JPS61113558A - Method of controlling travelling of unmanned induction car - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Commercial Use] The present invention relates to a traveling control method for a one-person 611S vehicle that automatically carries out many tasks such as transporting articles in a factory setting.

[Prior art]

The unmanned guided vehicle travels on the laid track based on a preset program and transfers cargo to and from stations provided at predetermined locations on the track.

By the way, when creating a driving program, it is important to consider which route and how (forward or backward) the unmanned vehicle will travel. Conventionally, there are two methods described below. It was commonly adopted.

■A method in which the unmanned guided vehicle is constantly driven forward [entering each route and determining the driving route in one direction.

■A method of setting a reference direction on the track and determining the driving route by always aligning the front of the unmanned guided vehicle with the reference direction. This method will be explained below with reference to FIG. 2 is a track 1, along which the unmanned guided vehicle 2 travels. In this case, the track l is divided into sections Brl to Br6 by division points DPI to DP5, and the arrows in the figure indicate the directions in which the unmanned guided vehicle can run in each section, and the diagonally shaded arrows indicate the reference direction. It shows. The travel control is performed as follows. First, the reference position of the unmanned guide vehicle 20 is set at the home station H8, and each time a load is transferred, the unmanned guide vehicle 2 is moved to a desired location, and after the transfer is completed, it is returned to the home station He.

When moving from section to section, it is determined in advance whether to move in a #fashion manner or in a slow or backward manner so that the front of the unmanned guided vehicle 2 always coincides with the reference direction. In addition, the unmanned guided vehicle 2 in Figure 1 has the front on the right side and is 6! 180°'': Y-turf is possible. Then, for example, when moving to home station 1118 empty section Br2, "r*, 1 Brz" and when moving to section Br5, "reverse Br5". However, since the front side and the reference direction always match, the driving of an unmanned guided vehicle (especially...
(determination of provisional conditions) can be completely controlled.

[Problem that the invention seeks to solve]

by the way,! ! In method [F] mentioned above, the unmanned guided vehicle can only perform FiiJ retreat, so it has the disadvantage that it takes a detour and cannot respond to backup routes. Since this method requires the direction of the vehicle to match the reference direction, it has the disadvantage that it cannot be applied to busy and complicated routes, just like method (2).

This invention has been made in view of the above-mentioned circumstances, and an object of the invention is to provide a travel control method for an unmanned guided vehicle that can easily handle even complicated routes.

[Means for solving problems]

In order to solve the above-mentioned problems, this invention divides the track into a plurality of sections, sets both ends of each section as a starting end and a rear end, and sets a reference running direction in each section. and further includes a first flag whose state is reversed when the unmanned guided vehicle enters a section with a different reference running direction, and a first flag whose state is reversed when the unmanned guided vehicle enters the next section from the starting end and from the rear end. A second seven lags are set in advance, each with a different state depending on the case of entering the vehicle. Based on the second 7 lags, it is decided whether to move forward or backward.

[Effect]

, it is not necessary to match the direction of the unmanned guided vehicle with the reference direction on the track, and the forward/backward movement until moving to the desired point can be accurately determined.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

In one embodiment of the present invention, seven lags are set for each 'IfIi that change depending on the traveling section and traveling condition, and the forward/backward movement of the unmanned guided vehicle is determined based on the value of this flag. . The flags used in this embodiment are the following three virtues.

■MD flag: Irrespective of whether the Retsuin Guide Car moves forward or backward, it becomes '1'' when singing in the reference direction on the track, and becomes 10'' when moving in the opposite direction.

■CD flag: “1” when the direction of the unmanned guided vehicle matches the reference direction on the track, and “o” when they do not match ■DD flag: Flag indicating the style of the unmanned guided vehicle/following So, it is determined by the exclusive or of Mn2:7g and CDf2g, and when it is 10'', it indicates a forward retreat, and when it is '1'', it indicates a retreat.

Next, the setting of each of the seven lags and v change described above will be explained.

FIG. 1 is a diagram showing an example of a trajectory, where 5 is a trajectory consisting of a straight line portion and a loop portion, and DPIO to DP14 are trajectory 3.
The division point that divides into sections Br1O to 13r14 is
Note that the arrows in the figure have the same meaning as the arrows shown in FIG.

Now, among the ends of each section, the one on the reference direction side is the end,
The one on the opposite side is fixed as the starting point. When such fixed crane attachment is performed, for example, when moving from section Br1l to section Brl O, the movement is from the start end to the end, and when moving from section Brl 1 to section Brl 2, the movement is from the end to the start end. becomes. The MD flag and O
The value of the D7 lag is determined by the conditions when moving from one section to another, and the conditions are shown in the table below.

Table 1 Also, the CD flag is set as follows in the initial state. In other words, the unmanned guided vehicle 2 will be
If one pair of lines is inserted in the reference direction in the section Br1O to Br14 (Ijt), the initial value of the CD flag is set to '
``l'', and if the stock is received in the opposite direction, the initial value is ``O''
shall be. Further, the value of the CD flag is inverted when the unmanned guided vehicle 2 performs a 180@spin turn.

Next, driving control according to an embodiment using the above-mentioned flags CD, MD, and DD will be explained.

Now, assume that in the initial state, the unmanned guided vehicle 2 is in the section Br11, and its orientation is the same as the reference direction. Then, when a command is given to trace from this state to section Brl 2, the connection between section Br1l and Brl 2 is (end → beginning), so the MD7 lag becomes l'' (see Table 1), Also, since it can be seen from Table 1 that the OD7 lag, which is '1'' in the initial state, does not change, the exclusive logic of these 7 lags is DD7, which is 6 by +l.
The value of the lag becomes 0", and when the DD7 lag becomes 0", the unmanned guided vehicle 2 makes m rounds, and as a result, Br12
Move to. Then, further section Br12 → section Br1
When moving from 3 to section Brl 4,
1MD and DD7 lags are in exactly the same state as in the case described above. Therefore, in the above movement, the unmanned guided vehicle 2 moves by following MiJ. 2, if a command to move to section Brl 1 is given, the connection between section Brl 4 and section Brl l is (end → end)
Therefore, as shown in Table 1, the MD flag is lO”
Therefore, the DD7 lag, which is the exclusive OR of these 7 lags, becomes ***, and as a result, the unmanned guided vehicle 2 completed the section the previous week as instructed. reaches Brl 1. Then, the interval Br11
Unmanned guided vehicle 2 reached (CD=“0″, MD=″0″)
On the other hand, if a command to move to section Brl 2 is given again, the following will occur. In other words, since the connections between the sections are (end → beginning), the MD flag is 'l'',
Since the CD flag does not change, it becomes 0'', and as a result, D
D7 lag becomes 11'. And DD7 lug kage l”
Then, the unmanned guided vehicle 2 moves backward and reaches the section Br12 as instructed. On the other hand, if an instruction to move to the section Br1O is given after reaching the section Brl l,
Since the connection between the sections can be determined (from start to end), the MD flag becomes 0" and the CD flag becomes 'O' without liquefaction. As a result, DD7 lags 1" and the unmanned guided vehicle 2 moves forward. It runs and is inferior to the Taterei Street section Br1O.

〔Effect of the invention〕

As explained above, according to the present invention, the track is divided into a plurality of sections, and both ends of each section are preset as a starting end and a rear end, and a reference running direction is set for each section. , furthermore, a first flag whose state is reversed when the unmanned guided vehicle enters a section different from the standard traveling direction in Section 11 of ML, and a first flag whose state is reversed when the unmanned guided vehicle enters the next section from the starting end. A second flag is set in advance to have a different state depending on when the vehicle enters from the end.
Said 1st. Since it is decided whether to cut or insert based on the second flag, there is no need to try to match the reference direction on the track and the unmanned guided vehicle's turn, and moreover, it is possible to reach the desired point. Able to accurately switch between advances and retreats. Therefore, even in the case of complex trajectories, it can be easily adapted. Also, unlike conventional control methods, there is no need to return to the home station every time, so
The degree of freedom in driving control is greatly expanded.

[Brief explanation of drawings]

FIG. 1 is a schematic configuration diagram of a trajectory for explaining an embodiment of the present invention, and FIG. 2 is a schematic configuration diagram of a trajectory for explaining a conventional control method. 2... Kumajin Kindo Car, 3... Orbit, B r 10 =
B r l 4... section.

Claims (2)

[Claims] (1) In a traveling control method for an unmanned guided vehicle running on a laid track, the track is divided into a plurality of sections, and both ends of each section are preset as a starting end and a rear end, and A reference running direction is set in each section, and a first flag whose state is reversed when the unmanned guided vehicle enters a section with a different reference running direction; A second flag is set in which different states are set in advance for when the vehicle is entering and when the vehicle is entering from the rear end, and it is determined whether to move forward or backward based on the first and second flags. Features: A driving control method for unmanned guided vehicles. (2) The first flag indicates that the unmanned guided vehicle is 180°
2. The traveling control method for an unmanned guided vehicle according to claim 1, wherein the state is reversed even when performing a spin turn.