JPS60179807A - Unmanned carrier car - Google Patents

Abstract

PURPOSE:To transfer information such as a destination station No. from a fixed station to a moving carrier car as an optical serial pulse strain and transfer information related to the various state of the carrier car from the carrier car side as an optical serial pulse train by using optical space propagation data transmission. CONSTITUTION:Data related to the moving direction of the carrier car are sent to a motor control circuit 11 to be used as a trigger for the start of movement of the motor 12 and determine the turning direction and turning speed of the motor 12, and suppled to the motor 12 as a driving signal. A comparator 13 receives address data corresponding to the destination station No. latched by a receiving circuit 9 and also a passing station No. of the unmanned carrier car from an address detector 4, and when both the data coincide with each other, decides the arrival of the carrier car at the commanded destination station and sends a signal meaning the arrival to the motor control circuit 11. Consequently, the motor control circuit 11 stops the motor 12.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] This invention relates to an automatic guided vehicle that handles logistics in flexible production systems and the like.

[Prior art]

Various ideas have been proposed for guidance methods for this type of unmanned guided vehicle to make it a trackless type that does not use dedicated navigation (guide rails). The main types include optical tape type, mark reading type, and gyro navigation type, and the majority of those currently in practical use are electromagnetic @conduction type. Note that there is a guided radio method as a data transfer method to the automatic guided vehicle, and there are two types: a serial method and a parallel transmission method.

The parallel transmission method is a method in which the frequency is changed for each command signal.9For example, for a forward command, the frequency of F1 to p.6 is used, and for a reverse command, the frequency of F2 and F4 is used. This is a method in which the combination of command content and frequency is determined in advance. The serial transmission method is a method of transmitting a pulse signal according to the number of pulses within a fixed time using one frequency, that is, a method of transmitting the signal serially with respect to time r.

The partial sequence transmission method does not require the use of various frequencies.

If the number of transmission points increases, the cost will be lower than that of the parallel transmission method, and there will be no fear of interference between each number of copies. However, since both the serial and parallel systems use wireless communication using magnetic waves, they suffer from the disadvantage that there are many transmission errors when used in places with a lot of rust-induced noise.

[Summary of the invention]

In order to solve this problem, the present invention utilizes optical wall-to-wall propagation data transmission to transfer information such as destination station number from a fixed station to a mobile carrier as one serial pulse, and vice versa. From the guided vehicle side, we propose an automatic guided vehicle that can transfer data regarding the individual state of the guided vehicle as an optical serial pulse train.

[Embodiments of the invention]

FIG. 1 is a diagram for explaining two automatic guided vehicles according to the present invention, (11 is an automatic guided vehicle that moves linearly backwards between each station, (21 is a terminal from a system controller that manages the entire system, (3) a light receiver for receiving light signals, (4) an automatic guided vehicle (1)
) or receiving light for receiving data.

(51 is an address detector for detecting the number of the stabbing station, +61 is a station for stopping the automatic guided vehicle (txt), (71 is a light transmitter for transmitting an optical signal, (8) is for the automatic guided vehicle +I+ is a transmitter for transmitting data.

Automatic guided vehicle 111L/i transmission/reception stand (space with 2+? It has two transmission paths by optical propagation,
The light receiver (3; attached to the side of the light transmitting/receiving stand (2) is the first means for converting the serial pulse train of the light (4) received from the light transmitting/receiving stand (2) into an electrical signal.Address h
Outer device (51 is station (6a) Kara station (6c,)'!11-To distinguish, Rirakajimell
The second means of detecting the pasted number is a contact-type bar-shaped limit switch and a non-contact type magnetic sensor.

This function can be realized with optical sensors, ultrasonic sensors, etc.

A third means for realizing the function of comparing the number of the destination station (6c) obtained by the first means and the number of the destination station (6C) obtained by the second means using an electronic circuit. have. Then, by receiving the data regarding the direction of movement of the automatic guided vehicle (11), such as whether to move it forward or backward, and the data regarding the destination station (6c), which station (6) it should be moved to, obtained by the first means. Transfer bt started, automatic guided vehicle U)
A fourth means is provided for driving the motor so that the movement can be stopped when the third means detects that the robot has completely crashed into a designated station (6C). In addition, when the automatic guided vehicle (1) reaches the designated station / (6c) by the third means or when the bumper is bent and makes an emergency stop, the automatic guided vehicle +1) moves to the light transmitting/receiving stand T2+. Transmit light (8) from the signal at once by the light transmitter <71 to transmit the
It has a fifth means for converting the light into a serial pulse train. In the explanation above, for convenience, it is assumed that the automatic guided vehicle (1) is moving toward the caster station (6a).

Although the train stops at three locations from Station 6 to Station 6C, it goes without saying that this is not the case.

A block diagram that characterizes the present invention will be described below with reference to the drawings. FIG. 2 is a diagram for explaining one embodiment of the present invention, and (1) to (3j, and (7)) are equivalent to those used in the explanation of FIG. 1 above.

(8) is a receiving circuit whose main purpose is to convert serial data to parallel data, +11) is a timing generation circuit that divides the clock from the basic oscillator and generates various clocks, and (11) is a motor. forward rotation.

Motor control for controlling rotation speed, etc. is 1 way,
(111 is the motor for driving the transport vehicle, α2 is the comparator, (131 is the orate, Q41 is the limit switch attached to the goods receiver, a'aI/i is the bumper to soften the collision, It consists of a transmitting circuit whose main purpose is to convert data into serial data.

Serial data converted from an optical signal to an electrical signal by the photoreceiver (3) is sent to a receiving circuit 18, and converted into parallel data using a clock from a timing generation circuit (9). The data regarding the moving direction of the conveyance $111 is sent to the motor control circuit ([[
is determined and supplied as a drive signal to the motor aυ.

The comparator (12) receives the address data corresponding to the destination station number latched by the receiving circuit +81, and also detects the address &(51 to the automatic guided vehicle 111).
Passing station number? When the two types of data are equal, it is determined that the command tube has been placed at the destination station where the command tube was received, and a signal to that effect is sent to the motor control circuit tI. Then, motor control circuit +I
it/'i motor (III) is stopped.

The OR gate α31 receives a signal from the comparator a indicating that it has arrived at the target station, a signal from the limit switch attached to the item receiver (a signal from 14 indicating that the item has been taken, and a bumper scream). When any of the coefficients is received, the transmission circuit (tti is multiplied by 1M and 2 or more information is converted from parallel to serial data and sent to the transmitter (71). It is determined by the clock from the timing generation circuit Ql+.

If the bumper Q51 is applied, a signal is sent to the motor control circuit (121), causing the motor (III) to make an emergency stop.

Incidentally, in the above explanation, the number of stations / is 8 or less and the address data is 3 bits, but it goes without saying that this should be created according to the number of stations.

〔Effect of the invention〕

As explained above, this invention uses optical space transmission as a communication means, thereby stably transmitting data such as destination stations between the system controller that controls the entire system and the automatic guided vehicle. It has the effect of being able to.

[Brief explanation of the drawing]

Figure 1 shows the south and second views for explaining the automatic guided vehicle of the present invention.
The figure is a diagram for explaining one embodiment of the present invention, and +
11σ automatic guided vehicle, (2) light transmitting and receiving stand. +31 is a light receiver, +41Fi received light, (51 is an address detector, (6) is a station, (7) is a light transmitter, (8J is a transmitted light, (9) is a receiving circuit, III is a timing generation circuit, al ) is the motor control circuit, α4 is the motor, (13 is the converter, (+41 is the OR gate, (to) the beam switch, and the ttiu bumper. The wholesale is the transmitting circuit. This is the result of a visit to Keido-Kin No. 1. Agent Masu Oiwa Yumen 1 Diagram?

Claims (1)

[Claims] In automatic guided vehicle VC used in various logistics systems,
A first means for converting the serial pulse train of light from the light transmitting/receiving stand into an electric number; a second means for detecting a number assigned to each station; and a destination of the conveyance vehicle obtained by the tenth means. a third means that compares the number of the destination station and the number of the arrival station of the conveyance vehicle obtained by the second means; - a fourth means for driving a motor so as to start moving by receiving data from the transport vehicle and stop it by a signal obtained by the third means; The fifth part converts the electrical signal into a serial pulse train of light.
7. An automatic guided vehicle characterized in that communication is enabled by optical space propagation by being equipped with the means described above.