JPS61127011A - Signal transmission method for unmanned guide truck - Google Patents

Abstract

PURPOSE:To attain the remote supervisory and control by providing the signal relaying transmission/reception devices to plural unmanned guide trucks containing the same guiding means as that of an unmanned cargo truck and then relaying the communication. CONSTITUTION:The inside of a warehouse 1 is divided into blocks with partitioning walls and a cargo 2 is stored to each block. A forklift 9 contains plural pickup coils and runs while detecting a low frequency current flowing along a course of the warehouse 1. The forklift 9 also contains ITV13a and 13b, a signal transmitter 14 for pictures of both TV13a and 13b and a signal receiver 15. While signal relaying unmanned guide trucks 22a-22d relay the signal transmission among the forklift 9, a monitor 18 in a control room 12 and an operating board 20. The trucks 22a-22d also contain the similar guide means together with relaying transmitter and receiver 24 and 25 for video and control signals. Then the trucks 22a-22d are guided to proper areas for relaying signals.

Description

[Detailed description of the invention] Unmanned guided vehicles and ground-based vehicles used in industrial applications, for example, in harsh work environments where workers cannot enter, such as facilities that handle high-level radioactive solid waste. Regarding the signal transmission method between the side (remote location such as a control room), it is rare that the unmanned guided vehicle is inside the working area (for example, inside a storage room) and there are obstacles to signal transmission, such as a shielding wall. Another object of the present invention is to enable signal transmission as needed without permanently installing a signal transmission device.

BACKGROUND OF THE INVENTION In recent years, unmanned guided vehicles have been actively developed. This unmanned guided vehicle has a wide variety of uses, such as unmanned cargo handling vehicles in distribution warehouses, unmanned guided vehicles in main factories, guide dog robots, and nursing robots. As a method of guiding these vehicles, a low frequency current is passed through induction wires buried in the floor on a predetermined driving course, and the magnetic field generated in a straight line is generated in multiple pickup coils attached to the vehicle side. A method of detecting the induced voltage and guiding it along the course using an appropriate steering device.Instead of the induction wire, reflective tape, landmarks, etc. are pasted along the running course on the floor, ceiling, walls, etc. A method that optically detects reflective tapes, landmarks, etc. and guides the vehicle along the course I/C using an appropriate steering device based on the detection results.A method that uses a gyro to constantly detect the vehicle's attitude using the gyro and guides the vehicle along the course I/C based on the detection results. A method of guiding the vehicle along a course using a steering device is known.

When such unmanned guided vehicles are used as cargo handling equipment in locations that are difficult for workers to access, such as radioactive solid waste storage or cold storage warehouses, workers will definitely There is also a condition that you cannot get close to it,
Remote control function of unmanned guided vehicle (function to switch to remote operation and handle the problem by remote control if unmanned guided vehicle breaks down during automatic operation) and remote monitoring function of the front or surrounding area of unmanned guided vehicle (function to remotely control the area in front of unmanned guided vehicle) It is necessary to monitor the loading status of chrysanthemums in front and surrounding obstacles. In such cases, there is a method to remotely control and monitor the unmanned guided vehicle by installing an ITV camera on the unmanned guided vehicle and displaying the image captured by the ITV camera on a monitor installed in a remote location such as a control room. In this case, possible methods for transmitting the video signal from the ITV camera to the monitor at full speed include (11) a method of towing a signal cable, (2) a method of transmitting a video signal between transmitting and receiving antennas, etc. However, method (I) It may be applicable only to short distances as vehicles drive while towing signal cables, or it may not be applicable to routes with many twists and turns.Therefore, in such cases ([
It will depend on method 1. An example of this method will be explained using FIG. 4. Storage warehouse 1 is usually made of fairly thick walls and ceilings to shield the radiation emitted from the radioactive solid waste 2 (hereinafter simply referred to as cargo) stored inside, and partitions are used to divide the interior into multiple blocks. There is wall 3. This storage 1 has a main course 4 and a sub-course 5 branched from the main course 4 in a plurality of rows, and the cargo 2 is stacked in order from the back of the sub-course 5.

A guide wire 6 (not shown) is buried in the floor surface of each course, and each course has a closed roof VC structure. A course selector 7 (not shown) and an oscillator 8 (IW not shown) are incorporated in this closed loop, and the low frequency current generated by the oscillator 8 is made to flow only to the course specified by the course selector 7. It looks like this. The unmanned forklift 9 is equipped with a plurality of pickup coils 10 (not shown), which detect the induced power caused by the low-frequency current flowing in the specified course mentioned above, and adjust the steerer puff so that the difference between the left and right sides is equalized. Run along the course while doing so. The loading and unloading table 11i is a receiving frame for loading and unloading cargo 2, and the loading and unloading table 11i is a stand for transferring loads 2 carried in by other equipment. When the course is set from inside the control room 12, the unmanned 7 oak lift 9 will move to the loading/unloading platform 1.
The receiver goes to pick up the load 2 on top of the load 2, and after picking up the load 2, the receiver runs along the main course 4 and the sub-course 5Vc, and detects the load 2 placed in front of it on that course. Then, assign a load 2 tl to match that load 2. As remote control means or remote monitoring means for such an unmanned forklift 9, the unmanned forklift 9 is equipped with an ITV camera 13 (not shown), a signal transmitter 14 (not shown), and a signal receiver 15. (not shown), and a plurality of signal receiving devices 16 and signal transmitting devices 17 are provided in the storage 1. In addition, a monitor 18 (not shown) provided in the control room 12 and a storage 1
A cable 19 (not shown) is connected to the signal receiving device 16 provided in the control room n, and an operation panel 20 (not shown) is also provided in the control room n.
A cable 21 (not shown) is connected to a signal transmitting device 17 provided in the storage 1 by a cable 21 (not shown).A plurality of signal receiving devices 16 and signal transmitting devices 17 are provided in the partition wall 1 in the storage 1. This is to prevent interference with signal transmission and reception, and in this embodiment, the signal receiving device 7116 and the No. 18 transmission device 1 are installed in each block partitioned by the partition wall 3.
One each of 7 is provided.

With such a configuration, even if an abnormality or failure occurs while the unmanned forklift 9 is rolling the load 2 during automatic operation, the image captured by the ITY camera 13 installed on the unmanned forklift 9 can be used. The video signal is transmitted from the signal transmission device 14, received by the signal reception device 16 provided in the storage J*1, and sent to the monitor 18 provided in the control room 12 via the cable 19.
The situation in front of or around the unmanned forklift 9 can be monitored remotely, and the signal transmitting device installed in the storage 1 can be connected to the operation panel 20 installed in the control room 12 via the cable 21. 17 sends a signal to the unmanned forklift 9. This control signal is received by a signal receiving device 15 provided at the unmanned fork IJ7 and
By operating in accordance with this signal, remote control becomes possible, so the loading operation can be completed by remote control without the need for an operator to enter the storage warehouse 1 and restore it.

Problems to be Solved by the Invention However, in the method described above, it is necessary to always provide a plurality of signal receiving devices 16 and signal transmitting devices 17 in the storage 1. These devices are designed to have few breakdowns, but if they are used for a long period of time or exposed to a large amount of radiation, they will need to be replaced or maintained. Therefore, this is not a problem in facilities that handle low-level radioactive solid waste and gold, but this method cannot be used in facilities that handle low-level radioactive solid waste because the planters are absolutely not allowed to enter.

Means for solving the problem A plurality of unmanned guided vehicles equipped with the same guidance means as the unmanned guided cargo handling vehicle are equipped with signal relay transmitting/receiving devices, and if necessary, they can travel on the same course as the unmanned guided cargo handling vehicle and move to an appropriate location. It was designed to stop and relay signals between the unmanned guided cargo handling vehicle and the control room on the ground side.

Function: When direct communication between the unmanned guided cargo handling vehicle and the control room is impossible, signals can be relayed by sequentially moving the signal relaying unmanned guided vehicle to appropriate locations.

Embodiment Figures 1 to 3 VC'J? 1 is storage, 2 is cargo, 3 is partition wall, 4 is main course, 5 is sub course, 6
7 is a guide wire (as shown), 7ri course selector (as shown), 8 is an oscillator (not shown), 9 is an unmanned Oaklift, 10 is a pickup coil (as shown), 11
is the loading/unloading table, 12 is the control room, and 13 cL.

13h is an ITV camera, 14 is a signal transmitter, 15 is a signal receiver, 16 and 17 are missing, 18 is a monitor, 1
9 is a missing number, 20 is a remote control panel for an unmanned forklift, 2
1 is a missing number, 221L, 22b, 220.22d
is an unmanned guided vehicle for signal relay, 23 is an ITV camera, 24
2 is a video signal relay transmitting/receiving device, 2 is a control signal relaying transmitting/receiving device, 26 is a video signal receiving device, and 27 is a control signal transmitting device. 1 ``~''``ho'' indicates the location in the storage.

The inside of the storage w and the rhinoceros l are divided into a plurality of blocks by a plurality of partition walls 3, and each block has a space for storing the cargo 2. This storage 11C has a main course 4 and a sub-course 5 branched from the main course 4 in a plurality of rows, and the cargo 2 is stacked in order from the back of the sub-course 5.

A guide wire 6 (not shown) is buried in the floor surface of each course, and each course is configured as a closed loop. A course selector 7 (not shown) and an oscillator 8 (not shown) are incorporated into this closed loop. It seems to be flowing. The unmanned forklift 9 is equipped with riaa pickup coils 10 (not shown), detects the induced power caused by the low frequency current flowing in the specified course mentioned above, and steers the vehicle so that the difference between the left and right sides is equalized. Run along the course. The unmanned forklift 9 is equipped with known equipment for cargo handling. The loading and unloading table 11 is a stand for receiving and transferring the cargo 2, and once the load 2μ brought in by other equipment is placed on the loading and unloading table 11. When a course is set from inside the control room 12, the unmanned forklift 9 goes to pick up the load 2 on the loading/unloading platform 11,
After P, the vehicle travels along the set main course 4 and sub-course 5, detects the load placed in front of the course, and approaches the load by two hairs.

The unmanned forklift 9Vc is equipped with ITV cameras 13α and 13b for monitoring the front or surrounding situation, and this ITJ.
It is equipped with a signal transmitting device 14 for transmitting images yJ captured by cameras 13α and 13h as video signals, and a signal receiving device 15 for receiving command signals for remote control. Unmanned guided vehicles 22α and 22b for signal relay.

22C, 22tμ, relay equipment for transmitting signals between the unmanned forklift 9 and the monitor 18 and operation panel 20 provided in the control room n, and the same known guidance as the unmanned forklift 9. Means (not shown) T- is provided, and receives the video signal sent from the unmanned forklift 9, and transmits the signal to the next signal relaying unmanned guided vehicle 22h to 22d or a video signal provided in the control room n. Receives control signals sent from the video signal relay transmitting/receiving device 24 for transmitting to the receiving device 26 and the control signal transmitting device 27 provided in the control room 12, and transmits the signals to the unmanned guidance for the next signal relay. It is fully equipped with a control signal relay transmitting/receiving device 25 for transmitting to the vehicles 22C to 22cL or the unmanned forklift 9. The video signal receiving device 26 is provided in the control room 12 and connected to the monitor 18 by a cable, and the ITV camera 13α provided on the unmanned forklift 9,
In order to display the image captured by the monitor 13b on the monitor 18, a device 7 receives the video signal. The control signal transmitting device n is provided in the control room 12 and is for transmitting the control signal 16 from the remote control panel 20.

FIG. 2 shows a standby state in an embodiment of the present invention. That is, an unmanned forklift 9 and an unmanned guided vehicle 22 for signal relay.
α to 22d are stopped near their respective predetermined standby positions 6i''.

To explain an example of warehousing work in this state, cargo is placed on the warehousing/unloading table 11 by other cargo handling equipment, and remote control in the control room 12! When a warehousing command is given to the unmanned forklift 9vc from 20, the unmanned forklift 9 first advances toward the loading/unloading platform 11 and picks up the cargo 2 on the loading/unloading platform 11. After that, after moving astern to the carrier position, it moves forward on the main course 4 in order to store two loads at the commanded location, enters the commanded sub-course 5, and moves forward to store the loads that have already been stowed in front. It is detected and the load 2 is thrown on top of or in front of the detected load. When the loading of cargo 2 is completed, the vehicle reverses the course it has just traveled, returns to its original waiting area, and completes the warehousing operation.

When performing the above operations, the driving course is guided by the control room 1.
When a loading course is set using the remote control panel 20 in the loader 2, the course is selected using the course selector 7 so that the low frequency current generated by the oscillator 8 flows only on the set travel course among the guide wires 6 buried in the floor. conduct,
The unmanned forklift 9 is guided along the set course by steering with an appropriate steering device based on the amount of induced voltage generated in the plurality of pickup coils 10 provided in the unmanned forklift 9 due to the magnetic field generated by the low-frequency current flowing along the set course. It looks like this will be done.

If you want to remotely monitor the front or surrounding area of the unmanned forklift 9 that is running using such a guidance method, or if you want to operate the unmanned forklift 9 by remote control, always use the images captured by the ITV cameras 13α and 13h installed on the unmanned forklift 9. The unmanned forklift 9 must be able to receive a control signal from the remote control panel 20 of the unmanned forklift 9 while transmitting it as a video signal to the control light bulb.

However, as shown in FIG. 3, when the unmanned forklift 9 is traveling on the sub-course 5 of the storage 1, the signal from the unmanned forklift 9 cannot reach the control room 12 because the wall or partition wall 3 of the storage 1 becomes an obstacle. Tokazu unmanned forklift 9
Since it is not possible to communicate with the control room 12, remote monitoring and remote control are impossible.

In such a case, the signal relay unmanned guided vehicles 2: 'Z to 22d' are sequentially driven along the main course 4 using the same guiding means as the unmanned forklift 9, and each is moved to a position where communication is possible, for example, as shown in FIG. As shown in the figure, the signal relay unmanned guided vehicle 22α is stopped at the 1 ho point, the 22 bt-12 point, the 8 point 220, the 8 point 221if, and the mouth point. These operations are controlled by a remote control panel 20 provided in the control room 12 so that they can be performed automatically. In this way, the ITV camera 13c installed on the unmanned forklift 9
L, 1. The signal transmitted from the signal transmitting device 14 as a video signal of the shadow mound in front of or around the unmanned forklift 9 captured by l is sequentially relayed by the video signal relay transmitting/receiving device 24 provided in the signal relaying unmanned guided vehicle @22α to 22d. After being received by the video signal receiving device 26 provided in the control room 12, it can be output to the monitor 18, and the control signal from the remote control panel 20 provided in the control room 12 can be transmitted from the control signal transmitting device 27. The control signals are sequentially relayed by the control signal relay transmitting/receiving devices provided in the relay unmanned guided vehicles 22α to 22d-, and are received by the signal receiving device 15 provided in the unmanned forklift 9, so that the unmanned forklift 9 can be commanded. ν becomes possible, and remote monitoring and remote control of the unmanned forklift 9 becomes possible. Unmanned guided vehicle for signal relay 2
2α to 22d- perform transmission and reception by changing the frequency to prevent interference between the received 1g signal and the transmitted signal.

Effects of the Invention According to the present invention, even if the unmanned forklift 9 is moved to a position where direct signal communication with the control room 12 is not possible due to a 1m barrier such as the wall of the storage 1 or the partition wall 3, the remote control of the unmanned forklift 9 can be maintained. When monitoring or remote control is desired, the video signal relay transmitter/receiver and the control signal relay transmitter/receiver 25 are available. Equipped with unmanned guided vehicle for signal relay 22α~2
2cL sequentially travels the same traveling course as the unmanned forklift 9, stops at an appropriate place, and then the unmanned forklift 9
By relaying signal communication between the control room 12 and the control room 12, remote monitoring and remote control of the unmanned forklift 9 is possible. 22d to the standby position, since there is no signal relay device left in the storage 1, there is no permanent equipment in the storage 1, and it is necessary for a worker to enter the storage 1 for maintenance or replacement. lost.

As described above, the present invention is highly effective for unmanned guided cargo handling vehicles used in facilities such as high-level radioactive waste storage facilities that cannot be accessed by workers.

[Brief explanation of the drawing]

FIG. 1 is a schematic explanatory diagram showing an example of a device for implementing the signal transmission method for an unmanned guided vehicle of the present invention, FIG. 2 is a plan view of a storage warehouse showing the device shown in FIG. 1 in a standby state, and FIG. The figure is a storage floor plan showing the operating state of the device shown in Figure 1;
FIG. 4 is a plan view of a storage according to the conventional method. 1...Storage, 2...Load, 9...Unmanned forklift. 12・*lJ Omuro, 13α, 13b, 23-XT
Vly Mera, 14...Signal transmitter, 15...
Signal receiving device, 18...Monitor, 20...Remote control panel for unmanned forklift, 22α-d...Unmanned guided vehicle for signal relay, 24...Transmitting/receiving device for video signal relay, 25...Control Signal relay transmitter/receiver, 2
6...Video signal receiving device, 27...Control signal transmitting device Sub-agent: 3 persons including lawyer Shigefumi Okamoto

Claims (1)

[Claims] A signal transmission method for remote monitoring and remote control of an unmanned guided cargo handling vehicle used in a radioactive solid waste storage facility, etc., comprising a plurality of ITV cameras, a video signal transmitter, and a control signal. an unmanned guided cargo handling vehicle guided by a guiding means including a receiving device; a video signal relay transmitting/receiving device;
It consists of a plurality of signal relay unmanned guided vehicles guided by a guidance means equipped with a control signal relay transmitter/receiver, and a video signal receiver, monitor, and control signal transmitter installed in a control room on the ground side. , an unmanned guided vehicle characterized in that when direct communication between the unmanned guided cargo handling vehicle and the control room is impossible, the signal relaying unmanned guided vehicle is sequentially moved to an appropriate location to relay signals. Signal transmission method.