JPS61237109A - Operation controlling system for unmanned carrying car - Google Patents

Abstract

PURPOSE:To execute exactly and easily an increase/decrease change of a station by providing a mark pointer for indicating an entrance and an exit before and behind the station, and excluding the number of pieces of a detection of the mark pointer between them, from a route change and a speed control. CONSTITUTION:Each pair of mark pointers 41-410 are provided before and behind stations ST1-ST5. A pointer sensor provided on an unmanned carrying car 3 in order to detect said pair of pointers 41-410 consists of two sensors. According to such a constitution, in case when the carrying car 3 executes a program operation for changing the control contents by the number of pieces of a detection of the mark pointer, it is made to enter into a subroutine being a start and a end of a work line for detecting the pair of mark pointers as its program, and discriminated from a route change, and acceleration and decel eration by the number of pieces of a detection of the mark pointer. Accordingly, in the pointers 41-410, even if the number of pieces of stations is changed, the program given to the controller requires no change of the number of pieces of the installed mark pointers. In this way, an increase/decrease change of the station can be executed exactly and easily.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an operation control method for an automatic guided vehicle in an unmanned transportation system.

B1 Summary of the Invention The present invention provides an operation control method in which a controller of an automatic guided vehicle obtains position signals for course change and speed control based on the number of mark pointers installed on a track or a taxiway. This eliminates the need to change the controller's program when increasing or decreasing the number of stations, by determining change, speed control, and stage position detection on the controller side using different mark pointers that indicate work on the stage before and after the station. It is.

0. Conventional automated guided vehicle systems change pre-programmed or set traveling courses and routes by steering and controlling an automated guided vehicle along a track or a taxiway installed on the ground side, and the traveling position and position K are changed depending on whether the vehicle is loaded or not. The acceleration/deceleration range and stopping position are changed by drive control according to the weight, and the system is used for unmanned operation control for cargo handling and various controls. In this case, a communication device terminal using guidance radio or optical communication device is installed on the ground side at the position where the car changes course, accelerates/decelerates, or stops, and the computer in the central control room communicates with the car at the relevant position via the terminal. Each vehicle's individual code is used to give steering commands and vehicle speed commands, and the controller installed in each automatic guided vehicle changes course and controls vehicle speed according to these commands.

In this type of operation control system, it is possible to give arbitrary commands to each vehicle using individual codes for each vehicle, and it is possible to control the operation of multiple vehicles and multiple routes at once. There was a problem that the side communication equipment and the controller were complicated and expensive. In addition, there was a problem in that changes in the route and other operations and additions required installation work on ground equipment, program changes and additions to the controller on the ground side, which required large-scale modifications. In addition, communication between the automatic guided vehicle and the ground side becomes complicated, and the system becomes even more complicated to ensure communication reliability, making it difficult to ensure high reliability.

To solve this problem, as shown in FIG. 2, a plurality of mark pointers 2. ~λ8. Total 8. These are used as indication signs for the branch point position and acceleration/deceleration tray of the automatic guided vehicle 3, and the automatic guided vehicle has a microcomputer etc. as the control center, and in addition to the control device and the drive device, each mark pointer 21 is installed.
A controller is installed that includes detection means such as a senna that can identify the pointer position by reaching each pointer position. A system has already been proposed in which the controller compares the detected number of mark pointers with the pattern data at the start of travel and controls the course change, acceleration, deceleration, and stop at a branch point.

Problems to be solved by the D0 invention According to the conventional operation control method using mark pointers,
All you need to do is install a simple mark pointer on the ground side, and prepare the controller to detect the number of pointers and prepare a corresponding travel route program.

However, even in this control method, cargo handling and unmanned :r:/
) When changing stations, such as adding a new station to a station that performs work such as rolling or deleting an existing station, there remains the problem that it is necessary to change and add programs to the controller each time.

For example, in FIG. 2, stations 8Tl to STs
In the existing system with station "It"
When adding e a Tll, K is mark pointer 2811 eko8 in tt of the program before this addition.
It is not determined to be a 1i k work command, but is mistakenly determined to be an acceleration/deceleration 9-branch command. This incorrect judgment may cause the vehicle to collide with other vehicles, run out of control, or cause the system to become inoperable. Means and Effects for Solving the Problems The present invention has been made in view of the above problems.

Automatic guided vehicle operation in which the controller of the automatic guided vehicle obtains position signals for course change, speed control, and work at the station position from the number of detected mark pointers installed along the track or the taxiway installed on the ground side. In the control method, the mark pointers are gold-plated mark pointers at the start and end of the work line before and after the station, and the controller of the automatic guided vehicle determines the course for the detection signal of the mark pointer between the start and end mark pointers. change.

If the control program is not included in the number of detected mark pointers for speed control, and the detection of station mark pointers is excluded from the number of detected mark pointers, then the program corresponds to the increase or decrease in the number of stations.

1. Embodiment FIG. 1 is a system configuration diagram showing an embodiment of the system of the present invention. The difference between this figure and FIG. 2 is that a pair of mark pointers 1 to 10 are provided before and after the station, and these pair of mark pointers are mark pointers 1 to '2ty for course changes and acceleration/deceleration changes. Mark pointer of work line person exit pair at different stations (I,~”16
for the detection of.

Automated guided vehicle! The conventional pointer sensor installed is 1.
In contrast, there are two sensors, and the in-vehicle controller distinguishes between mark pointers 1 to 10 and other mark pointers 21 to λIT based on simultaneous detection signals from both sensors. Depending on the configuration, when the automatic guided vehicle 3 runs a program that changes the control content depending on the number of detected mark pointers, the program uses KL, mark, etc. to enter a subroutine as the start and end of a work twin when detecting a pair of mark pointers. This is distinguished from course changes and acceleration/deceleration based on the number of pointer detections. Then, after detection of the pair of mark pointers 1-S'l&@・, the station mark pointers 281-2! is
eco811. In order to detect the first goose, stop control is performed at each station as part of the work at each station.

Therefore, even though the number of stations is changed (added or deleted) in the pair of mark pointers 1 to μso, only the mark pointer for each station is changed, and the program given to the controller is not used to change the number of mark pointers installed. That is, there is no need to change the number of stations due to an increase or decrease in the number of stations.

In addition to the effects of the G6 invention, according to the present invention, mark pointers indicating the entrance and exit of the stage are provided before and after the station, and the number of detected mark pointers between these mark pointers is changed to change the course. Since it is excluded from speed control, there is no need to change the operation program on the control side when increasing or decreasing the number of stations.
It has the effect of making it easier.

[Brief explanation of drawings]

FIG. 1 is a configuration diagram of a device showing an embodiment of the present invention, and FIG. 2 is a configuration diagram of a conventional device. /...guiding line, col, 21? ... Mark pointer, 2111 * 2a@' ... Mark pointer, 3.
...Automated guided vehicle, C1゜Hiro. ...mark pointer,
8T1 Police 1! Ti1−°0 station. Example of the 1st cause cloud plane/) Device Makihachim

Claims (1)

[Claims] Automatic guided vehicle operation in which the controller of the automatic guided vehicle obtains position signals for course change, speed control, and work at the station position from the number of detected mark pointers installed along the track or the taxiway installed on the ground side. In the control method, the mark pointers are provided with mark pointers at the start and end of the work line before and after the station, and the controller of the automatic guided vehicle changes the course in response to the detection signal of the mark pointer between the start and end mark pointers. , an operation control method for an automatic guided vehicle, characterized in that the control program is not included in the number of detected mark pointers for speed control.