JPS6238723B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a travel control method for an unmanned guided vehicle that travels along a determined travel route by detecting a travel guide path.

A conventional driving guide path (driving guide line) for an unmanned guided vehicle is laid within a driving route ₁ having a desired shape as shown in _FIG . Current is flowing. Thus, the unmanned guided vehicle travels along the predetermined travel route 1 while detecting the induced magnetic field generated by the travel guide path 3. The driving guide path 3 laid within the driving route 1 is connected to the oscillator 2.
If the return route is taken via the same running route 1, for example, through the same roadway, the induced magnetic fields generated by both will interfere with each other, making it impossible to accurately control the running of the unmanned vehicle. For this reason, the so-called return line of traveling guide path 3 was taken a different route so that the unmanned guided vehicle would not be sensitive to it and returned to ₁ oscillator 2, or it was wired to the ceiling and returned to ₁ oscillator 2. This method has the disadvantage that the line laying work is complicated and the construction and material costs are high.

In addition, when the travel route 1 has a branch route 4, a high frequency current of another frequency ₂ is passed through the travel guide path 5 laid through this branch route 4 to cause branch travel, so it is the same as above. In addition, it has disadvantages such as requiring _two separate oscillators 6, and also requiring a large number of oscillators in a driving route with many branching routes, making the installation work increasingly complicated and increasing construction and material costs. It was hot.

In view of the above-mentioned circumstances, the present invention provides a travel control method for an unmanned guided vehicle that does not require a return line on the travel guide path. On the route, travel guide paths are configured so that they run parallel to each other at a predetermined distance (a so-called single-stroke configuration).
Furthermore, first and second detection devices are provided in the unmanned guided vehicle so as to correspond to each of the parallel travel guide paths, and the travel route is selected by switching between the first and second detection devices. This is what I did.

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

First, FIGS. 2 and 3 show examples of travel guide paths, respectively.

The embodiment of the travel guide path shown in FIG. 2 shows a state in which a travel guide path 12 is laid on a travel route 10 having branched routes 11, 11. The traveling guide path 12 includes a relay line 13 which is wired from the oscillator 14 to the traveling route 10,
The relay wires 13, 13 are connected to one end 15 of the relay wires 13, and are laid successively and continuously within the travel route 10, and within the travel route, the outbound and return routes are laid parallel to each other at a predetermined interval, and the other ends of the relay wires 13, 13 16
It is connected to the. Driving guide path 1 like this
2 is constructed so that the entire travel route 10 is laid out in one route line so that it is so-called a single stroke.

The embodiment of the driving guide path shown in FIG.
It is laid down on a route with 1. That is, the traveling guide path 22 laid from one end 25 of the relay lines 23, 23 connected to the oscillator 24 travels all over the entire traveling route 20, 22 in a single stroke, and in each route, two parallel paths are formed. It is configured as a line (outbound and return trips).

Next, the unmanned guided vehicle indicated by the reference numeral 27 in FIG. , 29 is sent to one of the detection devices 28, 2 upon receiving the branch instruction signal, as shown in FIG.
9 is input to a steering control circuit 31 that controls a steering motor 32 of the unmanned guided vehicle 27. In this case, when the unmanned guided vehicle 27 travels on the travel routes 20 and 21, either one of the detection devices 28 and 29 detects the induced magnetic field generated by the traveling guide path 22, thereby causing the unmanned guided vehicle 27 to Driving is controlled. Further, when the switching device 30 receives a branching instruction signal before the vehicle branches, it selects one of the detection devices 28 and 29, thereby selecting the traveling route. These detection devices 28 and 29 also include a detection coil 33 that is perpendicular to the travel guide path 20 and parallel to the travel route plane, and a detection coil 33 that is parallel to the direction of the travel guide path 20, as shown in FIGS. 5 and 6, for example. It is preferable to use one that controls positional deviation during traveling by combining it with a detection coil 34 that is large and has a certain inclination in the plane of the traveling route. However,
When the unmanned guided vehicle 27 travels along the travel routes 20 and 21, its travel is controlled by program control. That is, many programs are prepared in advance for the unmanned guided vehicle 27, and when a destination is specified using the keyboard at the start of traveling, the corresponding program is selected from among the many programs. From then on, driving is controlled based on this selected program. And unmanned guided vehicle 27
When the vehicle reaches the junction of travel routes 20 and 21,
The unmanned guided vehicle 47 reads a code signal preset at this branch point (on the ground), detects the running direction based on the read code signal and program, and instructs the switching device 30 to branch based on the detection result. send a signal. As a result, the detection device 2
8 or 29 is selected, and subsequent travel is controlled based on the output of the selected detection device 28 or 29. For example, when going straight is detected at a branch point, the detection device 28 or 29 corresponding to the traveling guide path that is going straight is selected, and when a right turn is detected at a junction, the traveling guide path that is turning right is selected. The detection device 29 or 28 corresponding to the path is selected.

Note that when traveling on a route other than a branch point, the vehicle may travel based on either one of the detection devices 28 and 29, or both may be used to improve reliability. In addition, the code signal can be transmitted to the unmanned guided vehicle 2.
The program may instruct the program to stop when it reads 7.

The travel guide paths 12, 20 of the unmanned guided vehicle configured in this way can operate all the travel routes 10, 11, 20, 21 with a single oscillator 14, 24, and can operate the entire travel route 10, 11, 20, 21 with a single oscillator 14, 24. There is no need for a return line to the oscillator through the location of the oscillator. Therefore, since the relay wires 13 and 23 returning to the oscillators 14 and 24 can be wired from arbitrary points on the traveling guide paths 12 and 22, the oscillators 1 can be connected to the oscillators 1 in the shortest distance.
Can be connected to 4 and 24.

As explained above, according to the present invention, the traveling guide path is configured to be continuous over the entire route on which the unmanned guided vehicle is to travel, and to be parallel to each other at a predetermined distance on each traveling route,
Furthermore, first and second detection devices are provided in the unmanned guided vehicle to correspond to each of the parallel travel guide paths, and the travel route is selected by switching between the first and second detection devices. Not only does it not require a return line for the driving guide path, but it also allows the switching of the driving route of the unmanned guided vehicle to be extremely easily controlled without using a complicated switching mechanism.As a result, construction costs and material costs are reduced. Advantages such as improved reliability can be obtained, as well as advantages that are suitable for program control. Further, since it can be operated with a single oscillator and no return line is required, it not only simplifies installation work but also has various effects such as a significant reduction in construction and material costs. Furthermore, according to the present invention, compared to a conventional two-wire induction system (one that detects the composite magnetic field of two wires to control travel), it is easier to install a travel guide path, and the magnetic field is reduced at the branch point. There is also the advantage that no disturbance occurs.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing the construction of a conventional travel guide path, FIG. 2 is a diagram showing an embodiment of the construction of a travel guide path according to the present invention, and FIG. 3 is a diagram showing another embodiment. FIG. 4 is a block diagram showing a circuit for steering control installed in an unmanned guided vehicle, and FIGS. 5 and 6 are schematic diagrams showing the relative positions of a coil and a travel guide path showing one embodiment of the detection device. It is. 10,20...Driving route, 11,21...Branch route, 12,22...Driving guide path, 27
...Unmanned guided vehicle, 28,29...Detection device, 30
...Switching device, 31...Steering control circuit, 32...
steering motor.

Claims (1)

[Claims] 1. A single travel guide path that is continuous over the entire travel route of the unmanned guided vehicle and that is laid parallel to each other at a predetermined distance on each travel route, and the travel guides that are parallel to each other within the travel route. A first detection device is provided in the unmanned guided vehicle corresponding to one of the travel guide paths and detects an induced magnetic field generated by the one travel guide path, and a first detection device corresponding to the other travel guide path parallel to the travel route. and a second detection device installed in the unmanned guided vehicle to detect the induced magnetic field generated by the other travel guide path, and within each travel route, the first or second detection device is provided. The driving route of the unmanned guided vehicle is selected by controlling the traveling of the unmanned guided vehicle based on the output signal and switching between the first and second detection devices at branch points. A driving control method for an unmanned guided vehicle.