JPS63123106A - Branching traveling control facility for moving vehicle - Google Patents

Abstract

PURPOSE:To decrease the burden of a central control unit by providing a reading means of information at a place on this side of an intersection while storage medium to store the destination information of a moving vehicle are provided on a moving vehicle side and changing over a branch control means based on the read destination information. CONSTITUTION:In the storing medium on a moving vehicle A side, the destination information of the moving vehicle is stored, when the moving vehicle A is close to an intersection, the stored destination information is read, it is discriminated based on the read destination information whether or branching is executed and a line changing-over part K is changed over and controlled. Consequently, the changing-over control of the line changing-over part K at the intersection is executed only by executing the processing to read the storage information of storage medium provided on the moving vehicle A side without exchanging the information between the moving vehicle A and the central control unit and the central control unit does not completely perform the control concerning the line changing-over.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a system for driving a moving vehicle along the guiding line at an intersection between a guiding line for guiding a moving vehicle and a branch guiding line branching from the guiding line. A line switching section is provided that can freely switch between a state in which the vehicle travels to the branch guidance line side and a state in which the vehicle branches to the branch guidance line side, and branching control means that switches and controls the line switching section based on destination information of the moving vehicle. This invention relates to a branch travel control equipment for moving vehicles.

[Conventional technology]

To explain the above-mentioned case where this kind of branch travel control equipment for moving vehicles is applied to, for example, an assembly line, etc., it is possible to apply each branching control equipment to an assembly line, etc. A work area will be established. Therefore, it is necessary to switch and control the line switching section at the intersection of the guide line and the branch guide line to switch the traveling route of the moving vehicle, depending on the location of the work site where parts are to be supplied.

Conventionally, for example, each moving vehicle is given an identification number unique to that moving vehicle, and the identification number is stored in an internal memory attached to a control device on the moving vehicle side.
A communication device for exchanging information with moving vehicles is installed at a location near the intersection, and the communication device is connected to a central control device that manages the operation of the entire facility. Upon arrival, the moving vehicle notifies the central control device of its identification number via the communication device, and the central control device determines whether or not to divert the moving vehicle at the intersection based on the notified identification number. Information was mutually exchanged between the mobile vehicle and the central control unit so as to operate the branch control means for switching and controlling the line switching section.

[Problems to be Solved by the Invention] However, in the above-mentioned conventional configuration, the central III control device performs operation management of the entire facility, including switching control of the line switching section, so its processing load is increased. This had the disadvantage that it was heavy, making it difficult to operate the mobile vehicle efficiently.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable so-called local control of branching control at an intersection only by the relationship between the branching control means and the moving vehicle at the intersection. The purpose is to reduce the load on the central control unit.

[Means for solving problems]

The characteristic configuration of the branch travel control equipment for moving vehicles according to the present invention is as follows:
A storage medium for storing destination information of the moving vehicle is provided on the moving vehicle side, and reading means for reading the information stored in the storage medium is provided at a location on the near side of the intersection, and the branching control means: The line switching section is configured to switch and control the line switching section based on the read destination information, and its functions and effects are as follows.

[For production]

In other words, the destination information of the moving vehicle is stored in the storage medium of the moving vehicle, and when the moving vehicle approaches an intersection,
The stored destination information is read, and based on the read destination information, it is determined whether or not to branch, and the line switching section is switched and controlled.

〔Effect of the invention〕

Therefore, the switching control of the line switching unit at an intersection can be performed only by reading the stored information in the storage medium provided on the moving vehicle side, without exchanging information between the moving vehicle and the central control device. For example, In a case where multiple intersections are provided and multiple moving vehicles are traveling automatically at the same time, even if a situation occurs where moving vehicles approach each intersection at the same time, the central controller will not be able to switch lines. Line switching control can be performed independently and simultaneously at each intersection.

As a result, the processing load on the central control device can be reduced, and
It has now become possible to improve the efficiency of moving vehicles.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIG. 7, a guide line (L) for guiding the moving vehicle is provided along the travel route of the moving vehicle (A) for transporting cargo, and at a plurality of locations on the guiding line (L), A branch guide line (La) branching from the guide line (L)
is provided so as to rejoin the guidance line (L), and the travel route of the mobile vehicle (^) is marked at each intersection (CR) between the guidance line (L) and the branch guidance line (La). A line switching section (K) for switching is provided.

Then, the guide line (L) and the branch guide line (L)
A plurality of stations (STn) serving as destinations for the mobile vehicle (A) are provided beside each of the vehicles (a). However, as will be described later, the mobile vehicle (A) transfers the load transferred at the first station (ST, ) located on the guide line (L) to other stations (S'b) to (
The vehicle is transported to one of the stations ST&), unloaded, and then returned to the first station (ST t ) under travel control.

Further, as shown in FIG. 3, destination information, that is, the number (n
), and a league (R) as a reading means for reading the stored information of the ID card (D) in a non-contact manner is provided in front of each intersection (CR). ), and the intersection (
The moving vehicle (^) is kept at the intersection (CR) until line switching by the line switching unit (K) at the intersection (CR) is completed.
), the moving vehicle (
A ground-side communication device (1a) is provided for transmitting stop commands and start commands to the vehicle.

And the league (R) and the ground side communication device (1a)
are connected to a branch control device (B) as a branch control means for controlling switching of the line switching section (K).

Further, in front of each station (STn), a league (R) for determining whether an approaching moving vehicle (8) is a moving vehicle (A) to be stopped, and a moving vehicle ( 8) In the case of stopping the moving vehicle (A), a ground-side communication device (1a) is provided for transmitting a deceleration command in order to decelerate the moving vehicle (A) to a set speed, and a A writer for rewriting the memory information of the ID card (D) while the vehicle (A) is stopped, and a writer for transmitting a stop command and a start command to the moving vehicle (A). Ground side communication device f(la
), and these league (R), writer (deception),
and a ground-side communication device (1a) are connected to each of the stations (STn).

Next, the configuration of each part will be explained.

To explain the structure of the guidance line (L) and the branch guidance line (La), as shown in FIG. The wire (2) is connected to each of the intersections (C
R) is buried along the running road surface of the moving vehicle (A), and both ends of the war guide wire (2) are connected to a guide AC signal of the set frequency. It is connected to the oscillator (O3C) that oscillates (f,), and the so-called electromagnetic induction line (L)
, (La) are formed.

To explain the line switching section (K), the second
As shown in the figure, similarly to the guide line (L) and the branch guide line (La), the guide line (L) or the branch guide line (L) is divided at the intersection (CR).
A pair of branched guiding wires (2a) connect the guiding wires (2) of La).

(2b) are buried along the traveling road surface of the mobile vehicle (A), and the pair of branch guidance wires (2a
), (2b) an oscillator connected to the induction wire (2) via a relay (RY) so as to selectively energize one side with an induction AC signal (r+) of the set frequency; Oscillator (O3C) with the same configuration as (O3C)
are connected to each of them. That is, the relay (RY) switches the branch guidance wires (2a) and (2b) to which the guidance AC signal (fl) is energized, thereby guiding the moving vehicle (A) at the intersection (CR). It is configured so that it can be freely switched between a state in which it passes along the line (L) and a state in which it branches along the branch guide line (La).

To explain the configuration of the moving vehicle (A), as shown in FIGS. 3 and 4, a pair of left and right propulsion wheels (3) are installed in the center of the vehicle body, each driven by a traveling motor (4). It is provided so that it can be rotated in forward and reverse directions and stopped freely, and a pair of left and right driven wheels (5), (5) are provided at both the front and rear ends of the vehicle body. Steering control sensors (6) for detecting the guidance line (L) and the branch guidance line (La) are provided at each of the front and rear ends of the vehicle body, with their detection surfaces facing downwards of the vehicle body, A vehicle side communication device (1b) for the ground side communication device (1a) is provided at the sideways portion of the vehicle body. However, the steering control sensors (6) provided at the front and rear of the vehicle body are configured such that the front side is selectively used when the vehicle is moving forward, and the rear side is selectively used when the vehicle is moving backward.

Further, the steering control sensor (6) and the communication device (l
a) determine the information indicated via (lb);
A control device (7) is provided which also serves as a steering control means for controlling the traveling of the mobile vehicle (A). In FIG. 4, (8) is a drive device for the traveling motor (4), and (9) is an encoder that detects the rotation speed of the traveling motor (4), and is used to measure traveling speed and distance. It is made to be detectable. or,(
C) instructs various control information to each of the line switching device (B) and the station (STn), and also manages the operation of the entire facility based on the arrival information of the moving vehicle (A), etc. It is the central control unit for

To explain the configuration of the steering control sensor (6), as shown in FIG. A pair of left and right coils to detect components (10)
, (10) is provided in the center below the front of the vehicle body, and a detection circuit (11) that detects these detection signals,
(11) is provided. However, when the moving vehicle (^) is properly positioned in the width direction with respect to the guide line (L) and the branch guide line (La), the distance between the coils (10) and (10) The center is the guiding wire (2) and the branch guiding wire (2a),
It is installed so that it is located directly above (2b).

Then, the control device (8) is connected to the pair of coils (1).
0) and (10), the pair of left and right propulsion wheels (2)
, (2) is configured to control the rotational speed of the driving motors (3), (3) to perform steering control,
Made by Tsushin! (la) and (lb), the vehicle starts at the set speed when a start command is transmitted, decelerates to the set speed when a deceleration command is transmitted, and then when a stop command is transmitted. The traveling of the moving vehicle (8) is controlled so that the moving vehicle (8) stops accordingly, and information is not directly exchanged with the central control device 1 (C).

To explain the structure of the ID card (D), the first
As shown in the figure, a memory (1
2) a controller (13) for controlling reading and writing of information to and from the memory (12); and a controller (13) for transmitting and receiving read and written information to and from the league (R) in an electromagnetic induction manner in a non-contact manner. Each of the antennas (14) is integrally sealed in a resin case or the like. However, although not shown, the memory (12) holds stored information using a battery built into the ID card (D).

To explain the configuration of the league (R), as shown in FIG.
) antenna (15), and both antennas (14
) and (15), a controller (112) is provided which instructs the controller (13) to input and output stored information to and from the memory (12).

However, the controller (16) on the league (R) side,
The controller (13) on the ID card (D) side is maintained in a state where a command to read stored information is constantly transmitted, and the controller (13) on the ID card (D) side
3) is maintained in a state where reading commands can be received at all times, so that as the moving vehicle (^) approaches the intersection (K) or the station (STn), the ID
The information stored on the card (D) can be read automatically.

Furthermore, the writer installed in the station (STn) is configured so that the League (R) only performs the reading operation of the information stored in the ID card (D), whereas the writer (RI) is configured to perform only the reading operation. The above ID card (D)
The configuration itself is the same as that of the league (R), and the explanation thereof will be omitted.

Next, while explaining the operation of the mobile vehicle (A) based on the flowchart shown in FIG.
The operation of the branch control device (B) that switches and controls the line switching section (K) in will be described in detail.

During the transfer of cargo to the mobile vehicle (^) stopped at the first station (ST, ), the central sieving device (ST)
The number (n) of the station (STn) as destination information of the mobile vehicle (A) is transmitted from the writer (C).
The number (n) is written to the ID card (D) via the communication device (la) and (lb) when the cargo transfer operation is completed. A start command is transmitted to the (A) side, and the moving vehicle (A) starts.

After the mobile vehicle (A) has started, as described above, while controlling the steering based on the information detected by the steering control sensor (6), the guidance line (L) or the branch guidance line (La
) will automatically travel along the road.

As the mobile vehicle (A) approaches the near side of the intersection (CR), the reader (R) provided on the ground side is activated, and along with the activation, the branch control device (B) However, in order to temporarily stop the moving vehicle (A) at a location on the near side of the intersection (CR) until the operation of the line switching unit (K) is completed, the ground side communication device t(la)
Sends a stop command via. When the mobile vehicle (^) receives the stop command, it automatically stops and transmits the completion of the stop to the branch control device (B) via the communication devices (Ia) and (lb).

As the mobile vehicle (A) stops, the leader (R
) reads the stored information of the ID card (D) and transmits the read information to the branch control device (B). The branch control device (B) uses the station number (n) read by the league (R) and the station information transmitted in advance from the central control device (C), that is, branch guidance for branching at the intersection (CR). The number is compared with the number of the station placed on the line (La), and it is determined whether the read number (n) is on the branch guidance line (La) branching from the intersection (CR).

If the read number (n) is on the branch guidance line (La), in order to divert the moving vehicle (A), a guidance AC signal (r+) is sent to the branch guidance wire (2b) on the branch guidance line (La) side. ) and cut off the current to the branch guiding wire (2a) on the guiding line (L) side;
If the read number (n) is not on the branch guidance line (La) side, in order to allow the moving vehicle (8) to pass along the guidance line (L), a branch guidance number on the guidance line (L) side is used. Provided in the line switching part (K) so as to energize the guiding AC signal (f+) to the wire (2a) and cut off energization to the branch guiding wire (2b) on the side of the branch guiding line (La). After activating the relay (RY), a transmission command is sent to the moving vehicle (^).

In other words, the mobile vehicle (A) is connected to the ground side communication device (
As the vehicle moves forward to a position where it can receive the stop signal transmitted from 1a), the vehicle receives the stop signal via the communication device 1b on the body side, stops temporarily until a start command is received, and then moves to the line As the line switching of the switching unit (K) is completed, a start command is transmitted via the communication devices (Ia) and (lb), and the station with the number (n) stored in the ID card (D) is At the intersection (CR), the vehicle will automatically branch or pass to the line side where (STn) is located.

Next, a control operation for automatically stopping or passing the mobile vehicle (A) at each station (ST) will be explained based on the flowchart shown in FIG.

At each station (STn), as the moving vehicle (A) approaches, a league (R) attached to the front side operates, reads the number (n) stored in the ID card (D), and reads the number (n) stored in the ID card (D). , and the station number given in advance by the central control device (C).

If the read number (n) matches the number given to the station (STn) that the mobile vehicle (^) approaches, the station (STn) is moved to stop the mobile vehicle (A) at that station. The moving vehicle (ST) is connected to the mobile vehicle (
At the same time as transmitting a deceleration command to station A),
A stop command is transmitted from the communication device (1a) attached to STn). However, if the read number (n) does not match the number assigned to the station (STn) that the moving vehicle (A) approaches, a deceleration signal and a stop signal will be sent to allow the approaching moving vehicle (^) to pass. transmission will be discontinued.

When a deceleration command is being sent to the mobile vehicle (A), as the mobile vehicle (A) approaches the communication device (1a) that transmits the deceleration command, the vehicle body side communication device (1a)
b) The deceleration command is received via the station (STn), and upon receiving the deceleration command, the vehicle decelerates to the set speed, and as it approaches the station (ST), the stop command is received and the station (STn) ), and stops at the station (STn) when the stop is completed.
The party will be notified.

When the mobile vehicle (^) stops, the load transfer operation is started, and when the load transfer operation is completed, the central control device (C) is notified of the completion of the operation.

When the central control device (C) is notified of the completion of the work,
The station number (n) to be stopped next is notified to the station (STn) at which the mobile vehicle (A) is stopped, and the process is completed.

As the station (STn) receives the station number (n) at which the mobile vehicle (A) is to be stopped next,
After switching the writer to a writing operating state and rewriting the information stored in the ID card (D), a start command is sent to the moving vehicle (A) via the communication device (1a).

As the moving vehicle (A) receives the start command,
As described above, automatic travel will be resumed along the guidance line (L) or the branch guidance line (La).

In other words, the mobile vehicle (A) is connected to the ground side communication device (1a).
), the position of the station (STn) to be stopped can be determined by performing simple travel control such as starting when a start command is received, decelerating when a deceleration command is received, and stopping when a stop command is received. Even if the moving vehicle (A) is completely unaware of the above, the league (R) installed on the ground side reads the stored information of the ID card (D) attached to the moving vehicle (A), so that the moving vehicle (A) can stop at each intersection (CR). It is possible to pass through the guide line (L) side where the station to be stationed is located or branch to the branch guide line (La) side, and then automatically stop when arriving at the station (STn) to be stopped. It is.

Furthermore, since the ID card (D) is configured such that its stored information can be freely rewritten, the ID card (1)) can be used repeatedly with it attached to each mobile vehicle (A).
The heading force command for the same moving vehicle (A) can be changed. Also, for example, in the case where multiple moving vehicles (^) are automatically driven toward different stations (STn) at the same time,
Even if the order of the vehicles (A) arriving at each intersection (CR) changes, since the vehicle (A) is equipped with an ID card (D) that stores destination information, each station (STn) However, there is no risk of the wrong load being transported.

Furthermore, since the information stored in the ID card (D) is rewritable, it is possible to have different mobile vehicles (A) automatically travel toward the same station, and the mobile vehicle (^
) there is no need to instruct the control word W(8) of the moving vehicle at all.

Furthermore, since there is no need for the central control device f (C) to directly exchange information to and from the ID card (D), the central control device (C) performs only the operation management of the entire facility, which is its original purpose. This can reduce the processing load.

[Another example]

In the above embodiment, only the number (n) of the station (STn) that transports the load is used as the destination information of the moving vehicle (A) to be stored in the ID card (D). ^)Various information such as moving vehicle numbers to identify each other, work information at each station (STn), such as work information such as loading or unloading, number of loads to be loaded and unloaded, etc. They may be stored in combination. Furthermore, in the above embodiment, only one station number is stored and the next station number is rewritten at the stopped station, but multiple destination information may be stored at once. , the specific contents of the destination information stored in the ID card ([1)] can be changed in various ways.

Furthermore, in the above embodiment, an ID card (D) that can read stored information using electromagnetic induction is used as a storage medium for storing destination information of a moving vehicle. The storage information may be read out in a non-contact manner using a storage medium, and the specific configuration of the storage medium can be modified in various ways.

In addition, in the above embodiment, the League (R) that reads the stored information
Although the case where the reader/writer (-) for rewriting the stored information are separately provided is shown as an example, they may be configured to serve as a single reader/writer.

Further, in the above embodiment, an ID card (D
) is attached to the moving vehicle (A), but this storage medium only needs to be able to move integrally with the moving vehicle (A). For example, the storage medium may be transported by the moving vehicle (A). The storage medium may be attached to an article or a container for storing the article, and the manner in which the storage medium is attached can be changed in various ways.

Further, in the above embodiment, the guide line (L) and the branch guide line (La) are connected to the guide wires (2) and (2a).
.

(2b) is constructed in an electromagnetic induction manner by being buried in the road surface, but the present invention can also be applied to, for example, a type of equipment in which a mobile vehicle (A) automatically travels along a travel guide. Specific configurations of the guidance line (L) and branch guidance line (La), as well as the mobile vehicle (A), which are applicable.
The specific configuration of each part can be changed in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings by the reference numerals.

[Brief explanation of the drawing]

The drawings show an embodiment of the branch travel control equipment for a moving vehicle according to the present invention, FIG. 1 is a block diagram showing the configuration of a storage medium and branch control means, FIG. 2 is a block diagram showing the configuration of a line switching section, and FIG. 3 is a drawing showing the configuration of the moving vehicle and the arrangement of the reading means, FIG. 4 is a block diagram showing the control structure on the moving vehicle side, FIG. 5 is a flowchart showing the operation of the branch control means, and FIG. A flowchart showing the operation, and FIG. 7 is a schematic plan view showing the layout of the entire equipment. (A)...Moving vehicle, (B) Old branch control means, (L) Guidance line, (La) Old...
Branch guidance line, (C12)...Intersection, (
K)...Line switching section.

Claims (1)

[Claims] Guide line (L) for guiding moving vehicles and its guide line (L)
) to the intersection (C) with the branch guidance line (La) that branches from
R) is provided with a line switching unit (
K) and branching control means (B) for switching and controlling the line switching section (K) based on destination information of the moving vehicle (A). , a storage medium (D) for storing destination information of the moving vehicle (A) is provided on the moving vehicle (A) side, and the storage medium (D) is stored in a location on the near side of the intersection (CR). reading means (
R), and the branch control means (B) is configured to switch and control the line switching section (K) based on read destination information.