TWI784786B - Automated guided vehicle control device - Google Patents

Abstract

The present invention provides a control device for an unmanned guided vehicle, which can easily perform multiple types of control, can suppress cost and increase in size, and can improve the visibility of the input table and shorten the time for inputting the input table. The calculation processing part of the control device for the unmanned guided vehicle is located at a specific address when the unmanned guided vehicle is located, and "A" is input as the second information in the second column of the column corresponding to the specific address in the first input table M1 , "B" or "C", if the input logic of the signal input from the third input port specified by "port 3_L" as the third information in the third column is "on" as the fourth information and "Disconnect" specified input logic, execute the sequence program associated with "A", "B" or "C" of the specific address.

Description

Control device for unmanned guided vehicles

The invention relates to a control device for an unmanned transport vehicle.

Conventionally, the control method of an unmanned guided vehicle described in Patent Document 1 is known. The above-mentioned unmanned guided vehicle is equipped with a control device for controlling the unmanned guided vehicle. The control device has a memory unit storing a program for controlling the unmanned guided vehicle, and an arithmetic processing unit for executing the program. The control device confirms the address indicating the position of the unmanned guided vehicle traveling along the predetermined traveling route based on a plurality of magnetic tapes serving as information transmitters provided on the traveling route. In addition, the control device executes the control required for the unmanned guided vehicle at various locations. Here, a task that is a list of controls required for the unmanned guided vehicle at various locations is stored in the memory unit, and the control device executes control of the unmanned guided vehicle based on instructions from the tasks.

The above task is an action designation method that can easily set and change the designation of the control of the unmanned guided vehicle as a person without programming knowledge, and expresses the address of the place where the control should be executed and the control to be executed as a matrix input. surface. [Prior Art Literature] [Patent Document]

[Patent Document 1] Japanese Patent Laid-Open No. 2014-137710

[Problem to be solved by the invention]

In the case of using the unmanned guided vehicle as described above, the more types of control that can be memorized in the memory and can be executed, the more convenient it is. When it is desired to add control to the task at the address of multiple types of control, consider registering in the form of a sequence program that executes multiple types of control in the desired order, and call the sequence program at the address where the sequence program is to be executed and implement it.

However, in general, a plurality of sensors are required to control an unmanned guided vehicle. A plurality of sensors are electrically connected to a plurality of input ports provided on the control device. The control device controls the unmanned guided vehicle based on signals from the plurality of sensors. Here, when it is desired to execute a sequence program with a plurality of control addresses, it is considered to add a sensor required for executing the sequence program. When the plurality of input ports installed in the control device are the dedicated input ports of the plurality of sensors, it is necessary to increase the number of input ports of the control device in order to add sensors. That is, as the number of controls added to the task increases, the number of input ports increases, which may increase the cost of the control device and increase the size of the control device.

Furthermore, in order to instruct the execution of the added control, it is necessary to add an input field for grasping the input state of the signal of the added sensor in advance. That is, the more the number of sensors and input ports increases, the more the input columns of the input table increase. Furthermore, there is a concern that the visibility of the input form deteriorates, making it difficult to grasp all the contents of the control, or that it takes longer to input to the input form. [Technical means to solve the problem]

The control device for unmanned guided vehicles that solves the above problems includes: a memory unit that stores programs for controlling unmanned guided vehicles; an arithmetic processing unit that executes the above programs; and a plurality of input ports that are electrically connected to a plurality of sensors and the control device for the unmanned guided vehicle confirms the address indicating the position of the above-mentioned unmanned guided vehicle traveling along the predetermined travel route, and executes the control required for the above-mentioned unmanned guided vehicle at various locations of the plurality of the above-mentioned addresses, Stored in the above-mentioned memory unit are: the basic program, which is the above-mentioned program that executes the control required for the above-mentioned unmanned guided vehicle at the plurality of the above-mentioned addresses; The specific address of the address executes two or more of the above-mentioned programs among the above-mentioned basic programs for executing each of the above-mentioned plural kinds of controls in the desired order; A list of the control summary required by the above-mentioned unmanned guided vehicles at each place; in the above-mentioned input table, there are: a plurality of first columns, which are used to input the information associated with the above-mentioned basic program at each of the plurality of above-mentioned addresses The 1st information; the 2nd column, in the above-mentioned specific address, enter the 2nd information associated with the above sequence program; the 3rd column, in the above-mentioned specific address, enter the 3rd information, the 3rd information specifies the above-mentioned plural One of the input ports is electrically connected to the above-mentioned input port of the above-mentioned sensor necessary for executing the above-mentioned serial program; The input logic of the signal input from the above-mentioned input port specified by the third information; the above-mentioned operation processing unit is located at the above-mentioned specific address when the above-mentioned unmanned guided vehicle is located, and the above-mentioned column 2 of the specific address in the above-mentioned input table has input In the case of the above-mentioned second information, if the above-mentioned input logic is the above-mentioned input logic specified by the above-mentioned fourth information, the above-mentioned sequence program is executed.

Accordingly, when performing multiple types of control required for the unmanned guided vehicle at a specific address, the sequence program executed at the specific address can be changed by overwriting the second information input into the second column of the input table. That is, at a specific address, select the second information associated with the serial program that executes the basic program in the order of the changed multiple controls and input it in the second column, so that multiple controls can be executed easily.

Also, by setting the third column in the input table, the operator can designate the input port connected to the sensor required to execute the sequence program. Therefore, there is no need to set the plurality of input ports as dedicated input ports for each sensor, so the operator of the control device for the unmanned guided vehicle can freely select the input port electrically connected to each of the plurality of sensors. Therefore, the input port can be made common, and it is not necessary to ensure the input port of the unused sensor, thereby suppressing the increase in cost and size of the control device for an unmanned guided vehicle.

Furthermore, by setting the third column in the input table, all input ports can be made common, and there is no need to ensure the input ports of unused sensors, so there is no need to excessively increase the third and fourth columns in the input table . Therefore, the visibility of the input sheet can be improved and the time for inputting the input sheet can be shortened.

In the above-mentioned control device for unmanned guided vehicles, the above-mentioned serial program associated with the above-mentioned second information input into the above-mentioned second column of the above-mentioned specific address should be related to the above-mentioned first column input into the specific address. Two or more of the above-mentioned basic programs related to the above-mentioned first information are edited in advance so as to be executed in a desired order.

Accordingly, the sequence program itself is composed of two or more basic programs edited in advance. Therefore, when the sequence program is executed at a specific address, the responsiveness until the execution of multiple types of controls required for the unmanned guided vehicle is improved. [Effect of Invention]

According to the present invention, plural types of controls can be easily executed, cost and increase in size can be suppressed, and the visibility of the input sheet can be improved and the time for inputting to the input sheet can be shortened.

<First Embodiment> Hereinafter, a first embodiment in which a control device for an unmanned guided vehicle is embodied will be described with reference to FIGS. 1 to 8 .

As shown in FIG. 1 , the unmanned transport system 100 includes an unmanned transport vehicle 20 and a tower 90 . The unmanned guided vehicle 20 is used to tow the trolley inside the factory. The first travel route R1 and the second travel route R2 which are predetermined travel routes are set inside the factory. The unmanned guided vehicle 20 travels along any one of the first travel route R1 and the second travel route R2 according to an instruction from the control tower 90 . The travel distance of the first travel route R1 is shorter than the travel distance of the second travel route R2. A plurality of unmanned guided vehicles 20 are installed inside the factory, but in this embodiment, only one unmanned guided vehicle 20 is shown for convenience of description.

The first traveling route R1 has a circular shape. The first travel route R1 has four linear paths and four curved paths forming corners. Let the four straight paths be respectively the first straight path Ra, the second straight path Rb, the third straight path Rc, and the fourth straight path Rd. The first straight path Ra and the third straight path Rc have the same length as each other. The second straight path Rb and the fourth straight path Rd have the same length as each other. The first straight path Ra and the second straight path Rb are connected via one curved path, and are perpendicular to each other. The second straight path Rb and the third straight path Rc are connected via one curved path, and are perpendicular to each other. The third straight path Rc and the fourth straight path Rd are connected via one curved path, and are perpendicular to each other. The fourth straight path Rd and the first straight path Ra are connected via one curved path, and are perpendicular to each other. Furthermore, the starting point P where the unmanned guided vehicle 20 starts to travel is located on the first straight line Ra.

The second traveling route R2 has a circular shape. The second traveling route R2 shares the first straight route Ra, the third straight route Rc, the fourth straight route Rd, the curved route connecting the third straight route Rc and the fourth straight route Rd, and the fourth straight route connecting the first straight route R1 and the first traveling route R1. The straight path Rd and the curved path of the first straight path Ra. The second traveling route R2 has three linear straight paths and two curved paths in addition to the first straight path Ra, the second straight path Rb, the fourth straight path Rd, and two curved paths. These three straight-line paths are respectively referred to as a fifth straight path Re, a sixth straight path Rf, and a seventh straight path Rg. The fifth straight path Re is connected to the first straight path Ra, and is provided on an extension of the first straight path Ra. The fifth straight path Re and the sixth straight path Rf are connected via one curved path, and are perpendicular to each other. The sixth straight path Rf and the seventh straight path Rg are connected via one curved path, and are perpendicular to each other. The seventh straight path Rg is connected to the third straight path Rc, and is provided on an extension of the third straight path Rc. The fifth straight path Re, the sixth straight path Rf, and the seventh straight path Rg are arranged so as to surround the second straight path Rb.

The unmanned guided vehicle 20 travels on the first travel route R1 in the order of the first straight route Ra, the second straight route Rb, the third straight route Rc, and the fourth straight route Rd. In addition, the unmanned guided vehicle 20 travels on the second traveling route R2 in the order of the first linear route Ra, the fifth linear route Re, the sixth linear route Rf, the seventh linear route Rg, the third linear route Rc, and the fourth linear route Rd. drive on.

The unmanned conveyance system 100 includes a plurality of magnetic tapes 30 . One magnetic tape 30 is set on the second straight path Rb relative to the starting point P in the first straight path Ra, two are set on the second straight path Rb, and on the third straight path Rc One is provided, and one is installed on the fifth straight path Re, one is installed on the sixth straight path Rf, and one is installed on the seventh straight path Rg. Here, in the first travel route R1 and the second travel route R2, the position where the magnetic tape 30 is installed on the first straight line Ra is set as the first address 1, and the position where the magnetic tape 30 is installed on the second straight line Rb is set to be the first address 1. The position of the magnetic tape 30 close to the first straight path Ra is set as the second address 2, and the magnetic tape 30 set in the second straight path Rb and deviated from the third straight path Rc is set as the third address 3 . In addition, in the first travel route R1 and the second travel route R2, the position of the magnetic tape 30 provided on the third linear route Rc is set as the fourth address 4, and the magnetic tape 30 provided on the fifth linear route Re is The location is set to the fifth address 5. Furthermore, in the first travel route R1 and the second travel route R2, the position of the magnetic tape 30 provided on the sixth linear route Rf is set to the sixth address 6, and the magnetic tape 30 provided on the seventh linear route Rg The location is set to the seventh address 7. In addition, in the first linear path Ra, a magnetic tape for branching (not shown) is provided in the vicinity of the boundary of the first linear path Ra, the second linear path Rb, and the fifth linear path Re.

In this embodiment, the unmanned guided vehicle 20 is set to travel along the first travel route R1 and the second travel route R2 alternately. When the unmanned guided vehicle 20 travels along the first travel route R1, the unmanned guided vehicle 20 follows the first address 1, the second address 2, the third address 3, the second address 2, the third address 3, and the fourth address. Drive in sequence at address 4. Also, when the unmanned guided vehicle 20 travels along the second travel route R2, the unmanned guided vehicle 20 follows the first address 1, the fifth address 5, the sixth address 6, the seventh address 7, and the fourth address 4. Drive in sequence.

As shown in FIG. 4 , the unmanned guided vehicle 20 includes a magnetic sensor 21 , a connection pin 22 and a connection sensor 23 . The magnetic sensor 21 is disposed on the bottom of the unmanned guided vehicle 20 . The magnetic sensor 21 detects the magnetism of the magnetic tape 30 . The connecting pin 22 is a pin that reciprocates in the vertical direction of the vehicle. The connection sensor 23 is a sensor that transmits a signal when the connection portion 81 of the trolley 80 connected to the connection pin 22 is in contact with the connection pin 22, and does not transmit a signal when the connection portion 81 is not in contact with the connection pin 22. .

As shown in FIG. 1 , the control device 10 for an unmanned guided vehicle is mounted on the unmanned guided vehicle 20 . The 10-series microcomputer for the control device of the unmanned guided vehicle. The control device 10 for an unmanned guided vehicle includes a storage unit 11 storing a program Pr for controlling the unmanned guided vehicle 20 , and an arithmetic processing unit 12 that executes the program Pr stored in the storage unit 11 . The memory unit 11 is, for example, a memory. The arithmetic processing unit 12 is, for example, a CPU (Central Processing Unit, central processing unit).

As shown in FIG. 2, the calculation processing part 12 has the 1st input part 12a, the 2nd input part 12b, the 3rd input part 12c, and the 4th input part 12d. The arithmetic processing unit 12 has a first output unit 12e, a second output unit 12f, a third output unit 12g, and a fourth output unit 12h.

The control device 10 for an unmanned guided vehicle has a housing 13 that accommodates a memory unit 11 and an arithmetic processing unit 12 . The housing 13 is provided with a first input terminal 101 , a second input terminal 102 , a third input terminal 103 , and a fourth input terminal 104 . The first input terminal 101 is electrically connected to the first input portion 12a. The first input terminal 101 and the first input unit 12a form a first input port In1 in the control device 10 for an unmanned guided vehicle. The second input terminal 102 is electrically connected to the second input part 12b. The 2nd input terminal 102 and the 2nd input part 12b form the 2nd input port In2 in the control device 10 for unmanned guided vehicles. The third input terminal 103 is electrically connected to the third input part 12c. The 3rd input terminal 103 and the 3rd input part 12c form the 3rd input port In3 in the control device 10 for unmanned guided vehicles. The fourth input terminal 104 is electrically connected to the fourth input portion 12d. The 4th input terminal 104 and the 4th input part 12d form the 4th input port In4 in the control device 10 for unmanned guided vehicles.

The connection sensor 23 is electrically connected to the third input terminal 103 through the wiring 23a. The magnetic sensor 21 is electrically connected to the fourth input terminal 104 via the wiring 21a. The magnetic sensor 21 and the connection sensor 23 are examples of a plurality of sensors. The control device 10 for an unmanned guided vehicle has a plurality of input ports In1, In2, In3, and In4 electrically connected to a plurality of sensors.

The housing 13 is provided with a first output terminal 111 , a second output terminal 112 , a third output terminal 113 , and a fourth output terminal 114 . The first output terminal 111 is electrically connected to the first output part 12e. The 1st output terminal 111 and the 1st output part 12e form the 1st output port Out1 in the control device 10 for unmanned guided vehicles. The second output terminal 112 is electrically connected to the second output part 12f. The second output terminal 112 and the second output unit 12f form the second output port Out2 in the control device 10 for unmanned guided vehicles. The third output terminal 113 is electrically connected to the third output part 12g. The 3rd output terminal 113 and the 3rd output part 12g form the 3rd output port Out3 in the control device 10 for unmanned guided vehicles. The fourth output terminal 114 is electrically connected to the fourth output part 12h. The 4th output terminal 114 and the 4th output part 12h form the 4th output port Out4 in the control apparatus 10 for unmanned guided vehicles. Furthermore, the control device 10 for an unmanned guided vehicle has a configuration that enables the external device 200 located outside the control device 10 for an unmanned guided vehicle to communicate with the memory unit 11 . The external device 200 is, for example, a personal computer. In addition, the external device 200 can overwrite the information input to the first input table M1 and the second input table M2 described below, which are stored in the storage unit 11 .

A program Pr for controlling the unmanned guided vehicle 20 is stored in the memory unit 11 . The basic program is included in the program Pr. The basic program is, for example, the first program Pr1 for driving the unmanned guided vehicle 20 while controlling the traveling direction of the unmanned guided vehicle 20, and the second program Pr2 for controlling the speed of the unmanned guided vehicle 20 to any one of high speed, medium speed and low speed. . Moreover, the basic program is the 3rd program Pr3 which stops the unmanned guided vehicle 20, and the 4th program Pr4 which makes the connection pin 22 protrude upward of the unmanned guided vehicle 20. Furthermore, the basic program is the fifth program Pr5 for returning the connecting pin 22 to the inside of the unmanned guided vehicle 20, and the sixth program Pr6 for maintaining the stopped state of the unmanned guided vehicle 20 for a predetermined time after executing the third program Pr3.

A serial program is stored in the storage unit 11. The serial program is a program Pr edited in advance so as to execute two or more basic programs out of a plurality of basic programs in a desired order. The serial program is, for example, the first serial program Prs1. The first serial program Prs1 is the first program Pr1 that executes the fifth program Pr5 sequentially and controls the driving direction of the unmanned guided vehicle 20 to the rear while driving the unmanned guided vehicle 20. , The mode of the second program Pr2 that controls the unmanned guided vehicle 20 to a low speed is pre-edited and constituted. The sequence program is the second sequence program Prs2, and the second sequence program Prs2 is to execute the sixth program Pr6, the fourth program Pr4, and the one-sided The first program Pr1 for controlling the driving direction of the unmanned guided vehicle 20 to the front side and the second program Pr2 for controlling the unmanned guided vehicle 20 to a medium speed are edited in advance. In addition, the sequence program is the third sequence program Prs3, and the third sequence program Prs3 is the first program for executing the fourth program Pr4 in order to control the driving direction of the unmanned guided vehicle 20 to the front while driving the unmanned guided vehicle 20. Pr1, the second program Pr2 for controlling the unmanned guided vehicle 20 at a medium speed is pre-edited and constituted. Furthermore, the sequence program is the 4th sequence program Prs4, and the 4th sequence program Prs4 is to execute the 6th program Pr6 and the 5th program Pr5 of maintaining the stopped state of the unmanned guided vehicle 20 for 10 seconds after the unmanned guided vehicle 20 stops. The first program Pr1 for driving the unmanned guided vehicle 20 while controlling the driving direction of the unmanned guided vehicle 20 to the front, and the second program Pr2 for controlling the unmanned guided vehicle 20 to a medium speed are edited in advance. Furthermore, the above-mentioned basic program and serial program are an example, and a plurality of basic programs other than the respective programs Pr1 to Pr6, and a plurality of serial programs other than the respective serial programs Prs1, Prs2, Prs3, and Prs4 are also stored in the memory unit 11. A plurality of serial programs other than each serial program Prs1, Prs2, Prs3, and Prs4 are constructed by combining two or more of the above-mentioned basic programs with all variations in advance.

The first input table M1 shown in FIG. 3 and the second input table M2 shown in FIG. 7 are stored in the memory unit 11, and these input tables are required to control the unmanned guided vehicle 20 at various locations. Summary table of results. When the unmanned guided vehicle 20 travels along the first travel route R1, the first input table M1 summarizes the control required by each address on the first travel route R1 for the unmanned guided vehicle 20 . When the unmanned guided vehicle 20 travels along the second travel route R2, the second input table M2 summarizes the control required by the addresses on the second travel route R2 for the unmanned guided vehicle 20 .

As shown in FIGS. 3 and 7 , the first input table M1 and the second input table M2 include plural columns and plural rows. A plurality of input fields are provided in the first input table M1 and the second input table M2. In the plurality of input columns on the leftmost row in the first input table M1 and the second input table M2, the unmanned guided vehicle 20 passes through when traveling along the first travel route R1 and the second travel route R2 from the uppermost stage. The sequence of addresses, input the address names in sequence. In the multiple input fields corresponding to each address in the first input table M1 and the second input table M2, next to the address name, input the information indicating the driving direction and the information indicating the speed of the vehicle in sequence from left to right , information indicating the driving state of the unmanned guided vehicle 20, information indicating the time to maintain the stopped state of the unmanned guided vehicle 20, information indicating the operating state of the connecting pin 22, information indicating the content of the sequence program, information specifying the input port, Specifies the input logic information of the signal input from the specified input port.

The information indicating the driving direction is indicated by "F" or "R", "F" indicates that the unmanned guided vehicle 20 is moving forward, and "R" indicates that the unmanned guided vehicle 20 is backward. The information indicating the speed of the vehicle is represented by "high", "medium" and "low", "high" means that the speed of the unmanned guided vehicle 20 is controlled to a high speed, "medium" means that the speed of the unmanned guided vehicle 20 is controlled to a medium speed, " "Low" indicates that the speed of the unmanned guided vehicle 20 is controlled to a low speed.

The information indicating the running state of the unmanned guided vehicle 20 is "stopped" indicating that the unmanned guided vehicle 20 is stopped, and "stop" is not input when the unmanned guided vehicle 20 is not to be stopped. The information indicating the time to maintain the stopped state of the unmanned guided vehicle 20 is expressed as a numerical value. For example, expressed in seconds such as "10" or "20". Furthermore, the time for maintaining the stopped state of the unmanned guided vehicle 20 refers to the time until the unmanned guided vehicle 20 starts automatically.

The information indicating the action state of the link pin 22 is represented by "UP" or "DOWN". internal state.

The information indicating the content of the serial program is represented by "A", "B", "C", and "D", "A" indicates the first serial program Prs1, "B" indicates the second serial program Prs2, and "C" indicates the first 3 sequence program Prs3, "D" indicates the 4th sequence program Prs4. Furthermore, descriptions representing each of a plurality of sequential programs other than the respective sequential programs Prs1 , Prs2 , Prs3 , and Prs4 are also stored in the memory unit 11 .

The information specifying the input port can use 2 input fields in the row corresponding to each address. In this embodiment, there are 4 input ports of the control device 10 for an unmanned guided vehicle, therefore, "port 1_L", "port 2_L", "port 3_L" and "port 4_L" can be input in the two input fields respectively. "Port 1_L" indicates that the first input port In1 is designated. The input logic of the signal of the sensor connected to the first input port In1 among the plurality of sensors is "ON" or "OFF". "Port 2_L" indicates that the second input port In2 is designated. The input logic of the signal of the sensor connected to the second input port In2 among the plurality of sensors is "on" or "off". "Port 3_L" indicates that the third input port In3 is designated. The input logic of the signal of the sensor connected to the third input port In3 among the plurality of sensors is "on" or "off". "Port 4_L" indicates that the fourth input port In4 is designated. The input logic of the signal of the sensor connected to the fourth input port In4 among the plurality of sensors is "on" or "off".

The information specifying the input logic of the signal input from the specified input port can use two input fields in the row corresponding to each address. "On" or "Off" can be input in the two input fields respectively. "On" indicates the output signal from the input ports specified by "Port 1_L", "Port 2_L", "Port 3_L" and "Port 4_L". "Disconnect" means that the signals input from the input ports designated by "Port 1_L", "Port 2_L", "Port 3_L" and "Port 4_L" are not output.

The two input fields for inputting the information of the designated input port are set as the first designated input field and the second designated input field, respectively. Also, two input fields for inputting information specifying the input logic of the signal input from the specified input port are set as a first input logic field and a second input logic field, respectively. The information input to the first input logic column is information specifying the input logic of the signal input from the input port specified in the first specified input column. The information input to the second input logic column is information specifying the input logic of the signal input from the input port specified in the second specified input column.

In the first input table M1 and the second input table M2, "F" is associated with the first program Pr1 that drives the unmanned guided vehicle 20 while controlling the traveling direction of the unmanned guided vehicle 20 to the front. "R" is associated with the first program Pr1 that drives the unmanned guided vehicle 20 while controlling the traveling direction of the unmanned guided vehicle 20 to the rear. "High" is associated with the second program Pr2 that controls the speed of the unmanned guided vehicle 20 to a high speed. "Medium" is associated with the second program Pr2 that controls the speed of the unmanned guided vehicle 20 to a medium speed. "Low" is associated with the second program Pr2 that controls the vehicle speed of the unmanned guided vehicle 20 to a low speed. "Stop" is associated with the third program Pr3. "Up" is associated with the fourth program Pr4, and "down" is associated with the fifth program Pr5. "10" is associated with the sixth program Pr6 for maintaining the stopped state of the unmanned guided vehicle 20 for 10 seconds after the execution of the third program Pr3. "20" is associated with the sixth program Pr6 which maintains the stopped state of the unmanned guided vehicle 20 for 20 seconds after the execution of the third program Pr3.

"A" is associated with the first sequence program Prs1, "B" is associated with the second sequence program Prs2, "C" is associated with the third sequence program Prs3, and "D" is established with the fourth sequence program Prs4 associated. In addition, the description indicating each of the plurality of sequence programs other than the respective sequence programs Prs1, Prs2, Prs3, and Prs4 is similarly associated with the plurality of sequence programs other than the respective sequence programs Prs1, Prs2, Prs3, and Prs4.

The first input table M1 and the second input table M2 are provided with a first column as an input column, and the input column is to input "F", "R", and First information such as "high", "medium", "low", "stop", "increase", "decline", "10", "20". The first input table M1 and the second input table M2 are provided with a second column as an input column, and second information such as "A", "B", "C", and "D" is input into the input column. A description indicating each of a plurality of sequence programs other than each sequence program Prs1, Prs2, Prs3, and Prs4 is also an example of the second information.

The first input table M1 and the second input table M2 are provided with a third column as an input column, and the third column such as "port 1_L", "port 2_L", "port 3_L", and "port 4_L" is input in the input column. 3 information. The first designated input column and the second designated input column are the third column.

A fourth column is provided as an input column in the first input table M1 and the second input table M2, and fourth information such as "on" and "off" is input in the input column. The first input logic column and the second input logic column are the fourth column.

The input situation of each input column of the 1st input table M1 is demonstrated. In the following, for the sake of explanation, the second address 2 may be described as the second address 2-1 of the first pass and the second address 2-2 of the second pass. Similarly, the third address 3 may be described as the third address 3-1 of the first pass and the third address 3-2 of the second pass. As shown in FIG. 3 , "F" and "High" are input in the column corresponding to the first address 1 . "F" and "Middle" are input in the column corresponding to the second address 2-1 of the unmanned guided vehicle 20 passing for the first time. "R", "Low", "Stop", "Drop", "A", "Port 3_L" and " disconnect". "F", "Middle", "Stop", "20", "Rising", "B", "Port 3_L" and "On". "Port 3_L" input to the column corresponding to the second address 2-2 of the second pass of the unmanned guided vehicle 20 is input to the first designated input column, and "connected" is input to the first input logic column.

"F", "Middle", "Up", "C", "Port 3_L" and "Connection" are input in the column corresponding to the third address 3-2 of the second pass of the unmanned guided vehicle 20 . "Port 3_L" input to the column corresponding to the third address 3-2 of the second pass of the unmanned guided vehicle 20 is input to the first designated input column, and "connected" is input to the first input logic column. Furthermore, in each address of the first input table M1, a plurality of controls are required for the unmanned guided vehicle 20. In this embodiment, the third address 3-1, the unmanned guided vehicle The second address 2-2 for the second pass of 20 and the third address 3-2 for the second pass of the unmanned guided vehicle 20 are set as specific addresses.

In the column corresponding to the third address 3-1 of the first pass of the unmanned guided vehicle 20, "A" as the second information associated with the first sequence program Prs1 is input in the second column. The first sequence program Prs1 is pre-edited in such a way that the basic program associated with the first information is executed in the above-mentioned desired order, and the above-mentioned first information is input to the third address of the first pass of the unmanned guided vehicle 20 3-1 Plurals of corresponding columns in column 1. That is, the first sequence program Prs1 is the program Pr that executes the basic program in the above-mentioned expected order. Multiple types of controls required by the vehicle 20.

In the column corresponding to the second address 2-2 of the second pass of the unmanned guided vehicle 20, "B" as the second information associated with the second sequence program Prs2 is input in the second column. The second sequence program Prs2 is pre-edited in such a way that the basic program associated with the first information is executed in the above-mentioned desired order, and the above-mentioned first information is input to the second address of the second pass of the unmanned guided vehicle 20 2-2 Plurals of corresponding columns in column 1. That is, the second sequence program Prs2 is the program Pr that executes the basic program in the above-mentioned desired order. Multiple types of controls required by the vehicle 20.

In the column corresponding to the third address 3-2 of the second pass of the unmanned guided vehicle 20, "C" as the second information associated with the third sequence program Prs3 is input in the second column. The third sequence program Prs3 is pre-edited in such a way that the basic program associated with the first information is executed in the above-mentioned desired order, and the above-mentioned first information is input to the third address of the second pass of the unmanned guided vehicle 20 3-2 Plurals of corresponding columns in column 1. That is, the third sequence program Prs3 is the program Pr that executes the basic program according to the above-mentioned expected order, and the above-mentioned basic program is used to execute the unmanned transportation at the third address 3-2 of the second pass of the unmanned guided vehicle 20. Multiple types of controls required by the vehicle 20.

The input situation of each input column of the 2nd input table M2 is demonstrated. As shown in FIG. 7, "F", "middle" and "up" are input in the column corresponding to the first address 1 . In the column corresponding to the 5th address 5, "F", "Middle" and "Up" are entered. In the column corresponding to the sixth address 6, "F", "Middle", "Stop", "10", "Down", "D", "Port 3_L" and "Disconnect" are entered. In the column corresponding to the seventh address 7, "F" and "High" are input. In the column corresponding to the fourth address 4, "F" and "High" are input. In addition, plural kinds of controls are requested to the unmanned guided vehicle 20 in each address of the second input table M2, and in the present embodiment, the sixth address 6 is set as a specific address.

In the row corresponding to the sixth address 6, "D" as the second information associated with the fourth sequence program Prs4 is input in the second column. The fourth sequence program Prs4 is pre-edited in such a way that the basic program associated with the first information is executed in the above-mentioned desired order, and the above-mentioned first information is input to the plurality of first in the column corresponding to the sixth address 6 column. That is, the fourth sequence program Prs4 is a program Pr that executes the basic program in the above-mentioned desired order, and the above-mentioned basic program is used to execute multiple types of controls required for the unmanned guided vehicle 20 at the sixth address 6 .

As shown in FIG. 1 , the arithmetic processing unit 12 confirms the position of the unmanned guided vehicle 20 based on the signal output from the magnetic sensor 21 shown in FIG. 4 . The arithmetic processing unit 12 counts the number of times the signal output from the magnetic sensor 21 is input, and confirms the addresses of the unmanned guided vehicles 20 on the first travel route R1 and the second travel route R2 based on the number of times. In this embodiment, the signal output from the magnetic sensor 21 through the above-mentioned branching magnetic tape informs the unmanned guided vehicle control device 10 of branching when traveling along the first travel route R1 or the second travel route R2. Signal. Therefore, instead of a signal for confirming the address of the unmanned guided vehicle 20, the control device 10 for the unmanned guided vehicle does not count the signal output by the magnetic sensor 21 through the magnetic tape for branching.

When the unmanned guided vehicle 20 is traveling along the first travel route R1, the arithmetic processing unit 12 confirms that the unmanned guided vehicle 20 is located at the first address 1 when the number of signals input from the magnetic sensor 21 is one. The arithmetic processing unit 12 confirms that the unmanned guided vehicle 20 is located at the second address 2 when the number of times of the input signal of the magnetic sensor 21 is 2, and confirms that the unmanned guided vehicle 20 is located at the third address 3 when it is 3 times, which is It is confirmed that the unmanned guided vehicle 20 is located at the second address 2 at the 4th time. The arithmetic processing unit 12 confirms that the unmanned guided vehicle 20 is located at the third address 3 when the number of signals input to the magnetic sensor 21 is 5 times, and confirms that the unmanned guided vehicle 20 is located at the fourth address 4 when the number of times is 6. The arithmetic processing unit 12 resets the count of the signal of the magnetic sensor 21 when the unmanned guided vehicle 20 travels along the first travel route R1 and passes the fourth address 4 . When the unmanned guided vehicle 20 reaches the first address 1 again, the arithmetic processing unit 12 restarts counting the signal input from the magnetic sensor 21 . When the unmanned guided vehicle 20 travels along the second travel route R2, when the number of signals input to the magnetic sensor 21 is 1, it is confirmed that the unmanned guided vehicle 20 is located at the first address 1, and when it is 2 times, it is confirmed that no one is transporting The car 20 is located at the 5th address 5, the unmanned guided vehicle 20 is confirmed at the sixth address 6 when it is 3 times, the unmanned guided vehicle 20 is confirmed at the 7th address 7 when it is 4 times, and the unmanned guided vehicle 20 is confirmed at the 5th time Located at the 4th address 4. The arithmetic processing unit 12 resets the count of the signal of the magnetic sensor 21 when the unmanned guided vehicle 20 travels along the second travel route R2 and passes the fourth address 4 . When the unmanned guided vehicle 20 reaches the first address 1 again, the arithmetic processing unit 12 restarts counting the signal input from the magnetic sensor 21 . Furthermore, the control device 10 for an unmanned guided vehicle can also count the signals output from the magnetic sensor 21 through the magnetic tape for branching. In the case of such a change, the first input table M1 and the second input table M2 may be changed so that the position where the magnetic tape for branching is provided is used as an address.

The arithmetic processing unit 12 refers to the first input table M1 and the second input table M2 stored in the memory unit 11 when confirming the address of the unmanned guided vehicle 20 according to the number of signals input to the magnetic sensor 21 . When the unmanned guided vehicle 20 travels along the first travel route R1 and the address of the unmanned guided vehicle 20 is not a specific address, the arithmetic processing unit 12 refers to the location of the unmanned guided vehicle 20 input to the first input table M1 The first information in the column corresponding to the address of the corresponding address executes the basic program associated with the first information. When the unmanned guided vehicle 20 travels along the second travel route R2 and the address of the unmanned guided vehicle 20 is not a specific address, the calculation processing unit 12 refers to the location of the unmanned guided vehicle 20 input to the second input table M2. The first information in the column corresponding to the address of the corresponding address executes the basic program associated with the first information.

When the unmanned guided vehicle 20 travels along the first travel route R1 and the address of the unmanned guided vehicle 20 is the third address 3-1 of the first time, the arithmetic processing unit 12 executes the first input table M1. The third program Pr3 associated with "stop" entered in column 1 is established. Also, after the operation processing unit 12 executes the third program Pr3, if the input logic of the signal connected to the sensor 23 input from the third input port In3 specified in the third column of the first input table M1 is input to the fourth If the designated input logic of the column is "disconnected", the first sequence program Prs1 associated with "A" will be executed.

When the unmanned guided vehicle 20 travels along the first travel route R1 and the address of the unmanned guided vehicle 20 is the second second address 2-2, the arithmetic processing unit 12 executes the first input table M1. The third program Pr3 associated with "stop" entered in column 1 is established. Also, after the operation processing unit 12 executes the third program Pr3, if the input logic of the signal connected to the sensor 23 input from the third input port In3 specified in the third column of the first input table M1 is input to the fourth If the specified input logic of the column is "on", the second sequence program Prs2 associated with "B" will be executed.

When the unmanned guided vehicle 20 travels along the first travel route R1 and the address of the unmanned guided vehicle 20 is the third address 3-2 of the second time, the arithmetic processing unit 12, if from the first input table M1 The input logic of the signal connected to the sensor 23 input to the third input port In3 specified in column 3 is input to the specified input logic in column 4 "on", then the third sequence program associated with "C" is executed Prs3.

When the unmanned guided vehicle 20 travels along the second travel route R2 and the address of the unmanned guided vehicle 20 is the sixth address 6, the arithmetic processing unit 12, if the third column specified in the second input table M2 3 The input logic of the signal connected to the sensor 23 input by the input port In3 is input to the specified input logic "off" in the fourth column, then the fourth sequence program Prs4 associated with "D" is executed. That is, when the unmanned guided vehicle 20 is located at a specific address, the calculation processing unit 12 selects the "port 3_L" as the third information from the column corresponding to the specific address in the first input table M1 and the second input table M2. The input logic of the signal input to the third input port In3 designated by "is the input logic designated by the "on" and "off" of the fourth information, and the input in the second column is executed as the second information Each sequence program Prs1, Prs2, Prs3, Prs4 associated with "A", "B", "C" or "D".

Thereby, the control device 10 for an unmanned guided vehicle executes the control required for the unmanned guided vehicle 20 at various locations of a plurality of addresses indicating that the first traveling route R1 and the second traveling route R2 are along the predetermined route. The position of the driving unmanned guided vehicle 20. Furthermore, the control device 10 for an unmanned guided vehicle has a navigation system (not shown) for receiving instructions from the tower 90 to drive the unmanned guided vehicle along the first travel route R1 and the second travel route R2 respectively. The control device 10 for an unmanned guided vehicle drives the unmanned guided vehicle 20 along the first travel route R1 and the second travel route R2 based on the information sent from the navigation system to the arithmetic processing unit 12 .

The operation of this embodiment including the operation of the unmanned guided vehicle 20 will be described. As shown in FIG. 1 , the control device 10 for an unmanned guided vehicle drives the unmanned guided vehicle 20 on the first travel route R1 according to an instruction from the tower 90 .

As shown in Figures 1 and 3, when the unmanned guided vehicle 20 arrives at the first address 1, the control device 10 for the unmanned guided vehicle executes the input in the column corresponding to the first address 1 in the first input table M1. The first program Pr1 associated with "F" and the second program Pr2 associated with "High". Therefore, the unmanned guided vehicle 20 travels along the first linear route Ra at high speed.

The control device 10 for an unmanned guided vehicle controls the unmanned guided vehicle 20 so as to travel from the first straight path Ra toward the second straight path Rb based on an instruction from the tower 90 . The control device 10 for an unmanned guided vehicle travels from the first straight path Ra toward the second straight path Rb when a signal output from the magnetic sensor 21 through the magnetic tape for branching is input. When the control device 10 for the unmanned guided vehicle reaches the second address 2-1 of the first pass of the unmanned guided vehicle 20, it executes the second address corresponding to the first pass of the unmanned guided vehicle 20 in the first input table M1. The first program Pr1 associated with "F" input in the row of 2-1 and the second program Pr2 associated with "Middle". Therefore, the unmanned guided vehicle 20 travels along the second linear route Rb at a medium speed.

When the control device 10 for the unmanned guided vehicle reaches the third address 3-1 of the first pass of the unmanned guided vehicle 20, it executes the third address corresponding to the first pass of the unmanned guided vehicle 20 in the first input table M1. The third program Pr3 associated with "stop" entered in row 3-1 is established.

As shown in Figure 4, at the third address 3-1 where the unmanned guided vehicle 20 passes for the first time, the control device 10 for the unmanned guided vehicle executes the third program Pr3, whereby the unmanned guided vehicle 20 passes through the third address Stop at position 3.

As shown in Figures 1 and 3, the control device 10 for unmanned guided vehicles, according to the "A" input in the column of the third address 3-1 corresponding to the first pass of the unmanned guided vehicles 20 in the first input table M1 , "port 3_L" and "disconnect" to control the unmanned guided vehicle 20. That is, if it is not in contact with the connection sensor 23, that is, the input logic of the signal of the connection sensor 23 electrically connected to the third input port In3 is in the "off" state, the unmanned guided vehicle The control device 10 executes the first sequence program Prs1 associated with "A".

As shown in Figure 4, at the third address 3-1 where the unmanned guided vehicle 20 passes for the first time, the unmanned guided vehicle control device 10 executes the first sequence program Prs1, whereby the unmanned guided vehicle 20 is in the stopped state Return the connecting pin 22 to the inside of the unmanned guided vehicle 20, and then retreat toward the second location 2 at a low speed.

As shown in Figures 1 and 3, when the control device 10 for the unmanned guided vehicle reaches the second address 2-2 where the unmanned guided vehicle 20 passes for the second time, it executes the corresponding unmanned guided vehicle 20 in the first input table M1. The third program Pr3 associated with "stop" input in the column of the second address 2-2 of the second pass is established.

As shown in Figure 5, at the second address 2-2 where the unmanned guided vehicle 20 passes for the second time, the control device 10 for the unmanned guided vehicle executes the third program Pr3, whereby the unmanned guided vehicle 20 passes through the second address Stop at position 2. In the state where the unmanned guided vehicle 20 is stopped at the second location 2, the trolley 80 is linked to the unmanned guided vehicle 20 in such a manner that the connecting portion 81 of the trolley 80 contacts the connection sensor 23 .

As shown in Figures 1 and 3, the control device 10 for unmanned guided vehicles, according to the "B" input in the column of the second address 2-2 corresponding to the second pass of the unmanned guided vehicles 20 in the first input table M1 , "port 3_L", "connected" to control the unmanned guided vehicle 20. That is, if the connection part 81 of the trolley 80 is in contact with the connection sensor 23, that is, the input logic of the signal of the connection sensor 23 electrically connected to the third input port In3 is in the "on" state, then The control device 10 for an unmanned guided vehicle executes the second sequence program Prs2 associated with "B".

As shown in FIG. 5 , the unmanned guided vehicle 20 maintains the stopped state of the unmanned guided vehicle 20 for 20 seconds after the unmanned guided vehicle 20 stops. While the unmanned guided vehicle 20 is stopped for 20 seconds, the unmanned guided vehicle 20 protrudes the coupling pin 22 in the stopped state. The unmanned guided vehicle 20 advances toward the third location 3 at a medium speed 20 seconds after the unmanned guided vehicle 20 stops. Moreover, during the period when the unmanned guided vehicle 20 moves back from the third location 3 to the second location 2, the workers in the factory prepare the trolley 80 at the second location 2, and connect the connecting pin 22 when the connecting pin 22 protrudes. On the connection part 81 of the trolley 80. At the second address 2-2 where the unmanned guided vehicle 20 passes for the second time, if the input logic of the signal connected to the sensor 23 is in the "off" state, the unmanned guided vehicle control device 10 does not execute the first 2 sequence program Prs2. Also, at the second address 2-2 where the unmanned guided vehicle 20 passes for the second time, if the input logic of the signal connected to the sensor 23 is in the "off" state, the unmanned guided vehicle control device 10 will The unmanned guided vehicle 20 is maintained in a stopped state.

As shown in Figures 1 and 3, when the control device 10 for the unmanned guided vehicle reaches the third address 3-2 of the second pass of the unmanned guided vehicle 20, according to the corresponding unmanned guided vehicle 20 in the first input table M1 The unmanned guided vehicle 20 is controlled by inputting "C", "port 3_L", and "connection" in the column of the third address 3-2 in the second pass. That is, if the connection part 81 of the trolley 80 is kept in contact with the connection sensor 23, that is, the input logic of the signal of the connection sensor 23 electrically connected to the third input port In3 is kept "on". state, the unmanned guided vehicle control device 10 executes the third sequence program Prs3 associated with "C".

As shown in FIG. 6 , at the third location 3 - 2 where the unmanned guided vehicle 20 passes for the second time, the unmanned guided vehicle 20 advances at a medium speed while maintaining the state in which the connecting pin 22 protrudes. At the third address 3-2 where the unmanned guided vehicle 20 passes for the second time, if the input logic of the signal connected to the sensor 23 is in the "off" state, the unmanned guided vehicle control device 10 does not execute the first step. 3 sequence program Prs3. That is, as shown by the dashed line in FIG. 6 , when reaching the third address 3-2 where the unmanned guided vehicle 20 passes for the second time, if the connecting portion 81 of the trolley 80 breaks away from the connecting pin 22 and connects the sensor 23 If the input logic of the signal becomes "OFF", the third sequence program Prs3 will not be executed. Furthermore, at the third address 3-2 where the unmanned guided vehicle 20 passes for the second time, if the input logic of the signal connected to the sensor 23 becomes "off", the unmanned guided vehicle control device 10 makes the unmanned transport Car 20 stops.

As shown in FIGS. 1 and 3 , the control device 10 for an unmanned guided vehicle controls the unmanned guided vehicle 20 so as to travel from the second straight path Rb toward the third straight path Rc based on an instruction from the tower 90 . When the unmanned guided vehicle 20 reaches the fourth address 4, the unmanned guided vehicle control device 10 executes the first program associated with the input "F" in the column corresponding to the fourth address 4 in the first input table M1 Pr1, the second program Pr2 associated with "Middle", and the fourth program Pr4 associated with "Up". Therefore, the unmanned guided vehicle 20 travels along the third straight path Rc at a medium speed with the connecting pin 22 protruding.

After the unmanned guided vehicle 20 passes through the fourth address 4, the control device 10 for the unmanned guided vehicle passes through the curved path connecting the third straight path Rc and the fourth straight path Rd, and the fourth straight path Rd according to the command from the tower 90. , and the unmanned guided vehicle 20 is controlled such that the curved path connecting the fourth straight path Rd and the first straight path Ra returns to the first straight path Ra again. The arithmetic processing unit 12 of the control device 10 for an unmanned guided vehicle resets the count of the signal of the magnetic sensor 21 when passing through the fourth address 4 . When the unmanned guided vehicle 20 reaches the first address 1 again, the arithmetic processing unit 12 restarts counting the signal input from the magnetic sensor 21 .

As shown in FIGS. 1 and 7 , the unmanned guided vehicle 20 travels along the first travel route R1 , returns to the first location 1 again, and then travels along the second travel route R2 . When the unmanned guided vehicle 20 reaches the first address 1 again, the control device 10 for the unmanned guided vehicle executes the first step associated with the input "F" in the column corresponding to the first address 1 in the second input table M2. The program Pr1, the second program Pr2 associated with "Middle", and the fourth program Pr4 associated with "Up". Therefore, the unmanned guided vehicle 20 travels along the first straight path Ra at a medium speed.

The control device 10 for an unmanned guided vehicle controls the unmanned guided vehicle 20 so as to travel from the first linear route Ra toward the fifth linear route Re based on an instruction from the tower 90 . The control device 10 for an unmanned guided vehicle travels from the first straight path Ra toward the fifth straight path Re when the signal output from the magnetic sensor 21 through the magnetic tape for branching is input.

When the unmanned guided vehicle 20 reaches the fifth address 5, the control device 10 for the unmanned guided vehicle executes the first program associated with the input "F" in the column corresponding to the fifth address 5 in the second input table M2 Pr1, the second program Pr2 associated with "Middle", and the fourth program Pr4 associated with "Up". Therefore, the unmanned guided vehicle 20 travels along the fifth linear route Re at a medium speed. The control device 10 for an unmanned guided vehicle controls the unmanned guided vehicle 20 so as to travel from the fifth linear route Re toward the sixth linear route Rf in accordance with an instruction from the tower 90 .

When the unmanned guided vehicle 20 reaches the sixth address 6, the control device 10 for the unmanned guided vehicle executes the third program associated with the "stop" input in the column corresponding to the sixth address 6 in the second input table M2 Pr3.

As shown in FIG. 8 , at the sixth address 6 , the unmanned guided vehicle control device 10 executes the third program Pr3 , whereby the unmanned guided vehicle 20 stops at the sixth address 6 . With the unmanned guided vehicle 20 stopped at the sixth location 6, the trolley 80 is unloaded from the unmanned guided vehicle 20 .

The control device 10 for the unmanned guided vehicle controls the unmanned guided vehicle 20 according to "D", "port 3_L", and "off" input in the column corresponding to the sixth address 6 in the second input table M2. That is, if the connection portion 81 of the trolley 80 is not in contact with the connection sensor 23, that is, the input logic of the signal of the connection sensor 23 electrically connected to the third input port In3 is in an "off" state, Then the control device 10 for the unmanned guided vehicle executes the fourth sequence program Prs4 associated with "D".

As shown in FIG. 8 , the unmanned guided vehicle 20 maintains the stopped state of the unmanned guided vehicle 20 for 10 seconds after the unmanned guided vehicle 20 stops. When the unmanned guided vehicle 20 stops for 10 seconds, the unmanned guided vehicle 20 returns the connecting pin 22 to the inside of the unmanned guided vehicle 20 in the stopped state. The unmanned guided vehicle 20 advances toward the seventh location 7 at a medium speed 10 seconds after the unmanned guided vehicle 20 stops. In addition, the operator of the factory removes the trolley 80 outside the sixth straight path Rf between stopping at the position of the sixth address 6 and advancing again. Also, at the sixth address 6, if the input logic of the signal connected to the sensor 23 is in the "ON" state, the control device 10 for the unmanned guided vehicle keeps the unmanned guided vehicle 20 in the stopped state.

As shown in FIG. 1 and FIG. 7 , the control device 10 for an unmanned guided vehicle controls the unmanned guided vehicle 20 so as to travel from the sixth straight path Rf toward the seventh straight path Rg according to an instruction from the tower 90 . When the unmanned guided vehicle 20 reaches the seventh address 7, the unmanned guided vehicle control device 10 executes the first program associated with the input "F" in the column corresponding to the seventh address 7 in the second input table M2 Pr1, and the second program Pr2 associated with "High". Therefore, the unmanned guided vehicle 20 travels from the seventh linear route Rg toward the third linear route Rc at high speed.

When the unmanned guided vehicle 20 arrives at the fourth address 4, the control device 10 for the unmanned guided vehicle executes the first program associated with the input "F" in the column corresponding to the fourth address 4 in the second input table M2 Pr1, and the second program Pr2 associated with "High". Therefore, the unmanned guided vehicle 20 travels along the third linear route Rc at high speed. After the unmanned guided vehicle 20 passes through the fourth address 4, the control device 10 for the unmanned guided vehicle follows the curved path connecting the third straight path Rc and the fourth straight path Rd, and the fourth straight path Rd according to the command from the tower 90. , and the unmanned guided vehicle 20 is controlled in such a way that it travels on the curved path connecting the fourth straight path Rd and the first straight path Ra and returns to the first straight path Ra again. Moreover, the arithmetic processing unit 12 of the control device 10 for an unmanned guided vehicle resets the count of the signal of the magnetic sensor 21 when the fourth address 4 is passed. When the unmanned guided vehicle 20 reaches the first address 1 again, the arithmetic processing unit 12 restarts counting the signal input from the magnetic sensor 21 . The unmanned guided vehicle 20 travels along the second travel route R2, returns to the first location 1 again, and then travels along the first travel route R1. When the unmanned guided vehicle 20 reaches the first address 1 again, the unmanned guided vehicle control device 10 controls the unmanned guided vehicle 20 based on the first input table M1 described above.

Effects of this embodiment will be described. (1-1) Accordingly, when performing multiple types of controls required for the unmanned guided vehicle 20 at a specific address, by inputting the second information in the second column of the first input table M1 and the second input table M2 Sequence programs that can be overwritten to change execution at specific addresses. That is, at a specific address, select the second information associated with the serial program that executes the basic program in the order of the changed multiple controls and input it in the second column, so that multiple controls can be executed easily.

Also, by providing the third column in the first input table M1 and the second input table M2, the worker can designate the input port to which the sensor necessary for executing the sequence program is connected. Specifically, even if the connection sensor 23 is electrically connected to the first input port In1, only by using the external device 200 to input to the "port 3_L" in the third column of the first input table M1 and the second input table M2 "" is overwritten with "port 1_L", and the unmanned guided vehicle 20 can also be operated as described in this embodiment. Therefore, it is not necessary to make the plurality of input ports In1, In2, In3, and In4 dedicated input ports for each sensor, and the operator of the control device for an unmanned guided vehicle can freely choose to electrically connect each of the plurality of sensors the input port. Therefore, the input port can be made common, and it is not necessary to ensure the input port of the unused sensor, thereby suppressing the increase in cost and size of the control device 10 for an unmanned guided vehicle.

Furthermore, by setting the third column in the first input table M1 and the second input table M2, all input ports can be made common, and it is not necessary to ensure the input ports of unused sensors. The third and fourth columns are added to the input form M1 and the second input form M2. Therefore, the visibility of the first input form M1 and the second input form M2 can be improved, and the time for inputting to the input form can be shortened.

(1-2) In this embodiment, the sequence program itself is configured by editing two or more basic programs in advance. Therefore, when the sequence program is executed at a specific address, the responsiveness until the execution of multiple types of controls required for the unmanned guided vehicle 20 is improved.

<Second Embodiment> A second embodiment of the control device for an unmanned guided vehicle will be described. The same symbols are attached to the same configuration as in the first embodiment, and detailed description thereof will be omitted.

As shown in FIG. 10 , the unmanned guided vehicle 20 of this embodiment is used to transport the load L inside the factory. The unmanned guided vehicle 20 includes a first loading position sensor 61 and a second loading position sensor 62 . The first loading position sensor 61 and the second loading position sensor 62 are arranged on the loading platform of the unmanned guided vehicle 20 . The first load position sensor 61 and the second load position sensor 62 are the following sensors, that is, when the load L is loaded on the load platform of the unmanned guided vehicle 20, if it is a load When L is in contact, a signal is sent, and if the load L is not in contact, no signal is sent.

As shown by the dotted line in FIG. 2 , the first loading position sensor 61 is electrically connected to the first input port In1 through the wiring 61 a. The second loading position sensor 62 is electrically connected to the second input port In2 through the wiring 62a.

As shown in FIG. 1 , in this embodiment, after the unmanned guided vehicle 20 travels along the first travel route R1 , travels along the second travel route R2 , and stops the unmanned guided vehicle 20 when returning to the first location 1 again. The unmanned van 20 follows the first address 1, the second address 2, the third address 3, the fourth address 4, the first address 1, the fifth address 5, the sixth address 6, and the seventh Address 7, the 4th address 4 in sequence.

The first program Pr1, the second program Pr2, the third program Pr3 in the first embodiment, and the sixth program for maintaining the stopped state of the unmanned guided vehicle 20 for 10 seconds after the unmanned guided vehicle 20 stops are stored in the memory unit 11. Pr6. The fifth serial program Prs5 is stored in the storage unit 11 as a serial program, and the fifth serial program Prs5 is executed sequentially while controlling the driving direction of the unmanned guided vehicle 20 to the front while driving the unmanned guided vehicle 20. The first program Pr1 and the second program Pr2 for controlling the unmanned guided vehicle 20 to a medium speed are edited in advance.

As shown in FIG. 9, a third input table M3 is stored in the memory unit 11 of the control device 10 for the unmanned guided vehicle, and the third input table M3 is the control required for the unmanned guided vehicle 20 at various locations. Summary table of results. All the controls required for the unmanned guided vehicle 20 when the unmanned guided vehicle 20 travels along the first travel route R1 and the second travel route R2 are summarized in the third input table M3.

The third input table M3 includes plural columns and plural rows. A plurality of input fields are provided in the third input form M3. In the plurality of input columns of the leftmost row in the third input table M3, from the uppermost stage, according to the order of the addresses passed when continuously traveling along the first travel route R1 and the second travel route, input the following in order. address name. In the plurality of input columns corresponding to each address in the third input table M3, next to the address name, input the information indicating the driving direction, the information indicating the vehicle speed, and the driving of the unmanned guided vehicle 20 in sequence from the left. State information, information indicating the time to maintain the stopped state of the unmanned guided vehicle 20, information indicating the operating state of the connecting pin 22, information indicating the contents of the sequence program, information specifying the input port, specifying the signal input from the specified input port Information about the input logic. In addition, the description method of each piece of information in the 3rd input table M3 is the same as that of the 1st input table M1 and the 2nd input table M2. Also, the fifth sequence program Prs5 is represented by "E", and "E" input to the third input table M3 is associated with the fifth sequence program Prs5.

The input situation of each input column of the 3rd input table M3 is demonstrated. In the following, for the sake of explanation, the first address 1 may be described as the first address 1-1 of the first pass and the first address 1-2 of the second pass. Similarly, the fourth address 4 may be described as the fourth address 4-1 of the first pass and the fourth address 4-2 of the second pass. As shown in FIG. 9 , "F" and "High" are input in the column corresponding to the first address 1-1 of the first pass of the unmanned guided vehicle 20 in the third input table M3. "F" and "Middle" are input in the column corresponding to the second address 2 in the third input table M3. "F", "Low", "Stop" and "20" are input in the column corresponding to the third address 3 in the third input table M3. In the third input table M3, the fourth address 4-1 of the first pass of the unmanned guided vehicle 20, the first address 1-2 of the second pass of the unmanned guided vehicle 20, and the fifth address 5, respectively In the corresponding row, "F" and "Middle" are input in the first column, "E" is input in the second column, and "port 1_L" is input in the first designated input column as the third column, "Port 2_L" is input in the second designated input column as the third column, "connected" is input in the first input logic column as the fourth column, and "connected" is input in the second input logic column as the fourth column Input has "ON". In the row corresponding to the sixth address 6, "F" and "Low" are input. In the column corresponding to the seventh address 7, "F", "High", and "Stop" are input. "F" and "High" are input in the column corresponding to the fourth address 4-2 of the second pass of the unmanned guided vehicle 20 . Furthermore, in each address of the third input table M3, a plurality of controls are required for the unmanned guided vehicle 20. In this embodiment, the fourth address 4-1, the unmanned guided vehicle 20 The first address 1-2 and the fifth address 5 of the second pass are set as specific addresses.

In the column corresponding to the fourth address 4-1 of the first pass of the unmanned guided vehicle 20, the first address 1-2 of the second pass of the unmanned guided vehicle 20, and the fifth address 5, in the second In the column, "E" as the second information associated with the fifth sequence program Prs5 is input. The fifth sequence program Prs5 is pre-edited in such a way that the basic program associated with the first information is executed in the above-mentioned desired order, and the above-mentioned first information is input to the fourth address of the first pass of the unmanned guided vehicle 20 4-1. The first column of multiple columns corresponding to the first address 1-2 and the fifth address 5 of the second pass of the unmanned guided vehicle 20 . That is, the fifth sequence program Prs5 is the program Pr that executes the basic program in the above-mentioned expected order, and the above-mentioned basic program is used to execute the fourth address 4-1, the unmanned guided vehicle 20 The multiple controls required for the unmanned guided vehicle 20 at the first address 1-2 and the fifth address 5 of the second pass.

In this embodiment, the method of counting the number of times of signals input to the magnetic sensor 21 in the arithmetic processing unit 12 is changed. Specifically, the arithmetic processing unit 12 in the first embodiment resets the count of the signal of the magnetic sensor 21 when the unmanned guided vehicle 20 travels along the first travel route R1 and passes the fourth address 4, but It is not reset in this embodiment. The arithmetic processing unit 12 confirms that the unmanned guided vehicle 20 is located at the first address when the unmanned guided vehicle 20 travels along the first travel route R1 and the number of times the signal is input to the magnetic sensor 21 is one. The arithmetic processing unit 12 confirms that the unmanned guided vehicle 20 is located at the second address 2 when the number of times of the input signal of the magnetic sensor 21 is 2, and confirms that the unmanned guided vehicle 20 is located at the third address 3 when it is 3 times, which is It is confirmed that the unmanned guided vehicle 20 is located at the fourth address 4 when it is 4 times, and it is confirmed that the unmanned guided vehicle 20 is located at the first address when it is 5 times. In addition, the arithmetic processing unit 12 confirms that the unmanned guided vehicle 20 is located at the fifth address 5 when the number of signals input to the magnetic sensor 21 is 6 times, and confirms that the unmanned guided vehicle 20 is located at the sixth address 6 when it is 7 times. It is confirmed that the unmanned guided vehicle 20 is located at the seventh address 7 when it is 8 times, and it is confirmed that the unmanned guided vehicle 20 is located at the fourth address 4 when it is 9 times.

The arithmetic processing unit 12 refers to the third input table M3 stored in the memory unit 11 when confirming the address of the unmanned guided vehicle 20 based on the number of signals input to the magnetic sensor 21 . When the unmanned guided vehicle 20 travels along the first travel route R1 and the second travel route R2, the arithmetic processing unit 12 refers to the corresponding unmanned transport in the third input table M3 when the address of the unmanned guided vehicle 20 is outside the specified address. The first information input in the row of the address where the car 20 is located executes the basic program associated with the first information.

When the unmanned guided vehicle 20 travels along the first travel route R1 and the second travel route R2, the arithmetic processing unit 12 is located at a specific address, if the corresponding specific address in the third input table M3 In the address column, the input logic of the signal input from the first input port In1 designated by "port 1_L" as the third information is input to the fourth column as "on" and "off" as the fourth information "The input logic specified by ", and the input logic of the signal input from the 2nd input port In2 specified as the 3rd information "port 2_L" is input to the 4th information as the 4th information "on" and " Disconnect the input logic specified by ", then execute the fifth sequence program Prs5 associated with the input "E" in the second column.

The operation of this embodiment including the operation of the unmanned guided vehicle 20 will be described. Furthermore, as for the address for which "E" is not input in the second column of the third input table M3, the first information input in the first column of the third input table M3 is carried out in the same manner as in the first embodiment. Basic procedures for establishing associations. In the following description, it is assumed that the load L is in contact with the first load position sensor 61 and the second load position sensor 62 at the third position 3. In this way, the load L is loaded on the loading platform of the unmanned guided vehicle 20 .

As shown in Fig. 1, Fig. 9, and Fig. 10, the control device 10 for the unmanned guided vehicle is at the 4th address 4-1 where the unmanned guided vehicle 20 passes for the first time, and the first location where the unmanned guided vehicle 20 passes for the second time. Address 1-2, 5th address 5, according to the 4th address 4-1 of the 1st pass with the unmanned guided vehicle 20 in the 3rd input table M3, the 1st pass of the 2nd pass with the unmanned guided vehicle 20 In the column corresponding to address 1-2 and the fifth address 5, input to "E" in the second column, input to "Port 1_L" in the first designated input column, input to "Port" in the second designated input column 2_L", input to "On" in the first input logic column, input to "On" in the second input logic column to control the unmanned guided vehicle 20 . The control device 10 for the unmanned guided vehicle uses the input logic of the signal input from the first input port In1 electrically connected to the first load position sensor 61 to be "on", and is electrically connected to the second load position sensor When the input logic of the signal input by the second input port In2 of the tester 62 is "connected", the fifth sequence program Prs5 associated with "E" is executed. The control device 10 for an unmanned guided vehicle moves the unmanned guided vehicle 20 forward at a medium speed by executing the fifth sequence program Prs5. Furthermore, the control device 10 for an unmanned guided vehicle stops the unmanned guided vehicle 20 when the input logic of any one of the first loading position sensor 61 and the second loading position sensor 62 is "OFF". .

When the unmanned guided vehicle 20 advances at a medium speed, the control device 10 for the unmanned guided vehicle confirms whether the loaded object L is A position shift has occurred.

In this embodiment, the same effect as that of the first embodiment can be obtained. Also, in this embodiment, even if the first load position sensor 61 is electrically connected to the third input port In3, and the second load position sensor 62 is electrically connected to the fourth input port In4, It also only needs to use the external device 200 to overwrite "port 1_L" recorded in the third input table M3 with "port 3_L" and "port 2_L" with "port 4_L". Therefore, the operator of the control device 10 for an unmanned guided vehicle can commonize the input port.

In addition, said each embodiment can be implemented by changing as follows. The above-mentioned respective embodiments and the following modified examples can be implemented in combination with each other within a technically non-contradictory range.

〇In each of the above-mentioned embodiments, the configuration of the unmanned guided vehicle 20 and the control required for the unmanned guided vehicle 20 can also be appropriately changed. The content of the serial program can also be changed appropriately. The sequence program may be configured by pre-editing two or more basic programs in a desired order.

〇The sequence program can also be set as a program Pr in which the order of execution is specified in such a way that, at a specific address, one of the basic programs associated with the first information input to the plurality of first columns is executed in the desired order. 2 or more. That is, the sequence program may not be edited in advance so as to execute two or more basic programs in a desired order. Furthermore, it is also possible to similarly change the sequence programs other than each of the above-mentioned sequence programs Prs1, Prs2, Prs3, and Prs4.

〇 "F", "R", "High", "Medium", "Low", "Stop", "Rise", "Down" as the first information, and "A" and "B" as the second information ", "C", "D" and "E" description methods can also be appropriately changed. For example, "forward" may be used instead of "F", and "reverse" may be used instead of "R". Even so, it is only necessary to associate the first information with the basic program and associate the second information with the serial program.

〇In the first embodiment, the first input port In1 and the second input port In2 may be omitted. By deleting unused input ports, it is possible to suppress cost and increase in size of the control device 10 for an unmanned guided vehicle.

〇In the first embodiment, the second specified input column and the second input logic column in the first input table M1 and the second input table M2 may be omitted. By such a change, the visibility of the 1st input sheet M1 and the 2nd input sheet M2 improves further.

〇The configuration of the first travel route R1 and the second travel route R2 can also be appropriately changed. In addition, which one of the first travel route R1 and the second travel route R2 the unmanned guided vehicle 20 travels along can be appropriately changed according to an instruction from the control tower 90 .

〇The magnetic tape 30 can also be changed to an RFID (radio frequency identifier, radio frequency identifier) that memorizes the location information of each address. In this case, the arithmetic processing unit 12 detects the position of the unmanned guided vehicle 20 based on the position information of the RFID. In addition, as a method of detecting the position of the unmanned guided vehicle 20, GPS (Global Positioning System, Global Positioning System) and the like can be used, and it can also be changed to, for example, counting the time after the unmanned guided vehicle 20 starts driving, and detecting unmanned transported vehicles according to the elapsed time. The position of the car 20 . That is, the method of detecting the position of the unmanned guided vehicle 20 can also be appropriately changed.

〇The trolley 80 and the load L can also be prepared or loaded not by the workers in the factory, but by machines. At this time, the departure timing of the unmanned guided vehicle 20 can also be adjusted by interlocking communication between the control device 10 for the unmanned guided vehicle and the machine. Furthermore, in the case of implementing interlock communication, the transmitter 43 described in FIG. 2 for outputting signals from the unmanned guided vehicle 20 to the machine may also be provided. The transmitter 43 is preferably electrically connected to any one of the first output port Out1, the second output port Out2, the third output port Out3, and the fourth output port Out4 of the control device 10 for the unmanned guided vehicle through the wiring 43a. In addition, FIG. 2 shows an example in which the transmitter 43 is connected to the fourth output port Out4 via the wire 43a.

〇In this embodiment, 4 input ports and 4 output ports are provided in the control device 10 for an unmanned guided vehicle, but the numbers of input ports and output ports can also be appropriately changed.

1: the first address 2: The second address 3: The third address 4: The 4th address 5: the fifth address 6: The 6th address 7: The 7th address 10: Control device for unmanned guided vehicles 11: Memory Department 12: Computational processing department 12a: 1st input unit 12b: The second input part 12c: The third input part 12d: 4th input part 12e: 1st output part 12f: the second output part 12g: The third output part 12h: 4th output unit 13: shell 20: Unmanned van 21: Magnetic sensor 21a: Wiring 22: link pin 23: Link sensor 23a: Wiring 30:Magnetic strap 43: Transmitter 43a: Wiring 61: The first loading position sensor 61a: Wiring 62: The second loading position sensor 62a: Wiring 80: Trolley 81: Connection Department 90: tower 100: Unmanned conveyor system 101: The first input terminal 102: The second input terminal 103: The third input terminal 104: The 4th input terminal 111: 1st output terminal 112: The second output terminal 113: The third output terminal 114: The 4th output terminal 200: external device In1: the first input port In2: The second input port In3: The third input port In4: The 4th input port L: load M1: 1st input table M2: 2nd input table M3: 3rd input table Out1: the first output port Out2: The second output port Out3: the third output port Out4: The 4th output port P: starting point Pr: program Pr1: 1st program Pr2: The second program Pr3: third program Pr4: 4th program Pr5: fifth program Pr6: Program 6 Prs1: 1st sequence program Prs2: The second sequence program Prs3: The third sequence program Prs4: 4th sequence program Prs5: 5th sequence program R1: the first driving route R2: The second driving route Ra: 1st straight line path Rb: 2nd straight line path Rc: 3rd straight line path Rd: 4th straight line path Re: 5th straight path Rf: 6th straight line path Rg: 7th straight line path

FIG. 1 is a diagram schematically showing a travel path of an unmanned guided vehicle. Fig. 2 is a schematic diagram of a control device for an unmanned guided vehicle. 3 is a diagram showing a first input table stored in a storage unit of the control device for an unmanned guided vehicle according to the first embodiment. Fig. 4 is a schematic diagram showing the operation of the unmanned guided vehicle. Fig. 5 is a schematic diagram showing the operation of the unmanned guided vehicle. Fig. 6 is a schematic diagram showing the operation of the unmanned guided vehicle. Fig. 7 is a diagram showing a second input table stored in a storage unit of the control device for an unmanned guided vehicle according to the first embodiment. Fig. 8 is a schematic diagram showing the operation of the unmanned guided vehicle. Fig. 9 is a diagram showing a third input table stored in a storage unit of the control device for an unmanned guided vehicle according to the second embodiment. Fig. 10 is a schematic diagram showing the operation of the unmanned guided vehicle.

M1: 1st input table

Claims (2)

A control device for an unmanned guided vehicle, characterized in that it has: Memory unit, its memory has the program to control the unmanned guided vehicle; an arithmetic processing unit, which executes the above-mentioned programs; and a plurality of input ports having a plurality of sensors electrically connected thereto; and The control device for the unmanned guided vehicle confirms the address indicating the position of the above-mentioned unmanned guided vehicle traveling along the predetermined travel route, and executes the control required for the above-mentioned unmanned guided vehicle at each of the plurality of the above-mentioned addresses, In the above-mentioned memory part, there are: The basic program, which is the above-mentioned program that executes the control required for the above-mentioned unmanned guided vehicle at a plurality of the above-mentioned addresses; A sequence program that executes two or more of the above-mentioned basic programs for executing each of the above-mentioned multiple types of controls in a desired order at a specific address that is the above-mentioned address that requires multiple types of controls for the above-mentioned unmanned guided vehicle the above-mentioned procedure; and Input form, which is a summary list of the controls required for the above-mentioned unmanned guided vehicles at various locations of the plurality of above-mentioned locations; In the above input table are set: A plurality of first columns, which enter the first information associated with the above-mentioned basic program at each of the plurality of above-mentioned addresses; In the second column, enter the second information associated with the above-mentioned serial program at the above-mentioned specific address; In the third column, the third information is entered at the above-mentioned specific address, and the third information designates the above-mentioned input port that is electrically connected to the above-mentioned sensor necessary for executing the above-mentioned serial program among the above-mentioned plurality of input ports; and In the fourth column, the fourth information is input at the above-mentioned specific address, and the fourth information specifies the input logic of the signal input from the above-mentioned input port specified by the above-mentioned third information; and The above-mentioned operation processing department When the above-mentioned unmanned guided vehicle is located at the above-mentioned specific address, and the above-mentioned second information is entered in the above-mentioned second column of the above-mentioned specific address in the above-mentioned input form, if the above-mentioned input logic is the above-mentioned input specified by the above-mentioned fourth information logic, execute the above sequence program. Such as the control device for unmanned guided vehicles in claim 1, wherein the above-mentioned serial program associated with the above-mentioned second information in the above-mentioned second column input to the above-mentioned specific address is pre-edited as follows: Two or more of the above-mentioned basic programs associated with the above-mentioned first information in the above-mentioned first column of the specific address are executed in the desired order.

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