JPS61240305A - Operation control system for unmanned carrier - Google Patents

Abstract

PURPOSE:To prevent easily and accurately a trouble due to the detecting failure of mark pointers by arranging these mark pointers with distances different alternately from a guide path. CONSTITUTION:Mark pointers 21-217 are arrayed alternately at the right and left sides of a guide path 1 including an original mark pointer 20. A controller 6 checks successively the right and left orders of pointers to the path 1 which are included in the detection signals of pointers. Then a detecting failure of a pointer is decided when said orders are not alternate. Thus the protecting control is carried out. In such a way, a trouble due to the detecting failure of mark pointers can be avoided easily and accurately. Here it is also effective to give different distances to the mark pointers from the path 1 together with an alternate array in place of said case where those marks are arranged alternately at the right and left sides of the path 1.

Description

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

B0 Overview of the Invention The present invention relates to an operation control system in which a controller of an automatic guided vehicle obtains position signals for course change and speed control from a plurality of mark pointers installed on a track or a taxiway.

The mark pointers are arranged in an arrangement in which the distances from the taxiway are alternately different, and the protection control of the entrainment is performed when there is an abnormality in the mark pointers detected by the controller.

This is a reliable and easy-to-perform technique to prevent accidents due to failure in detection of mark pointers.The unmanned transportation system is a technology developed by the United States. By doing so, a pre-programmed or set running course and running route can be created, and the driving force is controlled according to the running position and even the loaded weight, and the cutting speed is reduced.

The stopping position can be changed, making it suitable for unmanned operation for cargo handling and various controls. On this occasion, on the ground side, the military set up communication device terminals such as guidance radio and optical communication equipment at positions where the military changed course, stopped, and stopped, and the computer in the central command room A steering command and a vehicle speed command are given to the vehicle at the relevant position using each vehicle's individual code, and a controller installed in each automatic guided vehicle changes course and controls the vehicle speed according to these commands.

In this L-link operation control system, each car has an individual code tf.
It is possible to give arbitrary commands to each mowing operation, and it is possible to control the operation of many machines and many routes at once. friend. Changing or expanding transport contents such as transport, route, etc. requires installation work on ground equipment, program changes to ground side controllers, and expansion, which creates problems that require large-scale remodeling. Communication between the storm and the ground side becomes complicated, making it difficult to ensure the reliability of communication -1
-It will be a complicated system and will make it difficult to secure a high 4-year residence.

To solve this problem, as shown in FIG. 2, a plurality of mark pointers 21 to 21. t-set up t-
Automatic guided vehicle 30 branch point position, 7 JO deceleration position indication sign, automatic guided vehicle has a microcomputer, etc. as a control center.In addition to the driving device, each mark pointer 21 to 2xyt reaches the notification point position. A controller is provided that includes a detection means such as a sensor that can identify the number of points detected by each mark pointer according to the running route from the starting point (mark pointer 2.) in advance of the running. Speed control pattern data is provided, and at the start of travel, the controller changes course, accelerates, and decelerates at a branch point by comparing the number of detected mark pointers and the pattern data.

A system with stop control is already in use.

D1 Problems to be solved by the invention If the conventional mark pointer t-f two-way control system is used, all simple mark pointers are installed on the ground side, and the controller is equipped with only one pointer. By preparing a travel route program that corresponds to the two, it will be next to the next.

However, with this control method, if the controller fails to detect even one mark pointer t-1 for some reason, such as a malfunction of the mark pointer or the single-feed side detector, there will be a running error, an instantaneous collision, or a breakout. There are nine problems caused by fM, etc.

For example, the transport JIL3 starts at a low speed at the mark pointer 2°, which is the thick point in Fig. 2, and the controller program commands a left turn when the mark pointer is 2m, 2! in〃
2. G speed command, 2. left turn command, 21
In some cases, the mark pointer 2. If there is a detection failure, the controller starts decelerating at the mark pointer 24, and at this branch point, the friend carrier 3 that has not read the left turn command t'' goes straight ahead and enters the booth f outside - n, in the case of L. This could result in a collision with another transport vehicle.

Note that duplication of mark pointers and sensors is a means and action for solving the E0 problem of increasing the number of pointers installed. In one type of operating side of the automatic guided vehicle, the controller of the automatic guided vehicle obtains position signals for course change and speed control from the number of detected mark pointers provided along the route. The controller is configured to arrange the mark pointers at alternately different distances from the road, and the controller detects an abnormality in the alternating detection order of the mark pointers f:
By fully controlling the protection of the entrainment when separating Wa, and by including the arrangement order of the mark pointers in the mark pointer detection information, it is possible to identify abnormalities when the mark pointer 1 has two companions. .

? , Embodiment FIG. 1 is a system configuration diagram showing an embodiment of the system of the present invention. The above-ground lIK is provided with a guide [1] in which a current of a certain frequency flows as a guide route, and a mark pointer 21 with +'9 on the guide 1111.
~2□ is provided. The automatic guided vehicle 3 is equipped with a controller 6 including a micro combinator, a steering device as its output device, and a drive device 4, and further detects the magnetic field caused by the alternating current of the induction 1lAl. A course sensor 7 for obtaining a signal proportional to the deviation n of the running direction of the vehicle 3 with respect to the guide line l, and a pointer sensor 8t for detecting the mark pointer 1~2□ at the pointer position are provided. The output signals of these sensors 7.8 are input as digital signals to the computer of the controller 6, and serve as data inputs for precise course change and speed ltI control. Mark pointer double ~ 2. The configuration of the pointer sensor 8 is as follows: 1. An optical mark pointer that emits light output, such as infrared rays, vertically, and a pointer sensor/sensor consisting of a light receiving element and a sense amplifier that receives light at the pointer position and generates an on signal at time t.
It will be realized as soon as possible. In addition to this optical type, a proximity sensor may also be implemented using any of the known position detection sensors.

Here, mark pointer 2. ~21? are arranged alternately on the left and right sides of the taxiway l, including the mark pointers 2o to 4 at the origin. For example, pointer2. is provided on the left side of the taxiway l, and the pointer rt, v< pointer 2! is on the right, pointer 2 of ′vc
The arrangement order is alternated, with the fields on the left. In addition,
A dummy pointer is provided at a point where the left-right permutation of the pointer breaks down, such as when merging at a branch point. And unmanned transport 1
The 14 pointer sensors 8 are provided with a pair of sensors for respectively detecting the left and right mark pointers of the guide 4, and the detection signals from each sensor are taken into the controller 6 as data for distinguishing between the left and right pointers. The configuration is as follows.

From this nine mark pointer and its detection! The controller 6 that controls the full speed side and the route is given nine route branch and speed pattern data according to the number of mark pointers according to the traveling route from the start point to the destination point.
4 tons of cargo - Control to transport it to the destination point, and if necessary, follow the return route to the starting point? 1111
- Do @For example, start point 2. When the travel route is taken from arrow R, the controller 6 indicates that the pointer is at 2 degrees and the snow starts at low speed, and the pointer is at 2 degrees. command to decelerate.

Pointer 2t, sword a speed finger size, pointer 2. command to decelerate,
Data and programs are prepared such that the pointer 24 commands a branch command and the pointer 21 commands an acceleration command.According to this data, the controller 6 performs steering and the drive side.

What should be noted here is that the controller 6 sequentially checks the left and right order gates of the pointer for the guideway included in the mark pointer detection signal.

If this order does not alternate (for example, the right pointer is detected after the right pointer is detected again), it is assumed that the pointer has failed and the seed collection control is performed.This protection control includes, for example, conveyance stop control and -reporting. This also prevents accidents such as runaway and derailment even if the mark pointer fails to detect.

In addition, in the embodiment, the mark pointers are not limited to being arranged alternately on the left and right sides of the taxiway, but may also be arranged alternately on the same side of the guideway 412) at different distances from the taxiway. Good. 9. In the embodiment, the number of mark pointers is limited to three between the branching points, and there are also mark pointers at the destination and starting point of the book. The system can be constructed by increasing or decreasing the number depending on the situation. For this, at least one mark pointer must be installed in front of the gold branch point.
When using a system that does not decelerate (constant main speed), or when using a system where the two mark pointers at the destination station position and before the branch point are completely hidden, it is also possible to set up a large number of mark pointers at regular intervals to achieve high accuracy. This may be determined as appropriate depending on the system, such as a system that allows position control or a system that allows reverse driving routes.

G0 Effects of the Invention As described above, the present invention has a feature that the single controller obtains the position i1 signal for traveling control and course control according to the number of detected mark pointers on the ground side.
A method for determining detection abnormalities of mark pointers and performing protection control in an alternating arrangement order.

Mark pointer setup [runs out of control without reducing quantity.

It has the effect of completely preventing accidents such as collisions.

[Brief explanation of drawings]

FIG. 1 is a configuration diagram of an unmanned transport layer and a guideway showing an embodiment of the present invention, and FIG. 2 is a configuration diagram of a conventional device. l...Induction A11s 21 #J*Jy...
mark pointer. 3...Automated guided vehicle, 4...Steering-15...Drive wheel, 6...Controller, 7...Course sensor, 8...
・Pointer sensor.

Claims (1)

[Claims] In an automatic guided vehicle operation control system in which a controller of an automatic guided vehicle obtains position signals for course change and speed control from the detected number of a plurality of mark pointers provided along a track or a taxiway installed on the ground side, Operation control of an automatic guided vehicle, wherein the pointers are arranged at alternately different distances from the track or the taxiway, and the controller performs protective control of the operation when identifying an abnormality in the alternating detection order of the mark pointers. method.