JPS61193210A - Transport control system for unmanned truck - Google Patents
Transport control system for unmanned truckInfo
- Publication number
- JPS61193210A JPS61193210A JP60031482A JP3148285A JPS61193210A JP S61193210 A JPS61193210 A JP S61193210A JP 60031482 A JP60031482 A JP 60031482A JP 3148285 A JP3148285 A JP 3148285A JP S61193210 A JPS61193210 A JP S61193210A
- Authority
- JP
- Japan
- Prior art keywords
- mark
- guide
- taxiway
- marks
- deceleration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0244—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using reflecting strips
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】 〔発明の技術分野〕 本発明は無人搬送車の走行制御方式に関する。[Detailed description of the invention] [Technical field of invention] The present invention relates to a travel control system for an automatic guided vehicle.
無人搬送車のうち光学的に誘導されるものは誘導路並び
にこの誘導路に設けられた減速、停止等の誘導マークと
を光学的に検出し、かつ上記誘導路から外れないように
カメラで誘導路を常にみて一定範囲内に収まるように制
御されながら走行するようになっている。上記において
、誘導マークを検出するセンサは走行方向にそれぞれ対
応するように各別に設けられていて１例えば、直角方向
に進行方向を変更するには、その進行方向に設けられた
センサで停止マークを検出し、その後変更する方向のセ
ンサに検出動作を切シ換えることによって行われる。こ
のよう表進行方向のセンサによりて常に停止マーク等の
誘導マークを検出する方式では、進路変更のための停止
用のマークを変更される向きに対応するセンサの検出エ
リアに設けねばならない。しかし、無人搬送車が作業す
る位置となる誘導路上にも停止マークが必要である。Automatic guided vehicles that are optically guided optically detect the taxiway and guidance marks for slowing down, stopping, etc. set on this taxiway, and are guided using cameras to ensure that they do not deviate from the taxiway. It is designed to constantly monitor the road and drive within a certain range. In the above, the sensors for detecting the guide marks are provided separately so as to correspond to each direction of travel.For example, in order to change the direction of travel to a right angle direction, the sensor installed in the direction of travel detects the stop mark. This is done by switching the detection operation to the sensor that detects and then changes the direction. In this method of constantly detecting guidance marks such as stop marks using sensors in the forward direction of travel, a stop mark for changing course must be provided in the detection area of the sensor corresponding to the direction of the change. However, stop marks are also required on the taxiway where automated guided vehicles operate.
このため、停止マークの数が増加し複雑になる。Therefore, the number of stop marks increases and becomes complicated.
また１作業用、停止用といった停止マークが近接してい
ると、これらに対になっている減速マークが他の組の上
記停止マークと重なシ合い、停止できない場合が生ずる
。Furthermore, if the stop marks for one work and for stopping are close to each other, the deceleration marks in a pair may overlap with the stop marks of another set, and the machine may not be able to stop.
本発明は誘導マークを複雑に配置することなく。 The present invention does not require complicated arrangement of guide marks.
簡易に無人搬送車を任意の方向に誘導する走行システム
を提供することを目的とする。The purpose of the present invention is to provide a traveling system that easily guides an automatic guided vehicle in any direction.
誘導路の検出と同時に所定の共通誘導マークをカウント
し、積算数に応じた走行の他に、進路変更の際には変更
する誘導路に向くセンサでこの誘導路を検出して走行を
制御するようにしたものである。At the same time as the taxiway is detected, a predetermined common guidance mark is counted, and in addition to driving according to the accumulated number, when changing course, the vehicle detects this taxiway with a sensor facing the taxiway to be changed and controls the driving. This is how it was done.
以下１本発明を実施例を示す図面に基いて説明する。（
１）は関節型のロボット（２）を搭載した四輪式の無人
搬送車で、各車輪（３）は全°方位に方向転換が自在に
なっている。無人搬送車（１）の下面には各車輪間に位
置するように軌道センサ（４１〜（４ｄ）（ただしく４
Ｃ）および（４ｄ）は図示せず）が互いに相対向して取
シ付けられている。上記ロボット（２）は収納箱のよう
な搬送物体（５）の移載に用いられる。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be explained below based on drawings showing embodiments. (
1) is a four-wheeled automated guided vehicle equipped with an articulated robot (2), and each wheel (3) can change direction in all directions. On the underside of the automatic guided vehicle (1) are track sensors (41 to (4d)) located between each wheel.
C) and (4d) are not shown) are mounted facing each other. The robot (2) is used to transfer objects (5) such as storage boxes.
（６）、 （７）、 （８）、 （９）は誘導路で、所
定位置に減速マークα１゜Ｕ、（ｌａおよび停止マーク
（１３，（１４）を備えている。上記停止マーク（１３
，（１４）の近傍にはこれらに対応して移載ステージ茸
ン（１９，αＱが設けられている。なお、図示せぬが、
無人搬送車（１）には教示ペンダント（１８にインプッ
トされた指示指令に基いて制御動作を行う制御装置が内
置されている。この制御装置は軌道センサ（４ａ）〜（
４ｄ）の検出順序を制御するようになっている。(6), (7), (8), and (9) are taxiways, which are equipped with deceleration marks α1゜U, (la) and stop marks (13, (14)) at predetermined positions.
, (14), a corresponding transfer stage (19, αQ) is provided.Although not shown in the figure,
The automatic guided vehicle (1) is equipped with a control device that performs control operations based on instructions input to the teaching pendant (18).
The detection order of step 4d) is controlled.
次に、走行の制御について説明する。Next, driving control will be explained.
無人搬送車（１）は所定の搬送指令を受けて走行を開始
する。走行中は誘導路（６）から外れないように操舵さ
れ、同時に減速マーク（Ｉｌ、αυ、住ｚが次々に検出
される。ところで、移載ステージ璽ンαｅにて載置した
搬送物体（５）をロボット（２）で移載しようとする作
業では、予め上記制御装置に三つの減速マークＱｌ）、
（１１）、 （１２を検出した時点で停止マークＩを
検出する動作が働くように軌道センサ（４すに指令して
おけばよい。また、交差点ＩＪＫて誘導路（８）の一方
向に変更するときには、二つの減速マーク（１Ｇ、（１
１）を検出した時点で減速を開始すると同時に上記変更
方向に向く軌道センサ（４ｂ）に検出動作が切シ換わシ
、誘導路（８）を検出するように指令されている。The automatic guided vehicle (1) starts traveling upon receiving a predetermined transport command. While traveling, the vehicle is steered so as not to deviate from the taxiway (6), and deceleration marks (Il, αυ, and Z) are detected one after another at the same time.By the way, the conveyed object (5) placed on the transfer stage αe is ) is to be transferred by robot (2), three deceleration marks Ql),
(11), (12) It is sufficient to instruct the trajectory sensor (4) to operate to detect the stop mark I when detecting the stop mark I.Also, change to one direction of the taxiway (8) at the intersection IJK. When speeding up, two deceleration marks (1G, (1
At the time when 1) is detected, deceleration is started, and at the same time, the detection operation is switched to the trajectory sensor (4b) facing in the above-mentioned change direction, and a command is given to detect the guideway (8).
したがって、誘導路（８）を検出すると無人搬送車（１
）は交差点間で停止し、各車輪（３）をその方向に向け
て、誘導路（８）に沿って走行するといった一連の通常
動作が開始される。Therefore, when the taxiway (8) is detected, the automatic guided vehicle (1)
) starts a series of normal operations, such as stopping between intersections and driving along the taxiway (8) with each wheel (3) pointing in that direction.
また、走行開始後、次の停止点まで通過する減速マーク
がない場合は低速で走行するようになっている。例えば
図面において、交差点Ｑ１）で進路変更する場合、走行
途中には減速マークがないため。Furthermore, after the vehicle starts traveling, if there is no deceleration mark to pass until the next stop point, the vehicle will travel at a low speed. For example, in the drawing, when changing course at intersection Q1), there are no deceleration marks along the way.
低速のｉｔ走行し、誘導路（７）が検出されると交差点
Ｑ〃で停止し、誘導路（７）Ｋ対する軌道センサ（４ｂ
）。It travels at low speed, and when the taxiway (7) is detected, it stops at the intersection Q〃, and the track sensor (4b) for the taxiway (7)K
).
（４ｄ） （、図示せず）の一方の検出動作によりてど
ちらか一方の方向に進路が変更される。(4d) The course is changed in one direction by one of the detection operations (not shown).
上記実施例において、移載ステージ四ン（ｌｅの停止位
置で、停止マークα荀と減速マーク（１１Ｊとの間に誘
導路（６）から分岐した別の誘導路（９）が設けられて
いる。この誘導路（９）への進路変更を従来技術で行う
とすると、誘導路（６）上に上記進路変更用の減速マー
クと停止マークを別に設ける必要があるが。In the above embodiment, at the stop position of the transfer stage 4 (le), another taxiway (9) branched from the taxiway (6) is provided between the stop mark αX and the deceleration mark (11J). If this course change to the taxiway (9) is performed using the conventional technology, it is necessary to separately provide a deceleration mark and a stop mark for the above-mentioned course change on the taxiway (6).
移載ステージ曹ン傾用の停止マークα荀との区別がつか
なくなる。このことは減速マークについても同様である
。しかし実施例で述べたように、軌道センサ（４８）、
（４ｂ）の検出順序を制御しているので停止マークＩ
と誘導路（６）、（９）との分岐点（２）とを減速マー
クａのを設けることで検出可能となり、所望の位置での
停止および進路をすることができる。It becomes indistinguishable from the stop mark α for the transfer stage. This also applies to deceleration marks. However, as described in the embodiment, the orbit sensor (48),
Since the detection order of (4b) is controlled, the stop mark I
By providing a deceleration mark a, the branch point (2) between the taxiway and the taxiways (6) and (9) can be detected, and the vehicle can be stopped at a desired position and proceeded.
したがって誘導マークが簡略でき、誘導マークの設置Ｋ
ｆｉって特別な工夫を考慮する必要がなくなった。Therefore, the guidance mark can be simplified, and the installation of the guidance mark is easy.
With fi, there is no longer any need to consider special measures.
図面は本発明の一実施例を説明するための斜視図である
。
（１）・・・無人搬送車 （４ａ）、 （４ｂ）・
・・軌道センサ（６）、 （７）、 （８）、 （９）
・ｉｌ導路（１１，（１１）、 （１′ａ−・・停止マ
ーク（１３，（１４１・・・停止マーク
代理人 弁理士 則 近 憲 佑
（ほか１名）The drawings are perspective views for explaining one embodiment of the present invention. (1)...Automated guided vehicle (4a), (4b)・
...orbit sensor (6), (7), (8), (9)
・il guideway (11, (11), (1'a-...stop mark (13, (141...stop mark agent, patent attorney Noriyuki Chika (and 1 other person))
Claims (1)
上の誘導マークを有しかつ単一もしくは交差路を有した
誘導路と、制御指令により全方位に方向転換される走行
輪を有し上記誘導路と誘導マークとを検出するために上
記誘導路に向かう方向に対応して各別に設けられた複数
の軌道センサ並びにこれら軌道センサの検出順序の制御
を含む制御装置とを有した無人搬送車とを備え、上記誘
導マークのうち減速を知らせる誘導マークの検出数に従
って上記無人搬送車の所定位置への停止または少なくと
も減速を知らせる誘導マークの検出後に走行中の誘導路
からこの誘導路に交差する誘導路を検出する軌首センサ
の切換えを行って進路変更させるようにした無人搬送車
の搬送制御方式。A taxiway that has at least two or more types of guidance marks that indicate the start position of deceleration and stop, and has a single or intersecting path, and a taxiway that has running wheels that can change direction in all directions according to control commands. an automatic guided vehicle having a plurality of track sensors provided separately in the direction toward the taxiway for detecting the guide marks, and a control device including control of the detection order of these track sensors. , according to the detected number of guide marks that indicate deceleration among the guide marks, after the automatic guided vehicle stops at a predetermined position or at least detects a guide mark that indicates deceleration, a taxiway that intersects with this taxiway is determined from the taxiway on which the automatic guided vehicle is traveling. A transport control system for an automatic guided vehicle that changes the course by switching the track sensor that detects it.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60031482A JPS61193210A (en) | 1985-02-21 | 1985-02-21 | Transport control system for unmanned truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60031482A JPS61193210A (en) | 1985-02-21 | 1985-02-21 | Transport control system for unmanned truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61193210A true JPS61193210A (en) | 1986-08-27 |
Family
ID=12332485
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60031482A Pending JPS61193210A (en) | 1985-02-21 | 1985-02-21 | Transport control system for unmanned truck |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61193210A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010540344A (en) * | 2007-10-04 | 2010-12-24 | ザ・ボーイング・カンパニー | Manufacturing moving line system and method |
| US9956914B2 (en) | 2014-01-30 | 2018-05-01 | Nissan Motor Co., Ltd. | Parking assistance device and parking assistance method |
| US10000135B2 (en) | 2013-09-30 | 2018-06-19 | Nissan Motor Co., Ltd. | Parking assist device |
| JP2021082090A (en) * | 2019-11-20 | 2021-05-27 | 株式会社ディスコ | Transport vehicle and transport system |
-
1985
- 1985-02-21 JP JP60031482A patent/JPS61193210A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010540344A (en) * | 2007-10-04 | 2010-12-24 | ザ・ボーイング・カンパニー | Manufacturing moving line system and method |
| US10000135B2 (en) | 2013-09-30 | 2018-06-19 | Nissan Motor Co., Ltd. | Parking assist device |
| EP3054558B1 (en) * | 2013-09-30 | 2019-11-06 | Nissan Motor Co., Ltd | Wireless power supply device and parking support device |
| US9956914B2 (en) | 2014-01-30 | 2018-05-01 | Nissan Motor Co., Ltd. | Parking assistance device and parking assistance method |
| JP2021082090A (en) * | 2019-11-20 | 2021-05-27 | 株式会社ディスコ | Transport vehicle and transport system |
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