JPS6352214A - Guide controller for unmanned carrier - Google Patents

Abstract

PURPOSE:To attain the branch in three directions with two guide marker sensors by providing the guide marker omission parts of fixed width between a guide marker that divides a driving line into the right and left lines and a drive- straight marker. CONSTITUTION:The driving lines of an unmanned carrier 1 are shown by a drive-straight guide marker 3a and left and right branch guide markers 3b and 3c. Then the guide marker omission parts 14a and 14b of fixed width are set between both markers 3b and 3c. In this case, the width of these parts 14a and 14b are set less than the distance between centers of both guide marker detecting sensors 2a and 2b. In the straight advance modes (a-c), the marker 3a is detected by both sensors 2a and 2b. In the case of a right branch command, one or both of sensors 2a and 2b detect the markers 3a and 3c when the sensors 2a and 2b reach the position (d) where both parts 14a and 14b exist. Therefore, the right steering is carried out for the carrier 1 and the carrier 1 travels along the marker 3c at a position (h).

Description

[Detailed description of the invention] [Purpose of the invention] (Industrial application field) The present invention relates to a guidance control device for an automatic guided vehicle.

(Prior Art) Conventionally, in optically guided unmanned transportation equipped with two optical guidance sensors shown in FIG.
guided marker detection sensors 2a.

2b, the automatic guided vehicle 1 travels while detecting the guidance marker 3, and after detecting the branch markers 10a and 10b, when the automatic guided vehicle 1 branches to the right according to the traveling route stored on the vehicle, the left guidance marker is detected. Sensor 2a only guidance marker 3
is detected, and the right sensor 2b is not detected. In other words, when both the left and right sensors 2a and 2b are detecting, steer to the right, and the left and right sensors) +2a, 2
If neither b is detected, the vehicle steers to the left, runs while detecting the right end of the guidance marker 3, and branches to the right.

Also, when branching to the left (going straight in the example in Figure 5),
Similarly, only the right guidance marker detection sensor 2b is
By detecting the Q marker 3 and steering so that the left side hinge 2a is not detected, the vehicle runs while detecting the left end of the guidance marker 3, branches to the left, and after detecting the branch marker. After running for a certain period of time, the vehicle returned to its original state and continued to drive while detecting the guidance marker 3 using the left and right guidance marker detection sensors 2a and 2b.

(Problems to be Solved by the Invention) In the above-mentioned conventional techniques, the vehicle travels while detecting the left or right end of the guidance marker 3 using the two guidance marker detection sensors 2a and 2b at the branching portion of the travel path. Because the vehicle was branching left and right, it was only possible to branch in two directions, which was a constraint on the roadway configuration.Also, in order to branch in three directions, it was necessary to have three or more H4 marker detection sensors. there were.

Here, the present invention provides that an automatic guided vehicle equipped with two guidance marker detection sensors can be installed in J3 at a branching part of the running path of an optically guided automatic guided vehicle, and that the automatic guided vehicle can be operated in three directions without increasing the number of guidance marker detection sensors. It is an object of the present invention to provide a guidance control device for an automatic guided vehicle that can perform branching.

[Structure of the invention]

(Means for Solving the Problems) The present invention provides a guidance marker installed on an automatic guided vehicle travel path, a sensor for detecting the guidance marker provided in the automatic guided vehicle, and an entrance/exit of a travel path branch portion and a branch. The vehicle is equipped with a device that detects the direction based on a command from the ground or detects it on the vehicle and generates a branching command, and a control device that performs running and steering based on the signal from the guidance marker detection sensor.
Two guidance marker detection sensors detect the guidance marker, and a guidance marker missing portion of a certain width is provided between the guidance marker branching to the left and right of the travel path branching portion and the straight-ahead guidance marker, and the guidance marker missing portion is provided. A guide marker for three-way or two-way branching whose width is equal to or less than the center-to-center distance of two guide marker detection sensors, and traveling/steering of the three-way or two-way branching portion based on the signal from the guide marker detection sensor. This is a guidance control device for automatic guided vehicles.

(Operation) The marker presence/absence detection devices 4a, 4b inform the steering command generation device 5 of the presence or absence of the Ifi guidance marker by signals from the left and right guidance marker detection sensors 2a, 2b.

On the other hand, the branch command generation device 6 informs the steering command generation device 5 of left branch, right branch, and straight forward travel based on travel route data stored in the travel route storage device 7.

The steering command generating device 5 determines the steering direction based on whether or not the left and right sensors 92a and 2b have detected the guidance markers and commands for the branching direction, issues a command to the steering drive circuit 8, controls the steering motor 9, and performs steering. Let's do it.

(Example) Hereinafter, the present invention will be explained in detail with reference to the drawings.

FIG. 1 is a block diagram of a guidance control device showing the circuit configuration of an embodiment of the present invention.

FIGS. 2 and 3 are diagrams showing the arrangement of guidance markers in a three-way branch portion of an automatic guided vehicle travel path and the positional relationship between the guidance markers and a sensor for detecting the guidance markers in an embodiment of the present invention.

In FIGS. 1 to 3, 3a to 3C are guide markers indicating the travel path of the automatic guided vehicle 1, and a certain width of the guide marker is missing between the straight-ahead guide marker 3a and the left/right branch guide markers 3b and 3c. 14a and 14b are provided, and the width thereof is set to be equal to or less than the distance between the centers of the left and right guidance marker detection sensors 2a and 2b.

2a and 2b are guide marker detection sensors for detecting the guide markers 3a to 3C; 4a and 4b are guide marker detection sensors 2a and 2b;
- Marker presence/absence detection device for detecting presence/absence of 3C, 10a,
10b is a branch marker indicating the entrance of a branching portion of the travel path; 11
a and 11b are branch marker detection sensors for detecting the branch markers 10a and 10b; 12 is a branch marker presence/absence detection device that detects the presence or absence of a branch marker based on a signal from the branch marker detection sensor 11; and 13 is a branch marker presence/absence. A timer that measures the time since the detection device 12 detects the presence of a branch marker, 7 a travel route storage device that stores the travel route, and 6 a return travel route memory in which the branch marker presence/absence detection device 12 detects the right branch marker. A branching command generating device issues instructions for left branching, right branching, and going straight based on travel route data stored in the device 7, and cancels the branching command after a certain period of time has elapsed using a timer 13. Reference numeral 5 denotes a marker presence/absence detection device 4a.

Marker presence/absence signal from 4b and branch command generator 6
8 is a steering drive circuit that drives a steering motor 9 in response to a steering command from the steering command generator 5.

A case where the automatic guided vehicle 1 moves in the right branch direction in FIG. 2 and a case where the automatic guided vehicle 1 moves in the center straight direction in FIG. 3 will be described as examples. J3, the arrow in the figure represents the steering direction.

First, in FIG. 2, when the guidance marker 3a is detected by the left and right guidance marker detection sensors 2a and 2b attached to the automatic guided vehicle 1, and the outputs of the marker presence/absence detection devices 4a and 4b are both to the right of the marker, , the steering command generator 5 does not output a steering command, but outputs a leftward steering command when only the left side has a marker, and outputs a rightward steering command when only the right side has a marker, and performs steering while branching while driving. Marker detection t:z11a, Ilb branch? - Force 10a.

10b is detected and the output of the branch marker detection device 12 becomes the right branch marker, the branch command generation device 6 issues a left/right branch command and a straight ahead command according to the travel route stored in the travel route storage device 7.

When a right branch command is issued from the branch command generator 6, the left and right guidance marker detection sensors 2a.

2b, when the guidance markers 3a to 3c are detected and the output of the marker presence/absence detecting devices 4a, 4b is only one of the left or right markers, or both markers are on the right, the steering command generating device 5 issues a rightward steering command. When both wheels are idle, a leftward steering command is output, and the steering drive circuit 8 drives the steering motor 9 to steer the automatic guided vehicle 1.

When the guidance marker detection sensors in FIG. 2 are at positions a to C, that is, where the left and right branch guidance markers 3b and 3c are not close to the straight-ahead guidance marker 3a of the main line, the guidance is at positions a and b. Since one or more of the marker detection sensors 2a and 2b detects the guidance marker 3a, even if the vehicle is steered to the right, the position C is reached and both sensors 2a and 2b detect the guidance marker 3a. Since it is no longer detected, it is steered to the left, and the automatic guided vehicle 1 moves to the guidance marker 3.
Run along a.

When the guidance marker detection sensors 2a, 2b reach position d, that is, the position where the guidance markers are missing 14a, 14b between the left and right branch guidance markers 3b, 3c and the straight-line guidance marker 3a, the left and right Guidance marker detection sensor 2a,
Which one or more of 2b is the guiding marker 3a or 3
Since it is detecting c, it is steered to the right (positions d to q), and when it reaches position h, both sensors 2a and 2bt)'X
After the guide marker 3C is no longer detected, the automatic guided vehicle 1 travels along the guide marker 3C in the same manner as at positions b and C, so that the automatic guided vehicle 1 can proceed in the right branch direction.

Thereafter, after a certain period of time has elapsed according to the timer 13 and the vehicle has passed the branch, the branch command generating device 6 releases the branch command, thereby returning to normal running as before detecting the branch marker.

Further, in the case of left branching, branching can be performed in the same manner as in the case of right branching, just by reversing the steering direction.

In this method, the inductive marker detection sensor ji 28.

Both sensors 2a and 2b use the position where the guidance marker is not detected, but both sensors 2a and 2b detect the guidance marker 3a.
By determining that a derailment has occurred when a state in which ~3C is not detected continues for a certain period of time, it can be distinguished from a case where the guidance marker cannot be detected due to derailment.

Next, in the same way as the right branch example in Fig. 2, in Fig. 3,
After detecting the branch markers 10a and 10b, if a straight-forward command is issued from the branch command generator 6 according to the travel route data stored in the travel route storage device 7 of the automatic guided vehicle 1, the automatic guided vehicle 1 performs normal travel. Furthermore, when the guidance marker 3a is detected by the signals of the left and right guidance marker detection sensors 2a and 2b and the outputs of the marker presence/absence detection devices 4a and 4b indicate that the marker is present, the steering command generation device 5 issues a steering command. When there is a marker only on the left side, a left direction steering command is output, and when there is a marker only on the right side, a right direction steering command is output. Perform steering.

In FIG. 3, a guide marker detection sensor 2a.

2b is at the j-1 position and when it is at the m-o position, that is, the left and right branch guidance marker 3b.

3C and the left and right Senna 2a both in the position where the straight-ahead guide marker 3a of the main line is not close to each other and in the position where the guide marker missing portions 14a and 14b are present.

2b no longer detects the Ml marker 3a, steering is performed in the direction of the center of the guidance marker 3a.
, 3c, without detecting the main line straight guidance marker 3a.
Since the automatic guided vehicle 1 travels along the path, it can proceed in a straight direction.

Although the above explanation has been given as an example of a three-way branch, a left/right branch and a straight branch, it is of course possible to eliminate the guide marker for the left or right branch and use it as a two-way branch.

As a result of the above action, by providing a guide marker missing part of a certain width between the left/right branch guide marker and the straight-ahead guide marker at the branching part of the travel path of the automatic guided vehicle, 2gA can be achieved.
Even in an automated guided vehicle equipped with a sensor for detecting guidance markers, 3
Directional branching is possible.

Other embodiments of the present invention include the following means.

In the first embodiment shown in FIG. 2 and FIG. 3, the shapes of the tips of the left and right branch guide markers 3b and 3c around the branch are detected by only the guide marker detection sensor on one side. This is an example.

The effect of this other embodiment is as follows, taking the right branch case as an example.
Left and right guidance marker detection sensors 2a.

2b both detect the right branch guidance marker 3C,
That is, the embodiment is the same as the embodiment shown in FIG. 2 except that the state f in FIG. 2 is not present.

The effect is that the distance between the left end of the left branch guidance marker or the right end of the right branch guidance marker and the straight ahead guidance marker is small, so when proceeding in the left or right branch direction, the left and right movement is small and the vehicle runs smoothly. Can be done.

In addition, in the embodiment shown in FIGS. 1 to 3, as a method of detecting the entrance/exit and branching direction of a branching part of the travel path, the entrance is detected by a branch marker, and the exit is determined by a timer after traveling for a certain period of time from the entrance, and the branching direction is detected. is detected based on the driving route stored on the vehicle, but as another embodiment of the present invention,
Exits can also be detected by markers in the same way as entrances. Instead of marker detection, the exits can be detected from the ground using light, electromagnetic waves, etc. to convey the entrance and exit to the vehicle, and furthermore, light and electromagnetic waves from the ground can be used to detect entrances and exits without alerting the vehicle. Modifications such as a method of also transmitting the branching direction may be considered, but in either case, the effect on traveling at the branching portion is the same as in the embodiment shown in FIGS. 1 to 3.

〔Effect of the invention〕

Thus, according to the present invention, an automatic guided vehicle equipped with two guidance marker detection sensors can detect three guidance marker detection sensors without increasing the number of guidance marker detection sensors at the branching portion of the travel path of the optically guided automatic guided vehicle. It is possible to provide a guidance control device for an automatic guided vehicle that can branch directions.

Also, by being able to branch in three directions, there are no restrictions on the roadway configuration.

[Brief explanation of drawings]

FIG. 1 shows a block diagram of a circuit configuration of an embodiment of the present invention, and FIGS. 2 and 3 show guidance marker assignment and guidance at a three-way branch part of an automatic guided vehicle travel path in an embodiment of the present invention. Fig. 2 shows the positional relationship between the marker and the sensor for detecting the guidance marker, and Fig. 2 shows an example of a right-hand turn, and Fig. 3 shows an example of a case of going straight.
FIG. 4 is a guide marker arrangement diagram in which the shape of the left and right branch guide markers is changed in another embodiment of the present invention, and FIG. 5 is a guide marker arrangement diagram of a conventional example of a two-way branch. 1... Automatic guided vehicle, 2a, 2b... Guidance marker detection sensor, 3.3a to 3C... Guidance marker, 4a. 4b...Marker presence/absence detection device, 5...Steering command generation device, 6...Branch command generation device, 7...Traveling route storage device, 8...Steering drive circuit, 9...Steering motor , 1Qa, 10b-branch marker, 11a, 11b・
... Branch marker detection sensor, 12... Branch marker presence/absence detection device, 13... Timer, 14a, 14b...
- Missing part of guidance marker. Applicant's agent Sato - Leave the party Figure 1 Figure 2 Figure 3 Figure 5

Claims (1)

[Scope of Claims] 1. A guidance marker installed on an automatic guided vehicle travel path, and a sensor for detecting the guidance marker provided on the automatic guided vehicle;
A device that detects the entrance/exit and branch direction of a branching part of the running road based on a command from the ground or detects it on the vehicle and generates a branching command, and a control device that performs running and steering based on the signal from the guidance marker detection sensor. At the same time, two guidance marker detection sensors are provided to detect the guidance marker, and a guidance marker missing portion of a certain width is provided between the guidance marker branching to the left and right of the travel path branching portion and the guidance marker for going straight; A guide marker for 3-way or 2-way branching in which the width of the missing part of the guide marker is equal to or less than the distance between the centers of two guide marker detection sensors, and a 3-way or 2-way branching part based on the signal of the guide marker detection sensor. A guidance control device for an unmanned guided vehicle, which is characterized by running and steering the vehicle.