JPS59218514A - Operation control system of unmanned truck - Google Patents

Abstract

PURPOSE:To avoid collision between unmanned trucks by providing the equipment at an intersecting point between two guide paths to transmit in the air a stop position to the unmanned truck on one of two paths after receiving the signal transmitted in air from the unmanned truck on the other path. CONSTITUTION:An ultrasonic transmitter 3 and an ultrasoninc receiver 4 for detection of obstacles are provided to unmanned trucks L and M respectively in addition to the optical transmitters and receivers which drive both unmanned trucks on guide paths 2a and 2b. At the same time, drive-in sensors 18 and 20 containing ultrasonic receivers and the truck stop signal oscillators containing transmitters 19 and 21 are provided at the front of an intersecting point of the two paths. While a detecting receivers 22 for passing of truck is set at the rear side of the point B to release said stop signal. When the truck L, for example, gets close to a certain position, the sensor 20 detects the truck L. Then the transmitter 19 continues transmission until the passing of the stop signal is detected 22 under the control of a CPU (not shown in the figure). The lengths of these ultrasonic waves are set equal to those for detection of obstacles. Thus it is possible to prevent assuredly the collision of unmanned tracks with use of a simple device.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention provides an automated guided vehicle system that, when automated guided vehicles approach an intersection from different taxiways, prioritizes the automated guided vehicles and passes through the intersection in order. related to the internal operation control system.

(Technical Blue Use of Excuse) Recently, in factories, parts are supplied to the assembly line by automated guided vehicles. The automated guided vehicle travels along the transport path, and if there is an obstacle in front of it, it is designed to detect this using its own ultrasonic wave receiver and stop. It has become. By the way, when automatic guided vehicles approach an intersection of taxiways from different taxiways, the directions of the taxiways are different, so the ultrasonic wave transmission/reception device of the automatic guided vehicle itself C1 Checking that another automated guided vehicle is entering the intersection is C', and there is a risk of a collision.Avoid this.4
Conventionally, proximity switches or light switches were placed near the intersection of each taxiway to prevent the driver from entering the taxiway. tno, please do this”
An unmanned transport system detects that the vehicle is approaching an intersection, and based on this detection ID, it moves along another taxiway and travels along the road. A 7R wave signal is emitted inside to stop the signal.

(Problems with blue technology) In the 41 construction, there is a problem that the proximity switch or photoelectric switch will activate the detection even if a metal object or person passes near the intersection. In addition, an automatic guided vehicle must be equipped with an F8 device to receive a stop signal using radio waves, in addition to the equipment for transmitting and receiving ultrasonic waves. There is a problem in that we have to do the same thing.

[Purpose of the invention]

The Kitsuo Akira was created in view of the above circumstances, and its purpose was to be able to accurately detect and cover the fact that an automated guided vehicle was approaching an intersection, and also to be able to detect and cover the fact that an automated guided vehicle was approaching an intersection.
i! Prioritizing automatic guided vehicles without installing a receiving device in addition to the transmitting and receiving device for detecting obstacles detected by FJ.
We provide an operation control system with a feed width of m.

[Summary of the invention]

The present invention comprises an approach detection receiving device that receives an air propagation signal from an unmanned guided vehicle ()C1 corresponding to each intersecting taxiway, and a stop transmission that emits an air propagation signal directed toward the automatic guided vehicle. A device is installed to detect when an automatic guided vehicle enters an intersection from one of the taxiways and comes to the intersection using an entry detection receiving device, and sends a signal to the stop transmitting device of the taxiway of the song to enter the intersection after C. A passing detection receiving device is installed to stop the incoming automated guided vehicle and to detect that the earlier entered automated guided vehicle has passed through the intersection by receiving the air propagation signal emitted by the automated guided vehicle. The present invention is characterized in that the transmission of the stop transmitter is stopped in response to reception by the passage detection receiver.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings. First, the automated guided vehicle of this embodiment is equipped with a battery, and is driven by a motor that uses the battery as a power source. As shown in FIG. 1, a photoelectric switch 1 is installed at the bottom of the front of the automatic guided vehicle. It is equipped with a light emitting element that emits light and a light receiving element that receives the reflected light, and serves to guide the automatic guided vehicle along the guideway 2. On both the left and right sides, transmitters 3 and 4 of a transmitting device equipped with an oscillator that emits ultrasonic waves as air propagation signals are installed, and adjacent to the respective transmitters 3 and 4,
Receiving units 5 and 6 of a receiving device are provided which are equipped with an ultrasonic sensor for receiving ultrasonic waves. The transmitting section 3 and receiving section 5 on the right side are moved forward forward, and the transmitting section 4 on the left side
And the receiving section 6 is arranged diagonally upward (in addition, 7
8 is the revolving light during unmanned transportation, and 8 is unmanned transportation 1.
Reference numeral 1 denotes a speaker that emits an alarm sound while the vehicle is running; reference numeral 9 denotes a loading platform equipped with rollers 10 driven by a motor; and reference numeral 11 denotes a panel section for setting and covering the destination of the automatic guided vehicle. Next, in the factory view 1191 in FIG. 2, 112 is an assembly line consisting of a belt contest, 13 is a parts storage area, and the first taxiway laid around the above-mentioned taxiway 2G; U assembly line 12. 2a, and a second taxiway 21) which branches off from the first taxiway 2a, passes through the parts storage area 13, and merges with the second taxiway 2a. , 14 is a parts transfer station provided in the parts storage area 13, and 15 is a parts delivery station provided at multiple locations along the assembly line 12, and parts according to requests from the assembly line 12 are delivered to the parts transfer station '14. Odor C is loaded onto the automatic guided vehicle, and during unmanned transportation with parts loaded, the second M guideway 2
b in the direction of the arrow in Figure 2, move to the first taxiway 2a at the first intersection B, and then travel on the first taxiway 2a in the direction of the arrow in Figure 2 to pick up any part. It stops at the loading station 15 and unloads the parts. 16 is an empty box storage area for parts storage installed on the side of the assembly line 12, and 17 is an empty box collection station installed at the rear 13 for parts storage. "Leave the empty boxes" - In the rear 16 (load the empty boxes and move to the first taxiway 2
a in the direction of arrow 1) '15 in Figure 2, move to the second intersection at point E, move to the second taxiway 9 2b, and then travel in the direction of the arrow [ on the second taxiway 2b to reach the empty box. To the collection stage 1-17 (lower the empty box and move to the parts transfer station '17)
Return to 1. d3 in FIGS. 3 and 4 (, 18 and 19 indicate the first approach detection receiving device group and the 1 stop transmitter, and 20 and 21 are the second taxiway 2b.
A second approach detection receiving device and a second stop transmitting device are provided on the front side of the intersection 13 corresponding to are diagonally downward receiving sections 18a and 20 equipped with ultrasonic sensors.
a, and the first and second stop feeds (n agree 19 and 2
It has diagonally downward transmitting sections 19a and 21a equipped with an oscillator that emits 1G and μi sound waves.

Reference numeral 22 denotes a passage detection receiving device installed above the rear side of the intersection B corresponding to the first guideway 2a, and includes a receiving section 22a facing obliquely F and equipped with an ultrasonic sensor 4). In addition, each of the above-mentioned entry detection receiving devices 18, 20 and each stopping transmitting device 1
9.21 and the passing detection receiving VA device 22 are both connected to the central control II device (not shown) with priority.

Further, on the taxiway 2, for example, three automatic guided vehicles, M and N, run.

In the above construction, the automatic guided vehicle 1. M and N constantly emit ultrasonic waves from transmitters 3 and 4 while they are running, and if there is an obstacle in front of them, the ultrasonic waves emitted from transmitter 3 are reflected by the obstacle. It is received by the receiver 5, detects the presence of an obstacle, automatically stops, and resumes running when the obstacle is removed.

By the way, three unmanned one-shell vehicles were sent down Taxiway 2 for 9M.

For example, as shown in Fig. 3, there are three automatic guided vehicles, and M is running on the first taxiway 2a and the second taxiway 2
There are cases where vehicles enter the first intersection B at the same time from B. Now, assuming that the automated guided vehicle M on the taxiway 2a side approaches the first intersection B first, the ultrasonic waves emitted from the transmitting unit 4 of this automated guided vehicle M Received by the receiving unit 18a of the first reception device 18 for intrusion detection 1),
As a result, the central control system detects that the automatic guided vehicle M is entering the first intersection B from one taxiway, that is, the first taxiway 2a, and moves the automatic guided vehicle M from the other M guideway, that is, the second taxiway 2b side. The transmitter 2'1a of the second stop transmitter 21 generates ultrasonic waves. For this reason, I later entered into the first father's fault [
The automatic guided vehicle that comes receives the ultrasonic waves from the transmitting section 21a at its receiving section 6, and receives the ultrasonic wave from the transmitting section 21a. > There is an obstacle at tfJ jj.The first intersection (19
Stop. Therefore, the automatic guided vehicle M returns to the -C taxiway 2a, goes straight, and passes through the first intersection B. Then, the ultrasonic wave emitted from the transmitting unit 4 of the automatic guided vehicle M is received by the passing detection receiving device 22, and as a result, the centrally controlled tall vehicle detects the automatic guided vehicle M at the first intersection. Detects passing through B and sends a second stop transmitter @
The generation of the V8 sound wave from the transmitter 21a of 21 is avoided.

Then, the automatic guided vehicle starts traveling as if the obstacle has been removed, passes through the first intersection B, and moves to the first taxiway 2a. In addition, if the vehicle in the automatic guided vehicle approaches the first intersection B first, the ultrasonic waves emitted from the transmitter 4 of the automatic guided vehicle are transmitted to the second approach detection receiving device 20. This resulted in the first stop of the nJ transmitter.
emits ultrasonic waves, and the automatic guided vehicle M waits in front of the first intersection B until the automatic guided vehicle M passes through the first intersection B.

By the way, the second intersection E is for automatic guided vehicles and M.

Either N goes straight on the first taxiway 2a or the second MH
Since this is a branch intersection leading to circuit 2b, unlike the first intersection B which is a merging intersection, there is no need to install an entry detection receiving device, a stopping transmitting device, etc.

Incidentally, the guidance method C for the automatic guided vehicle is not limited to the optical guidance method shown in the above embodiment, but various other methods can be considered, such as the electromagnetic conduction method or the radar guidance method.

(Effects of the Invention) As is clear from the above description, the present invention provides a plurality of unmanned units 111'2 i;! If the vehicle i enters an intersection at the same time, determine the order of the unmanned transportation vehicle (i).
L 1!7Of course, an automatic guided vehicle is entering the intersection at that moment.One automatic guided vehicle passes through the intersection: J, FBe sure to wait for other automatic guided vehicles. Since the transmission/reception device for detecting obstacles that is originally installed in the automatic guided vehicle is used to detect the fact that the automatic guided vehicle has passed through an intersection, etc. In addition to reducing costs, there is no risk of metal objects being damaged by people passing by, unlike methods that use proximity switches or photoelectric switches to detect intrusion during unmanned transportation. During transportation, 2 points intersect 31. It has the excellent effect of being able to accurately detect and cover up E (J).

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, and Fig. 1 is a partially cutaway perspective view of the vehicle being transported unmanned. FIG. 4 is an enlarged plan view and a longitudinal sectional side view thereof. In the figure, 2 is a taxiway, 3.4 is a transmitter, and 5. C31, 1 receiving unit, 18 is the first reception device for detecting entry, 19 is the first transmitter for stopping, 20 is the second receiving device for entering 4moxibustion 241, 21 is the second transmitting device for stopping, 22 is a receiving device for detecting passage. Applicant: Tokyo Shibaura Electric Co., Ltd. (,J') Box 1 Fig. 1 No. 2 No. 3 Fig.

Claims (1)

[Claims] 1. On the taxiway) 1 C (transmission of an air propagation signal to the traveling automatic guided vehicle to detect an obstacle in front and stop it) 8
7'l) A system that controls the operation of the automated guided vehicle at the intersection of the taxiways. ) + +Installation of an approach detection receiving device that receives the air propagation signal and a stop transmitter that emits the air propagation signal towards the automated guided vehicle. The reception device for approach detection detects that the taxi is entering the intersection and comes to -C, and sends an optical signal to the transmitter for li', tl-, and other taxiways, and then later enters the intersection + and fj. The automatic guided vehicle that is approaching is stopped, and the automatic guided vehicle that enters the intersection is first installed. (Operation control during unmanned transportation, in which the optical signal of the stop transmitter is stopped by the reception of this passage detection receiver)
l system.