JPS6242208A - Guide line for unmanned carrier - Google Patents

Abstract

PURPOSE:To cope with the change of the drive route of an unmanned carried without changing the position of a sign body, by forming the boundary lines continuous between adjacent sign bodies and non-sign bodies into a lattice and setting a guide line on the road surface along the boundary line. CONSTITUTION:The magnetic sign bodies 1 and floor tiles 2 are set alternately in a lattice form on a plane. While the detecting elements 4a and 4b of a magnetic sensor 4 set on an unmanned carrier 3 are set so that they are fixed at the symmetrical positions centering on a guide line (boundary line) when the position shift of the carrier 3 is equal to zero. The sum (Va+Vb) of the outputs of both elements 4a and 4b has such output characteristics as shown in the diagram against the shift of the carrier 3 from the guide line. Thus the carrier 3 detects the direction and amount of its position shift from the output signals of the elements 4a and 4b and at the same time performs the steering for its automatic drive. The relation of values between both outputs Va and Vb is reversed in case the sensor 4 covers both areas A and B. Therefore it is possible to detect the shift of an area, i.e., the pass through an intersecting point on the guide line from the difference between both values Va and Vb. In addition, the sloping degrees are different between both areas A and B for the sensor output (Va+Vb) against the position shift. Even in such a case, it is possible to detected and correct the present area.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a guideway for guiding all unmanned vehicles that automatically transport cargo in offices, factories, and the like.

[Conventional technology]

Conventionally, as one method for guiding unmanned vehicles, a method using a strip-shaped light reflecting plate, a metal plate, or a magnetic plate as a marker has been proposed, and some have been put into practical use.

(For example, automatic conveyance technology: Trikeggs Publishing, P. 268
(Japanese Patent Application Laid-Open No. 59-059808, etc.) In these systems, signs are installed substantially continuously along the route of the unmanned vehicle, and the unmanned vehicle uses photoelectric sensors, metal sensors, magnetic sensors, etc. The vehicle automatically travels along the travel route by detecting the positional deviation from the marker and steering in response to the positional deviation detection signal.

[Problem that the invention seeks to solve]

However, these conventional taxiways, for example, set a specific course according to the arrangement of equipment in the factory and set up all signs along this course. Especially in recent years, FMS
(High-mix, low-volume production) is progressing, and when changes in the arrangement and layout of equipment are frequently made, there is a drawback that a new sign must be installed each time.

SUMMARY OF THE INVENTION In view of the above-mentioned drawbacks, an object of the present invention is to provide a guideway that can accommodate changes in the driving course of an unmanned vehicle without changing the installation position of a sign.

[Friendly means of solving problems]

The present invention consists of an array combination of a labeled body using a material that can be detected by electrical, magnetic, optical or other means, and a non-labeled body, and the adjacent labeled bodies and the non-labeled body are continuous. This guideway for an unmanned vehicle is characterized in that boundary lines are formed in a grid pattern, and a guideway is provided on a road surface along the boundary lines.

[Effect]

Using Fig. 6 (a), (bJ) and Fig. 7 (a), (b), we will explain the effect of the FJAcv. Now, it is assumed that an unmanned vehicle automatically travels between three stations, and station S2 Consider the case where the position is changed from FIG. 6(a) to the position 82' in FIG. 6(b).

Conventionally, as shown in the figure, the problem has been dealt with by either reinstalling or adding a new marker 1 in response to a change in the station position. On the other hand, in the present invention, as shown in FIGS. 7(jL) and (b), the marked body 1 is set in plane coordinates in advance so that its edges, that is, the boundaries between the marked body 1 and the non-marked body 2 form a grid. Since the adjacent vehicles are continuous with each other in the orthogonal direction, the unmanned vehicle 3 performs steering while detecting the deviation of the marker 1 from the edge using the marker sensor 4 mounted on the vehicle body. It can run unmanned both vertically and horizontally. According to the present invention, the taxiway #-i of the unmanned vehicle 3 is configured substantially in the form of a grid. Therefore, for changes in stage gastrointestinal positions as shown in Figures 6(a) to 6(b), only changes in the course as shown in Figures 7(a) to 7(b) are required. This can be done without having to reinstall the marker 1.

〔Example〕

An example of the present invention is shown below.

FIG. 1 shows the arrangement of a tile-shaped magnetic marker 1 made of ferrite powder solidified with resin and a general floor tile 2 (non-label). By simply arranging the markers 1 and tiles 2 alternately in a plane, the edges of the markers 1, that is, the boundaries between the markers 1 and the tiles 2, can be easily formed into a grid pattern.

On the other hand, the unmanned vehicle 3 is equipped with a magnetic sensor 4 for detecting the magnetic sign 1. The magnetic sensor 4 used in this embodiment consists of two magnetic detection elements 4m and 4b having detection characteristics as shown in FIG. This detection element 4a 4
b is fixed to the unmanned vehicle 3 so as to be at a symmetrical position on both sides of the guideway (that is, the boundary line) when the positional deviation is zero.

The sum of the rain detection elements 4m and 4bQ outputs V, -)-Vb is,
Figure 3 (a) and (b) for positional deviation from the taxiway.
The output characteristics are as shown in , and the unmanned vehicle 3 automatically travels by steering while detecting the direction and amount of positional deviation based on this output signal.

Furthermore, as shown in FIG. 3, there are two cases in which the magnetic sensor 4 is located in area A in FIG. 1 (FIG. 3(a)) and in area B (FIG. 3(b)). , detection elements 4m, 4b
The magnitude relationship of the output magnitudes V, , Vb is reversed. Therefore, the movement of the area, that is, the passage of an intersection on the taxiway can be detected from the magnitude relationship of the detection outputs Va and Vb. Furthermore, as shown in Fig. 4, the slope of the magnetic sensor output V0 (Vo mi va + vb) with respect to the positional deviation X is reversed between regions A and B, but as described above, it can be corrected by knowing the current region. As shown in FIG. 4, the confirmation of the crossing point and the determination of the area can be carried out by attaching the magnetic detection element 5 on the unmanned vehicle 3 at a different position from the detection element 4, for example, in this embodiment. Then, when the detection output vd is Vdkuo, the area A, V, 1)
This can also be done using the detection output vd polarity, such as in region B when Q is detected.

Next, an example of the running operation of the unmanned vehicle 3 will be described.

Now, consider the case where three stations 81 to S3 are placed on the course as shown in FIG. As a course to go from station S1 to station 83, for example, the intersection is ptt→pit-pst→P41→P42→P43→
A course to be passed in the order of P44 is set in advance, and the following operation command string is written in the unmanned vehicle 3 on a table in its storage device as an operation command corresponding to this course. Unmanned car 3 is Station S! From S
When a travel instruction to S is input, the above-mentioned command string is selected as an operation command corresponding to the instruction input, and by performing an operation according to this command, the vehicle automatically travels to the destination station S3.

In the present invention, a grid-like taxiway is constructed at the time the marker is constructed, so the course from station SL to 83 is not limited to the above example, but also, for example, the intersection P11 → puwpts → P14 → P24 → P34 → P4
You can choose from a number of courses, including 4 or 4. therefore,
If unmanned vehicles can memorize movement command sequences corresponding to these multiple courses and select the appropriate one according to the situation, even if there are multiple unmanned vehicles, they will be able to achieve their objectives without colliding with each other. It is also possible to run the vehicle to a station.

Furthermore, as shown in FIG. 5, the station position is 82.
Even if it is changed from 82' to 82', there is no need to reinstall the magnetic marker 3, and the operation command sequence to be stored in the unmanned vehicle.

Just change it to .

As described above, according to the present invention, a grid-shaped guide path can be easily obtained by alternately arranging magnetic markers and tiles on a plane.

In the above embodiment, a magnetic label was used as a label, but the label is not limited to this. For example, a light reflecting plate uses a metal plate as a label, and this can be used as a photoelectric sensor or a metal plate. It is clear that a similar effect can be obtained by detecting with a sensor.

[Invention Ω effect]

According to the present invention, it is possible to easily install a grid-like guideway for unmanned vehicles, and thereby it is possible to easily respond to changes in the driving course.

Furthermore, since it is possible to set a plurality of routes to the same station, it is also possible to efficiently run a plurality of unmanned vehicles.

Therefore, according to the present invention, it is possible to immediately respond to changes in the arrangement of devices in a factory, layout changes, etc.

[Brief explanation of drawings]

Figure 1 is a plan view showing an example of the arrangement of the guideway of the present invention, Figure 2 is a diagram showing an example of the detection characteristics of the magnetic detection element, and Figures 3 (a) and (b) are the diagrams of the magnetic sensor. FIG. 4 is a diagram showing an example of a method for detecting the arrangement pattern of magnetic labels; FIG. 5 is a diagram showing a grid-shaped guiding path obtained by the present invention; FIG. A) and (b) are diagrams showing a conventional taxiway, and FIG. 7 is a diagram showing a grid-shaped taxiway. 1...Sign body, 2...Tile, 3...Unmanned vehicle, 4
...Magnetic sensor, 4a, 4b, 5 =-Magnetic detection element, Sn (n=1.2°.)--Station, Pn
l, n (m = 1.21 = ., n = 1.2.”)
...Horizontal distance from the end of the intersection of the taxiway Vd' Output of the air-heading element Fig. 2 Fig. 4 St ~ 3.3' Figure 51 ~ 3.2' Nistijion (α)
(b) Piece Q house 1 51-3,2' sfusion

Claims (1)

[Claims] (1) Consisting of an array combination of a labeled body using a material that can be detected by electrical, magnetic, optical, or other means and a non-labeled body, and each labeled body and a non-labeled body are continuous between adjacent ones. 1. A guideway for an unmanned vehicle, characterized in that boundary lines are formed in a grid pattern, and a guideway is provided on a road surface along the boundary lines.