, etc. in a predetermined manner consisting of a traveling line and a work line. The present invention relates to an automatic operation control device for automatically following a line while branching, merging, changing gears, stopping, etc. at a desired position.

As automatic operation control devices for unmanned vehicles of this type, there have been the following types of automatic operation control devices:

B) Running position indicators located on the ground side at appropriate intervals over the entire operating line, the destination address of the predetermined work line, and the branching position, merging position, deceleration position, and upper stop position until reaching this address. If a transmitter that transmits destination data such as A receiver for receiving the data signal of the receiver, a means for calculating the above-mentioned kakuto signal and the data signal of the receiver, and a means for outputting a control signal to the traveling system drive mechanism based on the result of the calculation. Sensors are installed on the unmanned vehicle side to detect the absolute address of each position at multiple specific positions on the driving line and work line, and on the ground side, the detection signals from the sensors of each unmanned vehicle are received at each heavy punishment. Based on the received results, a central controller is installed that issues commands to the traveling system drive mechanism of each unmanned vehicle to move to a predetermined position on the desired work line.

In the former case (a), multiple unmanned vehicles located on the operation line continuously accumulate a large number of addresses over a fairly long distance R from each start position to a predetermined position on the desired work line. Therefore, there is a disadvantage that there is a high possibility of causing troubles in operation control due to false detection operation or detection error of the sensor. Since movement commands must be given one after another to move each machine to a desired position on the desired work line, the burden on the central controller is heavy, and in order to cope with this, a large-capacity device is required, leading to a rise in equipment costs. There was a drawback that it was easier to do.

In view of the above-mentioned circumstances, it is an object of the present invention to make it possible to reliably and accurately execute intended operation control while reducing equipment costs.

The characteristic structure of the automatic operation control device for an unmanned vehicle according to the present invention, which has been made to achieve the above object, is that the unmanned vehicle side is automatically controlled to follow along a predetermined operation line consisting of a travel line and a work line. , a first sensor that detects the absolute address of each position at a specific position on the travel line, a second sensor that detects the presence or absence of a travel position indicator provided at an appropriate interval on the work line, and detection of the second sensor. A means for converting the signal, a receiver into which destination data on the work line is input, a means for calculating the above-mentioned signal and the data signal of the receiver, and outputting a control signal to the traveling system drive mechanism based on the result of the calculation. In addition, the ground side receives the detected absolute address signal of each unmanned vehicle to each heavy prisoner, and based on the reception result, presets the respective driving system drive mechanism of each unmanned vehicle. The main feature of this system is that it is equipped with a central controller that has the function of giving a command to move to a predetermined position, and the function of transmitting the data signal to the receiver of the unmanned vehicle that has arrived at the predetermined position. The effects and effects are as follows.

<Function> In other words, when controlling the operation of a plurality of unmanned vehicles located on a travel line to a predetermined position of a desired work line, the operation of a plurality of unmanned vehicles located on a travel line is controlled from the starting position on the travel line to the entrance of the work line or near the entrance of the work line. During a relatively long travel route to a specific position, each unmanned vehicle is controlled based on commands from the central controller on the ground side, and a relatively short travel route from this specific position to a predetermined position on the work line is created. In the case of the part VC,I=-, the unmanned vehicles themselves individually control their operation based on the address signal of each unmanned army and the input destination data signal, so there are disadvantages as in the case of the conventional P). In other words, while minimizing the occurrence of operational control troubles caused by false sensor detection or detection errors, the burden on the central controller is reduced as much as possible compared to the conventional case. This makes it possible to downsize the central controller.

<@Ka> Therefore, it has been possible to advantageously configure equipment that can reliably and accurately control the operation of unmanned vehicles.

Hereinafter, embodiments of the configuration of the present invention will be described based on the drawings.

As shown in Fig. 1, an old unmanned vehicle for transporting cargo (A
), as shown in FIGS. 2 to 4, a pair of left and right steering wheels (21, (21) are mounted on the front part of the running frame (1) and rotate around a vertical axis (P) supporting the steering wheels (21). A flexible steering frame (3) and a motor (M,) for steering and rotating the steering frame (3) via a chain or the like are provided, and the rear VC is driven by the motor (M,). It is equipped with a pair of left and right drive wheels +4+ and +41.

To configure the automatic operation control device of this unmanned vehicle + A), the unmanned vehicle (4) side has a light reflective tape (6), which is an example of a travel guide mark provided on the floor along the operation line, on the unmanned vehicle (4) side. Steering optical sensor (6
), a first sensor (8) for detecting the displayed absolute address of the magnetic absolute address display body (7) provided at a plurality of specific positions on the running line (R6), and a first sensor (8) for detecting the displayed absolute address of the magnetic absolute address display body (7) provided at a plurality of specific positions on the running line (R6); The second sensor height uses a reed switch to detect the presence or absence of a magnetic traveling position indicator (9) installed on the floor across from the vehicle. Destination data and various ffs are sent via radio lines.
A receiver using a ferrite bar antenna that receives the dJm signal (111), an unmanned vehicle (
, transmission a 1121 using a ferrite bar antenna to transmit the Al number, detected absolute address, etc.

Based on the detection signal of the sensor i61 (10) and the input signal of the receiver +113, the aircraft is automatically moved along the light reflective tape [51VC] while branching and merging at the desired position of the operating line. , the steering drive mechanism (13) of the steering motor (M) in order to decelerate and stop the steering motor (M).
1 and a traveling drive mechanism (4) for the traveling motor (M,).
It is equipped with a control arithmetic unit +151 using a microcomputer that outputs control signals to.

On the ground side, each unmanned vehicle (N transmitter) receives the car number and absolute address transmitted from the 1st station via the above-mentioned guidance radio line to each vehicle side, and Based on the results, the receiver (jl) of each unmanned vehicle IAI is given a movement command to a predetermined position via the above-mentioned guided radio line, and the receiver (central controller q with the function of transmitting destination data to the receiver 1'D via the guided radio line)
6) is in place.

The optical sensor (6) F′i, the optical reflective tape (5)
Light emitting parts (6a) arranged in pairs at locations corresponding to the outer sides of the left and right structures and locations corresponding to the middle center of the left and right structures, respectively.

(6a'), (6a') and light receiving section (6b), (6b'
) and (6b″).

7kVC1 The steering and operation control operations by the control arithmetic unit (15) using the microcomputer are shown in Figures 4 and 5.
This will be explained based on the diagram.

When the reflected light is detected by the light receiving part of the optical sensor (6), the detection signal of this optical sensor (6) is input to the CPU Ut181 via the I10 port +i71, and the
The P U (181) calculates the detection signal according to the program stored in the memory (memory), and based on the calculation result, for example, the central light receiving part (6b) and the right light receiving part (6b)
When Vc is sensed, the aircraft is steered to the right Vc, and when the center light receiving section (6b") is sensed, the aircraft is steered to the left (Vc), and then the center light receiving section (6b") is
6b is sensitive, and the light receiving parts (6b) on both the left and right sides, (
When 6b is insensitive, in order to control the aircraft to go straight,
I7. A control signal is output from the port jf 171 to the steering drive mechanism (131) of the steering motor (Ml).

In this way, while the aircraft is automatically shifted to l/r-following along the light reflection mark (5) vc, the absolute address 1 of the passing place is detected by the first sensor (8). The detection signal from this first sensor (8) is passed through the bow mill 171 (14) to C
When input to P U 181, the car number and detected absolute address are transmitted from the 110 port mill 171 according to the program stored in the memo (January 19). +21 and the guided radio line to the central controller fl(i).

In this central controller (161'), based on the detection absolute address received separately for each train, movement 1 such as going straight, branching, stopping, etc. for guiding to a preset work line (R1).
The order shall be sent to each serious offender.

When a movement command from the central controller f16) is input to the CPUt181 via the receiver (11) and the I robot (171), the input signal is memorized by the CPUt181 and the stored program. I7. From day 171, the steering drive mechanism (13) of the steering motor (M) and the travel motor (
A control signal is output to the travel drive mechanism (141) of the M.

When the unmanned unit arrives at the predetermined position at the entrance of the desired work line (R1) based on the movement command from the central controller (16), the central controller (1e) moves the deceleration position and stop position on the work line (R2). Destination data is sent to each prisoner, and in each unmanned vehicle 1N, destination data is sent to receiver +11), I10 port +171. It is stored in the memo January 19) via the CPU +181. At this time, the second sensor
A software force that counts the number of traveling position indicators (9) from the start position based on the detection signal of (10).
(The lees will be reset.

In this state, the machine body is automatically moved along the light reflective tape (6), and the number of traveling position indicators (9) is sequentially counted from the starting position.

The CPU calculates the signal and the data signal stored in the memo January 19), and when it is determined that the aircraft has arrived at the data deceleration position or stop position, the corresponding data signal is calculated. Control signal to 110 ports l-+1
From 71, it is output to the traveling system components of the traveling motor (M,).

Furthermore, after the unmanned vehicle (5) has arrived at the destination, after the specified cargo transfer work has been carried out, an 'l' mark will be displayed to indicate whether the work has been completed or not.
If there is still work left to do, the same operation control as described above is performed based on the newly input destination data.

[Brief explanation of the drawing]

Figure 1 is a schematic diagram showing an example of the operation route, Figures 2 and 3 are a side view and plan view showing the driving relationship of unmanned vehicles, Figure 4 is an operation control system diagram, and Figure 5 is a diagram of the operation IJa. It is a flowchart. (R1)... Driving line, (R2)...
...Work line, prisoner...Unmanned vehicle, (8)...
...First sensor, (9)... Traveling position indicator, (10)... Second sensor, (11)...
...Receiver, +131, 1141...Traveling system drive mechanism, +161...Central controller.

Claims (1)

[Claims] The absolute address of each position at a specific position on the travel line (R1) is displayed on the four sides of an unmanned vehicle that is automatically controlled to follow VC along a predetermined travel line consisting of a travel line (R,) and a work line (R8). a second sensor (10) that detects the presence or absence of a travel position indicator j9) provided at an appropriate interval on the work line (R8);
, means for converting the detection signal of the second sensor (10), a receiver till into which destination data on the work line is input, means for calculating the above-mentioned signal and the data signal of the receiver till, and the result of the calculation. In addition, on the ground side, each unmanned vehicle (
The detected absolute address signal of ~ is received by each vehicle, and based on the reception result, each unmanned vehicle (the traveling system drive mechanism +13 of ~) is received.
1.1141, each having a function of giving a movement command to a predetermined position set in advance, and a function of transmitting the data signal to the receivers (11) between unmanned vehicles that have arrived at the predetermined position. An automatic operation control device for an unmanned vehicle equipped with a controller f16).