WO1998004480A1 - Dispositif et methode pour commander le deplacement d'un vehicule de transport automatique, methode de manutention automatique d'une cargaison, commande pour manutention de cargaison, bande de guidage de deplacement, dispositif reperant les defaillances de la bande et methode pour reparer cette derniere - Google Patents

Dispositif et methode pour commander le deplacement d'un vehicule de transport automatique, methode de manutention automatique d'une cargaison, commande pour manutention de cargaison, bande de guidage de deplacement, dispositif reperant les defaillances de la bande et methode pour reparer cette derniere Download PDF

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Publication number
WO1998004480A1
WO1998004480A1 PCT/JP1997/002632 JP9702632W WO9804480A1 WO 1998004480 A1 WO1998004480 A1 WO 1998004480A1 JP 9702632 W JP9702632 W JP 9702632W WO 9804480 A1 WO9804480 A1 WO 9804480A1
Authority
WO
WIPO (PCT)
Prior art keywords
cargo handling
travel
guided vehicle
automatic guided
code
Prior art date
Application number
PCT/JP1997/002632
Other languages
English (en)
Japanese (ja)
Inventor
Shuji Arakawa
Original Assignee
Komatsu Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP8218024A external-priority patent/JPH1049231A/ja
Priority claimed from JP8224505A external-priority patent/JPH1049228A/ja
Priority claimed from JP22450696A external-priority patent/JPH1053396A/ja
Application filed by Komatsu Ltd. filed Critical Komatsu Ltd.
Publication of WO1998004480A1 publication Critical patent/WO1998004480A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons

Definitions

  • Unmanned guided vehicle traveling control device and method unmanned cargo handling method and cargo handling control device, traveling guidance tape, breakage determination device for the tape, and repair method for the tape
  • the present invention relates to a method and an apparatus for unmanned conveyance and unmanned cargo handling, and to an induction tape applied to control of these apparatuses.
  • the present invention relates to an unmanned cargo handling machine, a guide tape for guiding an unmanned transport vehicle, and a breakage determination or repair thereof.
  • Travel control of an automatic guided vehicle requires detection of the amount of lateral displacement of the vehicle with respect to the travel route, detection of the travel distance, detection of the stop position, and the like, and control of speed, steering, and stop is performed based on this detection information. Is being done.
  • Conventionally known methods for detecting each of the above information include the following methods using an electromagnetic induction wire, a method using a light reflecting tape, a method using a magnetic tape, a method using a laser guide, and a laser triangular method. There is a survey method.
  • an induction wire (cable) is buried on the road surface of the traveling route, and an alternating current is supplied to the induction wire.
  • the pick-up coil installed on the automatic guided vehicle receives the alternating magnetic field generated by flowing. In this way, the amount of slip of the automatic guided vehicle with respect to the guide line at this time is obtained by calculating from the previously calibrated relationship between the pick-up coil electromotive voltage and the amount of side shift.
  • a guide line is buried on the road surface so as to be orthogonal to the guide line for driving guidance, and the alternating magnetic field generated by the guide line is received by a separately prepared pickup coil to detect the stop position and obtain switching signals for various controls.
  • a tape made of aluminum or stainless steel that easily reflects light on the road surface of a traveling route is continuously used. The light is emitted and received from a light emitting and receiving device installed on the automatic guided vehicle side, and the amount of lateral displacement between the automatic guided vehicle and the tape is detected based on the presence or absence of reflected light.
  • the tape fragments are laid separately from the tape for guiding the travel, and the stop position is detected by using a separately prepared light emitting and receiving device.
  • a magnetic tape with a magnetic N or S pole as the upper surface on the road surface of the traveling route is used.
  • a bar is continuously laid, and the amount of lateral displacement is detected by a magnetic sensor or a magnetic sensor array installed on the automatic guided vehicle side.
  • a magnetic tape fragment is laid separately from the magnetic tape for driving guidance, and the stop position is detected using a separately prepared magnetic sensor.
  • a laser projector is installed at a predetermined height above the ground, and the laser is driven. Emits light so that it matches the path.
  • Laser receivers are arranged in an array on the automatic guided vehicle side in a direction perpendicular to the traveling direction, and the amount of lateral displacement is detected from the light receiving position. The laser is projected separately in the direction perpendicular to the travel route, and the stop position is detected by receiving the laser with a laser receiver separately installed on the automatic guided vehicle.
  • a method to scan and guide the laser from the upper part of the road has also been proposed.
  • Reflectors are mounted on ground-side equipment such as walls and pillars at multiple locations, and the current position of the automatic guided vehicle is calculated from the angles at which the reflected light is obtained and the positions of the reflectors known in advance. I have. Since the current position on the traveling plane can be calculated, the stop position can be detected as position information.
  • the travel distance detection in the travel control device described above is performed by using the wheel rotation speed as an encoder. In general, a method of counting the sensor output is used.
  • the method using guide wires requires cutting work on the road surface, and it is necessary to perform power cutting while avoiding ground equipment such as rails (guide rails for moving and moving racks). There are problems such as long construction time and difficulty in changing or adding routes.
  • the method using light reflection tape often coexists with other automatic guided vehicles and manned guided vehicles due to the nature of the site where the automated guided vehicle is used. Therefore, there is a problem that the reflective tape is soiled or damaged by stepping on the vehicle or the automatic guided vehicle itself with the tires, and as a result, guidance becomes difficult.
  • the magnetic tape method has the problem of tape breakage for the same reason as the light reflective tape, and the magnetic rod requires cutting on the road surface for the same reason as the electromagnetic induction wire. There are problems that must be done, that construction costs and construction time are required, and that it is not easy to change or add routes.
  • the laser-guided method is effective when the traveling path is formed by only a small number of straight roads.However, in a warehouse or the like, the traveling path is formed from a large number of orthogonal straight sections. It is necessary to install a laser projector, which is a huge expense. In addition, when curved parts are included to avoid ground equipment, this method using laser linearity cannot be used.
  • FIG. 21 is a plan view showing an example of a warehouse in which such a rack is installed.
  • each rack 2 is provided inside the warehouse 1 so as to be movable in a certain direction.
  • a transported object 3 to be transported is stored in a predetermined location of the moving rack 2.
  • the automatic guided vehicle 4 that automatically loads or unloads the conveyed articles 3 automatically travels in the warehouse 1 along a predetermined traveling route.
  • the traveling route of the automatic guided vehicle 4 in the direction orthogonal to the traveling direction of the moving rack 2 is a passage between the racks formed by the movement of the traveling rack 2. is there.
  • the moving rack 2 is not controlled to determine the position, and the stop position is changed every time.
  • the end point and the other end point are displaced due to the kinking on the rack structure, and an attitude angle is generated in the rack, and as shown in Fig. 22, the movement direction of the moving rack 2 is changed.
  • the moving rack 2 is not always orthogonal.
  • the traveling of the automatic guided vehicle 4 is controlled with a predetermined distance (called “clearance”) with respect to the moving rack 2 to be worked.
  • the position and attitude angle of the mobile rack 2 with respect to the ground may change.
  • any of the above-mentioned prior arts is a method of installing some guidance source on the ground or under the ground. Therefore, in these cases, a collision accident between the automatic guided vehicle 4 and the mobile rack 2 occurs, or the automatic guided vehicle 4 and the mobile rack 2 are too far apart to perform unmanned cargo operations normally.
  • favorable cruise control cannot be performed.
  • Unmanned cargo handling operations include, for example, unloading pallets loaded with conveyed goods and unloading the conveyed goods themselves.
  • unloading pallets unmanned forklifts with forks and unmanned transport carts are often used, and when unloading directly, such as cardboard cases, arms are used.
  • a robot with a vacuum suction pad and a gripping hand at its tip. For example, the balance circuit is used.
  • an infrared sensor 102 is built in the tip of a fork 101 of an unmanned forklift.
  • the infrared sensor 102 receives the transmitted infrared light reflected by the object in front of the fork 101, and detects the presence or absence of a front reflector.
  • a pallet 104 placed on a rack shelf 103 and loaded with a conveyed product 106 is provided.
  • a cargo handling method when unloading is described.
  • the fork 101 is raised at a very low speed while searching for the presence of a front reflector using the infrared sensor 102, and the height range in which there is no reflector is regarded as the hole 105. .
  • the fork 101 is positioned at approximately the height of the center of the searched hole 105, and the fork 101 is moved forward (so-called reach out), or the vehicle itself is moved forward to form the fork 101.
  • the fork 101 is raised by a predetermined amount, the fork 101 is retracted (so-called reach-in), or the vehicle itself is moved backward, and the pallet 104 is pulled into the vehicle body, and the fork 10 Unmanned traveling to the transport destination with 1 in the lowered traveling position.
  • Fig. 24 shows an example of work in the case of directly handling cargo such as a cardboard case.
  • An image processing device using a CCD camera 107 or the like can be considered as a position recognition means that can be currently employed.
  • a vacuum suction pad 108 is provided at the end of the robot arm 109, and a vacuum suction pad 108 of the robot arm 109 is provided.
  • a CCD camera 107 is provided in the vicinity of 8, a CCD camera 107 is provided.
  • the image data of the conveyed object 106 is input by the CCD camera 107, and this image data is taken into a controller (not shown) and processed for image processing.
  • the shape of 6 is specified, and the position of the conveyed object 106 is recognized.
  • the robot arm 109 is moved to the position of the conveyed object 106 based on the result of the above image processing, and the conveyed object 106 is sucked and gripped by the vacuum suction pad 108, and then the predetermined conveyance is performed.
  • the robot arm 109 is moved to the position to convey it.
  • the traveling guidance tape is trampled by the tires of the automatic guided vehicle or other manned transportation vehicles, so that the traveling guidance tape becomes dirty and loses the light reflection function. Or, it is often damaged. Furthermore, when the vehicle turns with a spin turn or a small radius, or when the tires are stationary, the driving guide tape is severely damaged. As a result, the automated guided vehicle gradually became unable to recognize the traveling guidance tape, Eventually, there is a problem that the operation is stopped when it is determined that a running abnormality such as a course track has occurred. Therefore, in order to prevent this, it is necessary for the operator to periodically inspect the damage state of the driving guide tape, and at present the maintenance time is extremely large.
  • the traveling guide tape has entered the traveling route information such as the gradient of the traveling route, the passage space, the speed, and the distance, the traveling route information and the tape laying place have a one-to-one relationship. . Therefore, it is not enough to simply lay a new running guide tape as described above, but it is necessary to replace it with a tape in which the running route information corresponding to the place is written.
  • the information of these barcode marks is easy to read by the machine, but is a symbol that is difficult to read by the operator. Therefore, it is very difficult for a worker to read and repair such a symbol, and despite the need to repair only a part of the symbol, it is necessary to lay the running guide tapes for all routes collectively. We have to fix it. In addition, not only in the case of dirt or damage, but also in the case of partially changing the route information, the same problem as described above occurs. In addition, since it is necessary to have detailed knowledge about the detection characteristics of the sensor such as a light receiving device, it is difficult for a person other than a specialist to judge whether or not the traveling guide tape is usable.
  • the present invention has been made in order to solve the problems of the conventional technology, and can be used even in a site where the position and direction of a traveling route changes freely, such as a site where a mobile rack or the like is installed. It is a first object of the present invention to provide a traveling control device and method for an automatic guided vehicle that can travel without interfering with a vehicle or the like. It is a second object of the present invention to provide an unmanned cargo handling method and a cargo handling control device capable of reliably and easily detecting the position of the cargo handling object and identifying the cargo handling object. In addition, it is possible to easily detect dirt or damage on the travel guidance tape of the automatic guided vehicle, and to accurately create and replace a travel guidance tape in which travel control information corresponding to the detected location is written. A third object is to provide a tape damage judging device and a method for repairing the tape.
  • a first configuration of a traveling control device for an automatic guided vehicle according to the present invention is a traveling control device for an automatic guided vehicle that automatically travels along a traveling route to a predetermined target position.
  • a label reader that is installed on the AGV and reads each information from the label, and is installed on the AGV side and based on each information read from the label reader, the current position and travel distance data of the AGV are reduced.
  • a data processor that calculates and outputs a three-dimensional relative distance between the automatic guided vehicle and the label, a three-dimensional relative distance input from the data processor, and current position or travel distance data.
  • a traveling controller that travels while controlling the speed, steering and stopping of the automatic guided vehicle based on the vehicle.
  • a second configuration of the traveling control device for an automatic guided vehicle according to the present invention is an automatic guided vehicle that automatically travels to a predetermined target position along a traveling route based on communication between the management computer and the automatic guided vehicle. In the traveling control device,
  • a code that is provided along the side of the travel route and indicates information for detecting the current position or travel distance in the travel route and a mark that indicates information for detecting the relative position to the automatic guided vehicle is filled in.
  • a label reader installed on the AGV and reads various information from the label
  • a label reader installed on the AGV or the management computer, and based on the information read from the label reader, the current status of the AGV
  • a data processor that outputs at least one of the position and travel distance data, and calculates and outputs a three-dimensional relative distance between the automatic guided vehicle and the label;
  • a travel controller that controls the speed, steering and stopping of the automatic guided vehicle based on the three-dimensional relative distance input from the data processor and at least one of the current position and travel distance data is provided. It features.
  • the three-dimensional relative position between the automatic guided vehicle and the label can be obtained from the information obtained by reading the mark written on the label provided along the side of the traveling route.
  • the distance is calculated. This allows the vehicle to travel while maintaining a predetermined distance from the side of the traveling route during automatic traveling, and eliminates interference between the automatic guided vehicle and a rack, for example.
  • the current position in the travel route and Z or travel distance are detected from the code information written on the label.
  • a traveling sequence to the target position is automatically generated, and acceleration / deceleration, steering, and braking of the automatic guided vehicle are controlled in accordance with the current position and / or traveling distance. Since the traveling route can be formed simply by providing the labels at predetermined intervals, the traveling route can be formed at low cost, and the layout of the traveling route can be easily changed.
  • the label may be attached to a member or a rack provided along the traveling route.
  • the label can be easily and inexpensively driven by attaching the label to the side of the travel route, for example, on a rack or other member (wall, upright, etc.).
  • a line path is formed.
  • automatic guided vehicles and labels can be used based on the information written on the labels attached to the mobile racks.
  • the three-dimensional relative distance is calculated, and the current position and the traveling distance are detected. Therefore, even when the attitude of the moving rack is inclined with respect to the moving direction, it is possible to travel without interfering with the moving rack and the like and maintaining a predetermined separation distance from the moving rack. .
  • the label code shall include at least one of the address corresponding to the position of the rack arranged along the travel route and information indicating the relative distance from the reference position of the rack.
  • the traveling controller may control the traveling of the automatic guided vehicle based on the information written in the code during the automatic traveling.
  • an address corresponding to the position of the rack and / or information indicating a relative distance from the reference position of the rack and the like are written as the label code.
  • the current position of the automatic guided vehicle is calculated based on the above address, and the traveling distance of the automatic guided vehicle is calculated based on the relative distance from the reference position. Therefore, at the time of automatic traveling, the speed, steering, and stopping of the automatic guided vehicle are controlled based on the current position and / or traveling distance, and traveling control to the target position can be performed.
  • label readers be installed at least at the front and rear of the automatic guided vehicle.
  • the label readers disposed at the front and rear of the automatic guided vehicle are used to separate the labels from the front and rear portions of the automatic guided vehicle and the labels, that is, the distance between the moving rack and the like. Is detected.
  • the posture relationship between the AGV and the rack for example, is detected based on the distance between the front and rear of the AGV and the distance between the two label readers. It is easy to perform steering control so that the vehicle travels while maintaining a predetermined separation distance (that is, along the travel route).
  • Label readers should be installed at least on the left and right sides of the automatic guided vehicle. Is desirable. According to this configuration, since the label readers are disposed on the left and right portions of the automatic guided vehicle, the labels may be provided on either the left or right with respect to the traveling direction of the automatic guided vehicle. Therefore, when the automatic guided vehicle travels along the traveling route, there is no restriction on the direction in which the automatic guided vehicle is directed in front of the automatic guided vehicle, and an arbitrary traveling direction can be selected. Therefore, the automatic generation of the traveling sequence is facilitated.
  • the traveling control method for an automatic guided vehicle is a traveling control method for an automatic guided vehicle that automatically travels to a predetermined target position along a traveling route and loads or unloads a conveyed member.
  • a code indicating information for detecting at least one of the current position in the traveling route and the traveling distance, and a mark indicating information for detecting a relative position with the automatic guided vehicle are provided on the rack. Is attached, and at the time of automatic guided vehicle travel, at least one of the current position and travel distance of the automated guided vehicle is detected based on the information represented by the code, and is displayed with the mark.
  • the three-dimensional relative distance between the label and the automatic guided vehicle based on the information
  • the automatic guided vehicle and the label are respectively obtained from the information read from the mark and / or the code written on the label attached to the member or the rack provided along the traveling path.
  • the S-dimensional relative distance to and Z or the current position or travel distance in the travel route is calculated. This allows the vehicle to travel while maintaining a predetermined distance with respect to the side surface of the traveling route during automatic traveling, and eliminates interference between the automatic guided vehicle and, for example, a mobile rack.
  • a traveling sequence to the target position is automatically generated, and acceleration, deceleration, steering, and braking of the automatic guided vehicle are controlled in accordance with the current position and the traveling distance.
  • the traveling route can be formed only by providing the labels at predetermined intervals, the traveling route can be formed at a low cost, and the layout of the traveling route can be easily changed.
  • the traveling route can be formed only by providing the labels at predetermined intervals, the traveling route can be formed at a low cost, and the layout of the traveling route can be easily changed.
  • a traveling sequence may be used to control the speed, steering, and stopping of the automatic guided vehicle to reach the target position.
  • the current position or the traveling distance is detected from the information of the code written on the label provided along the traveling route.
  • a traveling sequence to the target position is automatically generated, and acceleration / deceleration, steering, and braking of the automatic guided vehicle are controlled in accordance with the current position and the traveling distance in accordance with the traveling sequence.
  • the traveling control of the automatic guided vehicle becomes easy even in a site where the position and direction of the traveling route changes independently, such as a site where a mobile rack is installed.
  • a transported object or a pallet on which the transported object is placed is set as an object to be unloaded, and a target transported object or a pallet is automatically transferred to a pallet or a shelf storing the pallet.
  • the marks and codes affixed or printed on the front of at least one cargo handling side of conveyed goods, pallets and shelves are read optically.
  • the read cargo-handling object is the target object, and a three-dimensional relative distance between the cargo-handling device and the cargo-handling position of the cargo-handling object is obtained.
  • It is specially designed to unload the target cargo handling object from the cargo handling position or place it at the cargo handling position.
  • a predetermined mark and a label on which a Z or a code is written are attached to the cargo or pallet to be unloaded.
  • printing may be performed directly with an ink jet, and this is also cheaper.
  • the three-dimensional relative distance between the mark or code of the cargo object and the work equipment is detected, and the offset distance data entered in the code is used to determine the The cargo handling position is the three-dimensional relative distance from the work equipment Desired. Then, by positioning the work machine at the obtained cargo handling position, it becomes possible to reliably load or unload the cargo handling object.
  • the identification code written in the code it is easy to identify whether the cargo handling object is the target object or not. This disappears.
  • a transported object or a pallet which is a target cargo handling object of an unmanned cargo handling device, is automatically unloaded to a pallet or a shelf on which each is placed.
  • the cargo handling control device of the unmanned cargo handling device to be loaded or affixed or printed on at least one unmanned cargo handling surface of the conveyed goods, pallets and shelves, and the three-dimensional relative distance from the unmanned cargo handling device A mark representing information for detecting
  • ID information for identifying the cargo handling object
  • offset of the cargo handling position and mark position of the cargo handling object A code representing at least one of the distance information
  • a reader provided on the unmanned cargo handling device, for reading the mark and code information and outputting the data as data
  • the three-dimensional relative distance between the mark or the code and the unmanned cargo handling device is calculated based on the data input from the reader, and is set on the unmanned cargo handling device.
  • a data processor that calculates the cargo position and outputs the calculated three-dimensional relative distance and the cargo position;
  • the work machine of the unmanned cargo handling equipment is positioned and controlled at the calculated cargo handling position, and the target cargo handling object is used by the machine And a controller that controls the unloading of goods from the loading position or the loading of the goods to the loading position.
  • the second configuration of the cargo handling control device according to the present invention is based on the communication between the management computer and the unmanned cargo handling device.
  • a cargo handling control device of an unmanned cargo handling device that automatically loads or places objects or pallets on a pallet or shelf on which they are placed,
  • a code representing at least one of the distance information a reader provided on the unmanned cargo handling device, which reads the mark and code information and outputs it as data,
  • Installed on the unmanned cargo handling equipment or on the management computer side calculates the three-dimensional relative distance between the mark or code and the unmanned cargo handling equipment based on the data input from the reader, and uses the offset distance data to handle the cargo.
  • the work machine of the unmanned cargo handling equipment is positioned and controlled at the calculated cargo handling position, and the target cargo handling object is used by the machine And a controller that controls the unloading of goods from the loading position or the loading of the goods to the loading position.
  • a predetermined mark and a label on which a code is written are attached to a conveyed object or a pallet to be handled.
  • printing may be performed directly with an ink jet.
  • the mark and code are read optically by a reader provided on the cargo handling device.
  • the data processor detects the three-dimensional relative distance between the mark or the code of the material to be unloaded and the working machine according to the signal for reading the mark. Further, based on the offset distance data entered in the code, the cargo handling position of the cargo handling object is obtained as a three-dimensional relative distance from the work equipment.
  • the controller positions the work implement at the obtained cargo handling position, controls the cargo handling, and carries out the transport by performing the traveling control. Therefore, ensure that the cargo Unloading or unloading becomes possible.
  • the controller reads the identification code written in the code to easily identify whether the cargo handling object is an object in the metropolitan area. Will disappear.
  • offset distance data between the mark or code and the cargo handling position of the cargo object may be entered in the mark or code.
  • the data is read to determine the three-dimensional relative distance between the work equipment and the loading position. This makes it possible to avoid detecting pallet holes due to, for example, pallet debris and to accurately detect the position of the cardboard case. Therefore, it is possible to reliably load or unload the cargo.
  • offset distance data between the mark or the code and the cargo handling position of the cargo handling object may be stored in the controller or the management computer in advance. According to such a configuration, since the offset distance data is stored in the controller or the management computer in advance, this data is read to determine the three-dimensional relative distance between the work equipment and the cargo handling position. This makes it possible to avoid detecting pallet holes due to, for example, pallet debris, and to accurately detect the position of the cardboard case. Therefore, reliable loading and unloading becomes possible.
  • the ID code of the cargo may be entered in the mark or code. According to such a configuration, since the ID code is entered, it is possible to easily identify whether or not the material to be handled is the target material, and it is possible to prevent unintentionally handling a material different from the target.
  • the travel guide tape according to the present invention is a travel guide tape that is laid along a travel route, and in which the entered information is optically read and the automatic guided vehicle travels based on this information.
  • the traveling guide tape has a predetermined length suitable for maintenance workability and the like.
  • Each is divided.
  • Each divided section indicates management information of each tape, that is, a management code for managing tape material, written control information, etc., or identification information unique to each tape is entered.
  • management information of each tape that is, a management code for managing tape material, written control information, etc., or identification information unique to each tape is entered.
  • a travel guide tape breakage determination device is laid along a travel route, optically reads the entered information, and controls travel of the automatic guided vehicle based on this information.
  • a tape damage determination device In a tape damage determination device,
  • a management code representing tape management information corresponding to each of the divided traveling guide tapes, and a code for writing a check digit for a read error check
  • Reads the code entered at the time of guided travel control determines the presence or absence of a read error based on the check digit, counts the number of read errors for each divided travel guide tape, and determines the number of error occurrences When the number of times exceeds the number of times, it is judged that it is time to replace the divided travel guidance tape, and a control code that notifies the management code corresponding to the divided travel guidance tape to the outside and issues a warning This is the feature.
  • the travel guide tape is divided into predetermined lengths for ease of maintenance and the like.
  • travel control information corresponding to each of them a management code indicating management information of each tape, and a chinic digit are written.
  • the number of times of occurrence of the reading error by the check digit of the code is counted for each of the divided traveling guiding tapes.
  • the number of times of occurrence of this error exceeds a predetermined number, it is determined that the traveling guide tape is damaged, and a warning for replacement is issued.
  • the management code corresponding to the damaged travel (For example, a computer or display), it is easy to create a new accurate running guide tape corresponding to this management code. This makes it possible for the automatic guided vehicle to monitor the travel guide tape, thereby reducing the time and labor required for manual maintenance of the travel guide tape, and accurately determining the damaged part. Becomes possible.
  • the travel guide tape is laid along a travel route, and at the same time, the entered information is optically read, and the travel of the automatic guided vehicle is controlled based on the information.
  • a repair method for repairing an induction tape In a repair method for repairing an induction tape,
  • the travel guide tape is divided into predetermined lengths which are predetermined for ease of maintenance and the like, and each divided travel guide tape has at least management information indicating management information of each tape.
  • the code has been entered.
  • replace the damaged travel guide tape replace it with a new travel guide tape created based on the management code corresponding to the damaged travel guide tape.
  • a travel guide tape in which exactly the same information as the damaged travel guide tape is entered can be created accurately, and travel control is performed accurately.
  • the number of read errors occurring when reading the management code and check digit is counted for each divided travel guidance tape.
  • the number of read errors occurring when reading the management code and the check digit is counted for each divided travel guide tape.
  • FIG. 1 is a plan view of a traveling control device for an automatic guided vehicle according to a first embodiment of the present invention.
  • FIG. 2 is a side view of the traveling control device of FIG.
  • FIG. 3 is a block diagram of a device configuration of the travel control device according to the first embodiment of the present invention.
  • FIG. 4 is an explanatory diagram of a method of calculating an attitude angle according to the first embodiment of the present invention.
  • FIG. 5 is an example of a mark and a code according to the first embodiment of the present invention.
  • FIGS. 6A and 6B are configuration examples of barcode information according to the first embodiment of the present invention.
  • FIG. 7 is an explanatory diagram of a method for calculating a three-dimensional relative distance using marks according to the first embodiment of the present invention.
  • FIG. 8 is a block diagram of a circuit configuration example for obtaining each relative position information according to the first embodiment of the present invention.
  • FIG. 9 is an explanatory diagram of column distances and consecutive distances of barcode information according to the first embodiment of the present invention.
  • FIG. 10 is an explanatory diagram of a flow of a transfer command of the traveling control device for the automatic guided vehicle according to the first embodiment of the present invention.
  • FIG. 11 is an explanatory diagram of creating a travel sequence of the travel control device according to the first embodiment of the present invention.
  • FIG. 12 is an explanatory diagram of a cargo handling object according to the second embodiment of the present invention.
  • FIG. 13 is a control block diagram of the cargo handling control device according to the second embodiment of the present invention.
  • FIG. 14 is an example of a mark and a code of a label according to the second embodiment of the present invention.
  • FIG. 15 is an explanatory diagram of a method of calculating a relative distance using a mark according to the second embodiment of the present invention.
  • FIG. 16 is a side view of a robot which is a configuration example of a cargo handling machine according to a third embodiment of the present invention.
  • FIG. 17 shows a travel guide tape according to a fourth embodiment of the present invention.
  • FIG. 18 is a control block diagram of the automatic guided vehicle according to the fourth embodiment of the present invention.
  • FIG. 19 is a detailed explanatory view of a bar code according to the fourth embodiment of the present invention.
  • FIG. 20 is a flowchart for determining the traveling guide tape replacement time according to the fourth embodiment of the present invention.
  • FIG. 21 is a plan view of an example of a warehouse in which a mobile rack according to the related art is installed.
  • FIG. 22 is an explanatory diagram of an example in which the attitude of the mobile rack according to the conventional technique is inclined.
  • FIG. 23 is an explanatory view of an unmanned cargo handling operation using a fork according to the related art.
  • FIG. 24 is an explanatory diagram of another example of unmanned cargo handling work according to the related art.
  • FIGS. 1 and 2 show a traveling control device for an automatic guided vehicle according to a first embodiment of the present invention, in which a side member of a movable rack 2 facing a traveling path 6 of the automatic guided vehicle 4 has a predetermined shape.
  • Labels 5 with marks and codes are affixed at predetermined intervals along the travel route 6.
  • Label readers 12a to 12d are provided at the left and right front and rear of the automatic guided vehicle 4, and a travel controller 11 and a data processor 20 are provided at the center. ing.
  • Each of the label readers 12 a to 12 d has its detection direction directed outward from the side surface of the automatic guided vehicle 4 in order to optically read the mark and the code written on the label 5.
  • the label 5 is attached to, for example, the side surface of the beam 7 of the first stage as a component of the moving rack 2, and the label readers 12a to 12d have the same height as the label 5. It is installed at the height.
  • the mark written on the label 5 is configured to be able to detect a relative distance such as a separation distance between the label reader 1 2 a to l 2 d and the label 5. The relative distance is calculated based on the mark reading signal input by the label readers 12a to 12d.
  • the code written on the label 5 is a code representing positional information such as which position on the traveling route the position where the label 5 is affixed. In this embodiment, an example is shown in which this code is constituted by a bar code.
  • the gist of the present invention is not limited to this, and may be composed of, for example, ordinary character codes and symbols.
  • the label readers 12a to 12d use, for example, a laser as a light source, irradiate the mark and bar code while scanning by reflecting the laser light with a polygon mirror or the like, and reflect the reflected light. Based on the signal, measurement of the scanning time of the mark and decoding of the bar code are performed.
  • the laser beam is scanned in a direction orthogonal to each bar of the bar code, and the scanning direction is made to coincide with the traveling direction of the automatic guided vehicle 4.
  • the output signals of the label readers 12a to 12d are connected to the data processor 20 via the selectors 13 and 14, respectively.
  • the selector 13 selects one of the output signals of the label readers 12 a and 12 b disposed at the left front and right front of the automatic guided vehicle 4 and inputs the signal to the data processor 20. Further, the selector 14 selects one of the output signals of the label readers 12 c and 12 d disposed on the left rear and the right rear of the automatic guided vehicle 4, and outputs the selected signal to the data processor 20. You are typing. Both selectors 13 and 14 are operated synchronously.
  • the data processor 20 includes separation distance calculation units 21 and 22, check digit determination units 23 and 24, an ID code decoding unit 25, and an attitude angle calculation unit 26. .
  • the selection signal of the selector 13 is input to the separation distance calculation unit 21, the check digit determination unit 23, and the ID code decoding unit 25, and the selection signal of the selector 14 is input to the separation distance calculation unit 22. It is input to the check digit determination section 24.
  • the separation distance calculation units 21 and 22 calculate the separation distance between the automatic guided vehicle 4 and each label 5 based on the input signals from the corresponding label readers 12a to 12d, that is, the moving rack.
  • the calculated distance data is output to the attitude angle calculation unit 26.
  • at least one of the separation distance calculation units 21 and 22 outputs the calculated distance data to the travel controller 11, but in the present embodiment, only the separation distance calculation unit 21 outputs the distance data. are doing.
  • the check digit determination sections 23 and 24 read the check digit embedded in the code input from the corresponding label reader 12a to 12d, and read the code. The presence or absence of an input error is determined. This determination result is input to the travel controller 11.
  • the ID code decoding section 25 decodes the ID code embedded in the input code, reads the moving distance and position information of the automatic guided vehicle 4 in the traveling direction, and reads the information. The distance and position information is output to the travel controller 11.
  • the attitude angle calculator 26 calculates the attitude of the mobile rack 2 based on the distance data between the front or rear part of the automatic guided vehicle 4 and the mobile rack 2 input from the separation distance calculators 21 and 22.
  • the attitude angle of the automatic guided vehicle 4 is calculated, and the attitude angle data is output to the travel controller 11.
  • the travel controller 11 is configured by a computer system mainly including a microcomputer, for example. As described above, the travel controller 11 inputs the separation distance from the moving rack 2, the error result of the check digit, the moving distance and the position information, the attitude angle of the automatic guided vehicle 4, and the like, and makes a predetermined judgment. The traveling control of the automatic guided vehicle 4 is performed based on the processing. In addition, the travel controller 11 can communicate with the higher-level management computer 44, and can receive a movement target position, a transfer command, and the like from the higher-level management computer 44 by this communication, or Control information, etc., is sent to the upper management combination.
  • a label 5 is provided with a separation distance detection bar 51 and a scanning orthogonal position detection bar 52 as marks, and an ID code 53 and a chip digit code as codes. G 54 is filled in.
  • the ID code 53 and the check digit 54 are indicated by bar codes. These marks and codes are within the scanning range 55 that can be scanned by the laser beam of the label readers 12a to 12d, and are moved from the scanning start position 56 to the scanning end position 57. Is scanned once.
  • the separation distance detection bar 5 1 and the scanning orthogonal position detection bar 5 1 The order of writing 2 and the code (that is, ID code 53 and check digit 54) may be arbitrary in the scanning direction. For example, the code may be written at the top.
  • the separation distance detection bar 51 is a bar for calculating the separation distance, and includes a first bar 51 a and a second bar 51 b provided at a predetermined distance L 1. And the space between the two bars 51a and 51b.
  • the first bar 51 a and the second bar 5 lb are for recognizing the start position and the end position of the predetermined distance L 1, and the first and second bars 51 a, 51 b is composed of one bar each, and its width in the scanning direction is set to a predetermined width that can be distinguished from the bar width of another code (for example, ID code 53).
  • the scanning orthogonal direction position detection bar 52 is a bar whose bar width is continuously increased (or reduced) in a direction (vertical direction) orthogonal to the scanning direction on the surface of the label 5.
  • the bar width continuously decreases from below to above the bar 52 for detecting the position in the scanning orthogonal direction, but the bar width is not limited to this, but is continuously increasing from below to below.
  • the bar width may increase.
  • two bars may be provided apart from each other in the scanning direction, and the distance between the two bars may be continuously reduced from below to above as described above.
  • the ID code 53 indicates the position of the label 5 on the movable rack 2 and information on the distance from the reference position, and the like, and includes the following three types of data in detail.
  • the first data represents the three-dimensional addresses of the rows, columns and columns of the mobile rack 2.
  • This three-dimensional address indicates the storage position of the transported goods 3, and corresponds to the "row” corresponding to which rack is stored, and the "row” corresponding to the longitudinal portion of the rack. It is uniquely determined by the “ream” and the “stage” corresponding to the number of the stored stage. Therefore, if this three-dimensional address is entered as the ID code 53, the position of the rack to be unloaded can be recognized.
  • the second data is data that captures between the first data. That is, since the first data represents only the discrete address of the moving rack 2, this discrete
  • the second data is provided to represent the intermediate address of the typical address. For example, if an intermediate position between an X1 station and an X2 station of an arbitrary rack is divided into three parts, the trapping cords represented as X1.1, X1.2, XI.3, etc. Is entered. Note that the first data and the second data described above are incorporated in a barcode, for example, as shown in FIG. 6A.
  • the third data represents relative distance information from a predetermined reference position.
  • This third data is embedded in a bar code, for example, as shown in FIG. 6B. In order to distinguish the above three types of data, respective discrimination codes are written at the head of each of the first to third data.
  • a check digit 54 is provided.
  • the check digit 54 is used to receive reflected light other than from the bar code or to prevent incorrect position information or distance information from being recognized by a light receiving miss or the like. In this way, an input error is detected, and if an error occurs, the input data can be rejected.
  • the scanning signal is a signal synchronized with the rotation angle of the polygon mirror or the like of the label readers 12a to 12d, and is generated by an encoder attached to the polygon mirror rotation shaft.
  • the clock is a repetitive rectangular signal having a predetermined cycle time, and various times are measured by the count value of the clock.
  • the scanning signal Indicates the point in time when scanning starts.
  • the scanning rotation angle 00 from the scanning start time to the light receiving signal of the first bar 51a is the scanning relative position information. This relative position information in the scanning direction represents the traveling direction component of the automatic guided vehicle 4 in the relative distance between the label readers 12a to 12d and the label 5, and this is represented by X in three-dimensional coordinates. ing.
  • the scanning rotation angle ⁇ 1 between the first bar 51 a force and the second bar 51 b becomes separation relative position information. Based on the scanning rotation angle ⁇ 1, the separation distance between the label 5 and each of the label readers 12a to 12d is measured. That is, the scanning rotation angle 0 1 is determined by the polygon mirror rotation speed and the light reception time of the first bar 51 a to the light reception time of the second bar 51 b measured by the above-mentioned click count value. It is calculated from the elapsed time of and.
  • the above-mentioned separation relative position information that is, the separation distance
  • the relative position in the scanning orthogonal direction represents a vertical component orthogonal to the traveling direction of the automatic guided vehicle 4 in the relative distance, and is represented by Y in three-dimensional coordinates.
  • the relative position X in the scanning direction and the relative position Y in the scanning orthogonal direction are obtained as follows using the separation distance Z.
  • the scanning direction relative position X is obtained from the scanning rotation angle 0 0 of the scanning direction relative position information, and is expressed by the formula “XZX 0 O”.
  • the relative position Y in the scanning orthogonal direction is obtained from the scanning rotation angle 0 2 of the polygon mirror at the time when the light receiving signal from the scanning orthogonal position detecting bar 52 is obtained.
  • the scanning rotation angle 02 is calculated based on the polygon mirror rotation speed and the time at which the light receiving signal from the scanning orthogonal direction position detection bar 52 measured by the clock count value is obtained. Will be issued.
  • FIG. 8 shows a block diagram of an example of a circuit configuration for obtaining the scan rotation angle, ⁇ 1, and ⁇ 2 as each relative position information.
  • the laser light output from the laser light source 31 is scanned on a label 5 by a polygon mirror 32 rotated at a predetermined rotation speed by a scanning motor 33. Irradiation.
  • the laser beam reflected by the mark or code in the label 5 is received by the light receiving section 35, and the output signal is shaped by the comparator 36 as a light receiving signal, and is converted into a light receiving signal in the data processor 20.
  • Input to Reflection Counter & Selector 37 Input to Reflection Counter & Selector 37.
  • the reflectivity counter & selector 37 counts the received light signal as a clock input, and counts the counter 38 when the count value is 0, and counts the count when the count value is 1.
  • Counter 39, and when the count value is 2, counter 40 is selected and activated.
  • the clock from the clock oscillator 41 is input to the clock inputs of these counters 38, 39, 40.
  • the scanning position detection encoder 34 detects the rotation angle of the scanning motor 33, and outputs a scanning signal when the rotation angle is within a predetermined scanning range.
  • the count value of the reflection counter & selector 37 is reset by the rising edge of the scanning signal, so that the scanning is selected at the start of scanning, and the counting is performed with the relative position information in the scanning direction.
  • the count value corresponding to the scanning rotation angle 0 0 is output.
  • the count value of the reflection power counter & selector 37 is set to 1 by the received light signal of the first bar 51a, the counter 39 is selected, and the counter 39 is scanned as the relative position information.
  • the count value corresponding to the rotation angle 0 1 is output.
  • the counter value of the reflection counter & selector 37 is set to 2 by the light receiving signal of the second bar 51b, and the counter 40 is selected, and the light receiving signal is transmitted to the counter 40 by the gate signal.
  • the counter 40 outputs a count value corresponding to the scan rotation angle 02 as the scanning orthogonal direction relative position information.
  • the label readers 12a to 12d and the label 5 are displayed.
  • the three-dimensional relative position (X, ⁇ , Z) of is measured.
  • the current position of the automatic guided vehicle 4 is detected as a relative position from the label 5.
  • the attitude angle of the automatic guided vehicle 4 with respect to the rack or the like is determined based on the respective separation distances Z from the label readers disposed at the front and rear of the automatic guided vehicle 4, as described above, It becomes possible to travel in parallel with the attitude of the rack when traveling. Therefore, for example, even when the attitude of the moving rack 2 is not orthogonal to the moving rail, the automatic guided vehicle 4 does not interfere with the moving rack 2.
  • each relative position information is obtained by a bar.
  • the present invention is not limited to this, and the relationship between the bar and the space is reversed so that each relative position information is obtained by the space. It is also possible to get
  • the first bar 51a and the first bar 51b are not limited to this, and may be formed of, for example, specific marks or codes indicating a start position and an end position of the predetermined distance L1. May be.
  • the counters 38, 39, and 40 can be started by recognizing a specific mark / code, malfunction of the reflection counter due to a detection miss is eliminated.
  • each of the scanning rotation angles 0 0, 0 1, and 0 2 may be obtained by an output of a rotation angle sensor that directly detects the rotation angle of the polygon mirror 32.
  • the automatic guided vehicle 4 is safely and accurately controlled to travel to the target cargo handling position.
  • a method of generating a transfer command based on information on a load, which is a conveyed product, and controlling the traveling of an unmanned guided vehicle will be described using a warehouse as an example.
  • the bar code information written on the label 5 is given in the above-described relative distance information, that is, in the third data format (FIG. 6).
  • the column distance and the consecutive distance are defined as shown in FIG. 9. Therefore, the distances in the respective column directions and consecutive directions from the reference origin 0 are directly used as the column distance and the consecutive distance.
  • the flow of the transfer command in the travel control device will be described with reference to FIG. First, for example, it is assumed that a request from a shipper to take out a specific product from the upper management computer 44, which manages the automatic guided vehicle 4 and the mobile rack 2 in an integrated manner, online.
  • the upper-level management computer 44 retrieves the information on the inventory stored therein, and obtains information on the pallet on which the product is loaded.
  • transported goods 3 information on the row, chain, and level of the mobile rack 2 in which the conveyed goods 3 are stored is obtained.
  • the moving rack 2 is moved by an electric motor or the like so that the row in which the articles 3 are stored is opened.
  • the movement rack 2 detects the completion of the opening with a sensor such as a limit switch, and outputs a movement completion signal to the upper management computer 44.
  • the host management computer 4 4 outputs the row distance and the continuous distance of the moving building (where the conveyed object 3 is stored) to the traveling controller 11 of the automatic guided vehicle 4.
  • the travel controller 11 receives the ID code 53 written on the label 5 attached to the mobile rack 2 via the label readers 12 a to 12 d and the data processor 20. Read the column distance and consecutive distance at the current position.
  • the row distance and the link distance are the initial row distance and the link distance where the automatic guided vehicle 4 is located before the start of the transfer.
  • the travel controller 11 automatically creates a travel sequence to the target position from the initial row distance and the continuous distance and the travel target row distance and the continuous distance, and sets the remaining distance to the target position according to the travel sequence as a parameter.
  • the traveling control is performed as follows.
  • FIG. 11 shows an example of an automatically generated traveling sequence. Here, a case where the column at the initial position is different from the column at the target position is described. Present position / 97/02632
  • the acceleration pattern and the turning pattern to the target position are automatically generated from the initial row distance and the link distance and the row distance and the link distance of the moving target.
  • the vehicle performs straight-ahead steering control in a continuous direction while measuring the relative distance from the label 5 attached to the moving rack 2.
  • the speed pattern for straight traveling is generated based on the running distance.
  • the remaining travel distance is easily calculated during traveling by the row distance written on the label 5.
  • the acceleration pattern generation rule is built in the AGV controller in advance so as to perform optimal control depending on the maximum speed, acceleration / deceleration performance and remaining travel distance of the AGV 4, and the current speed. I have.
  • This unmanned transport controller may be loaded on the unmanned transport vehicle side, or may be configured by the host management computer 44.
  • the output of an angular velocity sensor such as a vibrating jaw may be fed back by dividing the output, or if the mechanism turns with a two-wheel speed difference, the output of the encoder output of the tying speed is contaminated. May be fed back.
  • the turning direction can be determined based on the magnitude relationship between the target row distance and the current row distance. In the example of FIG. 9, when the expression “target column distance-current column distance> 0” is satisfied, the vehicle turns left. After turning in this way, the vehicle goes straight in the row direction.
  • the steering control is performed based on the bar code attached to the components in the row direction of the rack.
  • read the column distance information and go straight to the target column distance.
  • the speed at this time is based on the absolute value of the difference between the target row distance and the current row distance, and a speed pattern is generated in the same manner as in the above-described continuous direction.
  • the automatic guided vehicle 4 stops and turns 90 degrees to the right or left. This allows the automatic guided vehicle 4 to enter a different row from the initial position. Next, The vehicle travels in the desired direction and goes straight to the target consecutive position.
  • each action is described by the row distance and the consecutive distance, but the above positional information is, for example, the address of the row, the row, and the step at the transported article storage position, and the intermediate between the transported article storage locations.
  • positional information is, for example, the address of the row, the row, and the step at the transported article storage position, and the intermediate between the transported article storage locations.
  • the position, row, row, and column interstitial code since the distance that increases with one increase in the address is known, the row distance and the continuous distance can be easily calculated from the address.
  • Label 5 is affixed to the side of a rack or the like placed along the travel route.
  • the label 5 may be affixed to a wall on the side of the vehicle or a member such as a standing plate arranged along the traveling route.
  • the mark or code written on the label 5 is directly printed on the rack, the above-mentioned standing plate, etc., or the directly printed member is printed on the rack, the above-mentioned standing plate, etc. Even if it is attached, the same effect as described above can be obtained.
  • This embodiment is a case where the pallet 104 is an object to be unloaded.
  • the conveyed object 106 is loaded on a pallet 104, which is an object to be unloaded, and the pallet 104 is stored on a rack shelf 103.
  • Labels with predetermined marks and codes are affixed to predetermined positions of conveyed products 106,, 1let 104 and shelf 103, respectively, or these Mark and code are printed directly.
  • the position of the shelf 103 on which the palette 104 is to be placed is predetermined, and the label 111 corresponds to the horizontal center of this determined position. And is attached to the front of the cargo handling side of shelf 103.
  • the label 111 is affixed to the center of the hole 105 on both sides of the pallet 104 and to the front of the cargo handling side.
  • the data of (XII.Y11), which represents the offset distance between the position of the label 111 and the center of the hole 105 in two-dimensional coordinates, is determined in advance in correspondence with each palette] 04. ing. Note that the offset distance data (XII, Y11) may be stored in a controller or a management computer in the cargo handling control device, which will be described later, or may be stored in the label 111.
  • Labels 111 are affixed to predetermined positions of the conveyed goods 106, or marks ⁇ codes written on the labels 111 are printed directly. Since it is inconvenient to paste or print on the center of the surface, the label 111 is often arranged near the corner of the conveyed product 106. Here, the positional relationship of the position where the label 111 is attached or printed on the conveyed article 106 is predetermined as control information since the automatic machine is used for attaching or printing. It is already known. Therefore, the (X12, Y12) data representing the offset distance between the center position of the conveyed object 106 and the position of the label 111 in two-dimensional coordinates corresponds to each conveyed object 106 in advance. It is decided. Note that this offset distance data (X12, Y12) may be stored in the controller in the cargo handling control concealment as in the case of the above-mentioned pallet 104, or stored in the label 111. It may be.
  • the mark written on the label 111 is configured so that the relative distance between the reader 111 and the label 111 can be detected. The relative distance is calculated based on the mark reading signal input by the reader 112.
  • the code written on the label 111 is the ID code of the package 106, pallet 104, or shelf 103, the position where the label 111 is attached, and the corresponding code. And data representing the offset distance of the cargo handling object from the cargo handling position.
  • the ID code indicates, for example, a product, a production slot number, a production date, and the like for the conveyed product 106, a pallet identification number, and the like for the pallet 104, and 103 is a code representing the position S information such as a shelf identification number (for example, an address).
  • the data indicating the set distance is the data of the offset distance (XII, Y11) between the position of the label 111 and the center of the hole 105 of the palette 104, and the center of the conveyed object 106. It shows the data of the offset distance (X12, Y12) between the position and the position of the label 1 1 1.
  • this code is constituted by a bar code.
  • the gist of the present invention is not limited to this, and may be constituted by, for example, a normal character code and a symbol. .
  • the unmanned cargo handling device has a fork 101 as an example of a cargo handling machine for the pallet 104.
  • the fork 101 is provided movably in the up-down direction and the front-back direction.
  • forklifts, fork-type trolleys, and the like are often used as such unmanned cargo handling devices.
  • a reader 112 is provided, and a label 111 is directed from the reader 112 toward the front of the fork 101 (see Fig. 12).
  • the reader 111 uses a laser as a light source, and irradiates the label 111 while scanning while reflecting this laser light with a polygon mirror or the like.
  • the reader 112 measures the scanning time and the like of the mark written on the label 111 and decodes the bar code based on the reflected signal from the label 111.
  • the laser light is scanned in a direction orthogonal to each bar of the bar code written on the label 111, and the scanning direction is a forward and backward direction and a vertical direction of the fork 101. Are orthogonal to.
  • the output signal of the reader 112 is connected to the data processor 113.
  • the data processor 113 calculates a three-dimensional relative distance between the cargo handling device and the label 111 based on an input signal from the reader 111, that is, a relative distance between the cargo handling device and the cargo handling object.
  • the extracted distance data is output to the controller 114.
  • the data processor 113 reads the check digit incorporated in the code input from the reader 112, determines whether there is an error at the time of code input, and determines the determination result. Output to controller 1 1 4. Further, the data processor 113 transmits the ID code incorporated in the input code and the offset distance data to the controller 114. Output to
  • the controller 114 is composed of, for example, a computer system mainly composed of a micro computer.
  • the controller 114 inputs the relative distance to the above cargo handling object, each ID code and offset distance data, and outputs a movement command of the fork 101 to the drive unit 115 based on the predetermined judgment processing. I do.
  • the drive unit 115 controls, for example, the up / down or forward / backward movement of the fork 101 or the forward / backward movement of the loading / unloading operation device (forklift, etc.) based on the movement instruction.
  • the controller 114 is capable of communicating with the management computer 120, etc., and receives a transfer command from the management computer 120, or completes or pauses the transfer normally by this communication.
  • the middle control information is transmitted to the management computer 120.
  • the controller 114 receives the offset distance data by the above communication.
  • the method of calculating the three-dimensional relative distance in the data processor 113 will be described in detail with reference to FIGS. 14 and 15.
  • the label 1 1 1 1 has a bar 15 1 for detecting relative distance and a bar 15 2 for detecting the position in the scanning orthogonal direction as marks, and the code section 1 as a code. 5 3 and check digit 1 5 4 are entered.
  • the code part 153 and the check digit 154 are filled in with bar codes.
  • These marks and codes are within the scanning range 1555 that can be scanned by the laser beam of the reader 112, and are scanned from the scanning start position 156 to the scanning end position 157. Is done. Note that the order of entry of the relative distance detection bar 151, the scanning orthogonal direction position detection bar 152, and the code (that is, the code portion 1553 and the check digit 1554) is in the scanning direction. For example, the code may be prepended.
  • the relative distance detection bar 15 1 is a bar for calculating the relative distance between the label 1 11 and the reader 1 1 2, and is provided at a predetermined distance L 11.
  • the first bar 15 1 a and the second bar 15 1 b This is for recognizing the start position and the end position of the predetermined distance Lll.
  • the first bar 15a and the second bar 15b are each composed of one bar, and the width in the scanning direction is different from that of the other bar (for example, the bar 1). It is set to a predetermined width that can be distinguished from the bar width of 5 3).
  • the scanning orthogonal direction position detection bar 152 is made of a bar whose bar width is continuously increased (or decreased) in the direction (vertical direction) orthogonal to the scanning direction on the surface of the label 111.
  • the bar width decreases continuously from below to above in the scanning orthogonal direction position detection bar 15 2, but is not limited to this, and conversely, continuously decreases from below to above.
  • the bar width may be increased as needed.
  • two bars may be provided apart from each other in the scanning direction, and the distance between the two bars may be continuously reduced from the lower side to the upper side as described above.
  • the code part 153 includes the ID code of the conveyed object 106, the pallet 104 and the shelf 103, the position where the label 111 is attached, and the cargo handling as described above. It consists of data representing the offset distance of the object from the cargo handling position. Further, a check digit 154 is provided after the code section 153. The check digit 154 is for preventing reflection of light other than the bar code or recognition of erroneous position information or distance information due to a light receiving miss or the like. In this way, an input error is detected, and when an error occurs, the input data can be rejected.
  • the scanning signal is a signal synchronized with the rotation angle of the polygon mirror or the like of the reader 112, and is generated by an encoder attached to the polygon mirror rotation shaft.
  • the clock is a repetitive rectangular signal having a predetermined cycle time, and various times are measured based on the count value of the clock.
  • the rising edge of the scanning signal indicates the scanning start time.
  • the scanning rotation angle 010 from the start of scanning to the light receiving signal of the first bar 15a is the scanning direction relative distance information.
  • the relative distance information in the scanning direction is the fork 1 0 1 of the relative distance between the reader 1 1 2 and the label 1 1 1.
  • the horizontal direction component is represented with respect to the forward and backward traveling directions, and this is represented by three-dimensional coordinate X.
  • the scanning rotation angle ⁇ 11 from the first bar 15 1 a to the second bar 15 1 b serves as separation relative position information between the reader 11 2 and the label 11 1.
  • the separation distance between the label 111 and the reader 111 is measured based on the scanning rotation angle 111. That is, the scanning rotation angle 011 is the polygon mirror rotation speed and the elapsed time from the light receiving time of the first bar 15a a measured by the clock count value to the light receiving time of the second bar 15 1 b.
  • the above-mentioned separation relative position information that is, the separation distance represents a horizontal distance component of the fork 101 in the forward and backward directions in the relative distance, which is represented by Z of the three-dimensional sitting building.
  • the separation distance Z10 can be obtained by the equation ⁇ 10 ⁇ L11 ⁇ .
  • the relative position in the scanning orthogonal direction represents a vertical component of the above relative distance, which is represented by Y in three-dimensional coordinates.
  • the relative position X10 in the scanning direction and the relative position Y10 in the scanning orthogonal direction are obtained as follows using the separation distance Z10.
  • the scanning direction relative position X10 is obtained from the scanning rotation angle ⁇ 10 of the scanning direction relative position information, and is represented by an expression “X10Z10X010”.
  • the scanning orthogonal direction relative position Y10 is obtained from the scanning rotation angle 012 of the polygon mirror during the time when the light receiving signal from the scanning orthogonal direction position detection bar 152 is obtained.
  • the scanning rotation angle 012 is, as described above, the polygon mirror rotation speed and the time during which the light receiving signal from the scanning orthogonal direction position detection bar 152, which is measured by the clock count value, is obtained from Is calculated.
  • Pallet 104 is targeted for cargo handling
  • the fork 101 is raised to a height at which the label 111 provided at a predetermined position on the shelf 103 can be recognized by the reader 111.
  • the controller 114 Upon detecting the code on the label 111, the controller 114 communicates with the shelf incorporated in this code via the reader 112 and the data processor 113. Read the identification code. By this reading, the controller 114 confirms, for example, the coincidence with the shelf identification code specified by the upper management computer that has issued the transfer command. If this check is 0, controller 114 then raises fork 101 by half the height of pallet 104, causing reader 111 to move up. Read the pallet identification code from the code part 153 of the label 111 attached to the letter 104.
  • the controller 114 communicates with the palette identification code designated by the upper management computer. Check against the palette identification code of label 1 1 1. When the collation results in a match, the controller 114 sets the offset distance data written in the code part 153 of the label 111 to the relative distance detection bar of the label 111. The three-dimensional relative position between the reader 111 and the hole 105 of the pallet 104 is determined based on the relative position detected by the detection position bar 151 and the scanning orthogonal position detection bar 1502. Ask. After moving the fork 101 toward the determined position of the hole 105, the fork 101 is inserted into the hole 105 and transported to the target transport destination in accordance with a normal transport sequence.
  • the controller 114 controls the fork 10 on which the palette 104 is mounted. 1 is raised to the above-mentioned predetermined height. Then, in the case of the aforementioned unloading 632
  • the shelf identification code entered in the code section 15 3 of the label 1 11 on shelf 10 3 matches the target shelf identification code specified from the management computer 12 0 Make sure that: If they match, the mark written on the label 111 of the shelf 103 is read to detect the relative position, and the fork 101 is moved to a predetermined position based on the relative position, and the palette 1 0 Load 4 S.
  • FIG. 16 shows a robot arm 109 in this case, which is a cargo handling device provided with a vacuum suction pad 108 at the distal end of the robot arm 109.
  • a reader 112 is provided at the distal end of the robot arm 109 and near the vacuum suction pad 108.
  • the robot arm 109 is configured to be movable in the vertical direction and to be pivotable in a horizontal plane.
  • the present invention is not limited to these, and the cargo handling device may be provided with, for example, a gripping mechanism at the tip. Further, the configuration of the robot arm may be an articulated type, an orthogonal type, or the like. Also, in the present embodiment, as shown in FIG. 12 in the second embodiment, the mark and the code are written at predetermined positions of the pallet 104, the conveyed object 106, and the like. Label 1 1 1 is attached.
  • a conveyed object 106 such as a cardboard case with the vacuum suction pad 108
  • the data of the distance (X 12. Y 12) is set in advance in correspondence with each conveyed object 106.
  • the control block diagram in the present embodiment is the same as FIG.
  • the controller 114 raises the robot arm 109 from the height of the pallet 104, and the cardboard case is moved by the reader 112. Scan the code part 153 written on the label 111 of the conveyed object 106. Note that reader 1 1 2 If the length of the scanning range 155 in the scanning direction is short, the robot arm 109 may be moved in the horizontal direction to widen the scanning range. At this time, the cardboard case to be scanned is all cardboard facing the robot arm 109 side, and the cardboard itself is the object to be transported.
  • the vertical and horizontal positions of the robot arm 109 when reading the conveyed item identification code written on the code section of the cardboard case label 1 1 1 1 1 1 It can be known from the output value of the encoder used. That is, at this point, the identification code of the conveyed object 106 (here, the cardboard case) and the correspondence table of the three-dimensional relative position where the conveyed object 106 is located are obtained.
  • the three-dimensional relative position is a relative distance between the reader 111 detected from the mark of the label 111 and the label 111 of the conveyed article 106.
  • the offset distance data (X12, Y12) between the center position of the conveyed object 106 and the position of the label 111 is predetermined as described above, and the label 1 It is written in the code section 15 3 of 11. Therefore, the relative distance between the reader 111 obtained above and the label 111 of the conveyed object 106 and the offset distance between the center position of the conveyed object 106 and the position of the label 111 are described above.
  • Based on the data (X12, Y12), a correspondence table of the three-dimensional relative position between the reader 112 and the center position of the conveyed object 106 is obtained.
  • the position where the reader 112 is disposed on the robot arm 109 is also predetermined, the three-dimensional relative position between the robot arm 109 and the center position of the conveyed object 106 is determined. A correspondence table is obtained. In this way, the ridge mounting position of the transported object 106 on the pallet 104 necessary for carrying out the cargo handling operation by the robot arm 109 can be obtained.
  • the offset distance data (X12, Y12) may be used in the above-mentioned label 111 as in the case of the aforementioned palette 104, or may be used in the cargo handling control device. May be stored in the controller 114 or the management computer 120.
  • the traveling guide tape 201 guides the automatic guided vehicle along the traveling route, and is laid along a predetermined traveling route.
  • the traveling guide tape 201 is made of a material that easily reflects light (for example, laser light) emitted from the automatic guided vehicle 204 (see FIG. 18), for example, a thin plate made of aluminum or stainless steel. I have.
  • a code or a mark for controlling the traveling of the unmanned transport vehicle 204 and a code for managing the traveling guidance tape 201 itself (hereinafter referred to as a management code) are provided on the surface of the traveling guidance tape 201. Etc.) are entered.
  • the bar code 202 is used as an example of this code or mark, and the bar code 202 is written in a direction orthogonal to the traveling direction of the automatic guided vehicle 204. .
  • the bar codes 202 are written at predetermined intervals along the traveling direction of the automatic guided vehicle 204 (that is, the longitudinal direction of the traveling guide tape 201).
  • the travel guide tape 201 is divided at predetermined intervals in the longitudinal direction, and the travel guide tapes 201-1, 2-1, 2, 0-1, -3, and -201 of each section are divided.
  • a plurality of barcodes 202 are entered.
  • the length of each divided traveling guide tape 201-201, 210-1-2, 201-3, ... 201-n is determined by the laying work of the tape and the shape of the traveling route. However, it is usually determined by the length of the tape, which makes it difficult to wrinkle the tape when laying it, and the length of the tape so that it does not stick.
  • the automatic guided vehicle 204 is provided with a light emitting and receiving device 207, which irradiates the road surface with light from the light emitting and receiving device 207, and the longitudinal direction of the traveling guide tape 201.
  • the reflection from the left and right end points with respect to is received by the receiver of the emitter / receiver 207.
  • This light receiver is provided with light receiving elements arranged in an array in a direction orthogonal to the traveling direction of the automatic guided vehicle 204, and the light receiving position of the light receiving element makes the unmanned vehicle with respect to the traveling guide tape 201 unattended.
  • the shift amount of the transport vehicle 204 in the left-right direction is detected.
  • the lateral displacement signal is input to the controller 206, and the controller 206 controls the traveling and steering of the automatic guided vehicle 204 so that the lateral displacement becomes ⁇ . .
  • unmanned transport The vehicle 204 can automatically travel along the travel guide tape 201.
  • the controller 206 is configured by a computer system mainly composed of a microcomputer, and controls the traveling, steering, and braking of the automatic guided vehicle 204 via a drive unit and a drive motor (not shown). ing.
  • the controller 206 receives a transfer command from the management computer 220 via communication and transmits control information to the management computer 220.
  • the controller 206 has an indicator (not shown), and can display error content when an error occurs and display control information.
  • the barcode reader 202 provided on the automatic guided vehicle 204 reads the barcode 202 written on the travel guide tape 201. As shown in FIG.
  • the bar code 202 has a travel control code 211 corresponding to the location, a management code 211, and a check digit 212. ing.
  • the travel control code 211 is coded, for example, with the gradient of the road surface at that location, a speed limit value, and the like.In FIG. 19, control such as maintaining the current speed, decelerating, or stopping the travel is performed. It is coded as a combination pattern of the bar thicknesses shown. By reading the travel control code 211, travel control corresponding to the location can be performed.
  • the management code 211 is management information of the traveling guide tape 201 itself on which the barcode 202 is printed, and includes the tape material, specifications, model number, and section number (the traveling guidance tape 200). The location information of the site where 1 is installed), and the created serial number (the order in which the travel guide tape 201 was created) are incorporated.
  • n bars indicate n bits of information (2 "pieces of information), and a thin bar represents ⁇ 0 J, and a thick bar represents“ 1 ”to represent the management code 2 1 2. It is serialized. In FIG. 19, three bars represent three-bit information, but the present invention is not limited to this.
  • the management code 21 corresponding to the traveling guide tape 201 of the section on a one-to-one basis is not limited to this. 2 is fine.
  • the controller 206 determines in advance the error occurrence limit E n and the error counter value E c for each tape section in order to determine when to replace and repair the traveling guidance tape 201.
  • the error occurrence limit E n is set to a predetermined value, and the error counter value E c is cleared.
  • the normal operation of the automatic guided vehicle 204 is performed. That is, the controller 206 reads the bar code 202 and the check digit 21 13 written on the running guide tape 201 and controls the running based on these.
  • the presence or absence of an error due to the check digit 2 13 is determined. If there is an error, the error counter value Ec corresponding to the tape section in which the error occurred is counted up in S4.
  • the read information is practically ignored, and the information of the error occurrence location is complemented by using the information that has been read normally without errors before and after.
  • a buzzer is used to warn the user that the tape needs to be changed.
  • the management code 211 of the traveling guide tape 201 that is determined to need to be replaced is displayed on the display of the automatic guided vehicle 204, or the automatic guided vehicle 204 is managed.
  • the worker replaces the damaged traveling guide tape 201 based on the information. This eliminates the need for an operator to periodically check the breakage state of the travel guide tape 201, thereby reducing maintenance man-hours and accurately determining the tape replacement time.
  • information as to which section the damaged tape is in can be obtained, it is possible to easily reprint a tape on which the same travel control code is written.
  • the operator After replacing the tape, the operator inputs the replacement of the damaged tape to the controller 206 using a switch (not shown) or the like in S10, whereby the controller 206 receives the error counter value E. Reset c and restart AGV 204. Thereafter, the process returns to S 1 and the above processing is repeated.
  • the error counter value E c reaches the limit of the number of error occurrences En, for example, when the number of warning occurrences is smaller than the limit of the number of error occurrences E, a warning is issued by an alarm or the like. Is also good. This makes it easy to determine where tapes are likely to be damaged and the frequency of such breaks, making tape maintenance easier.
  • the determination as to whether or not the error count value Ec for each tape section has exceeded the error occurrence limit En may be performed by the upper management computer 220. In particular, when a plurality of automatic guided vehicles 204 run on the same travel route, the management of the number of errors generated for each tape section by the management computer 220 is effective.
  • the tape management code 2 1 2 determined to have reached the replacement time is The operator may use a bar code reader prepared for maintenance separately from the bar code reader 06 and the bar code reader 205.
  • the present invention relates to a travel control device and method for an automatic guided vehicle that can travel without interfering with an installed moving rack or the like, even at a site where the position and direction of a travel route are freely changed, and a position of a loading object.
  • Unmanned cargo handling method and cargo handling control device that can easily and reliably detect cargo and identify cargo handling objects, and traveling that can easily detect dirt and damage, and accurately create and replace new tapes It is useful as a guide tape and a method for judging or repairing the breakage.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Dispositif pour commander le déplacement d'un véhicule de transport automatique capable de se déplacer sur un site où la trajectoire change de direction, sans interférence avec une crémaillère mobile installée. Ce dispositif comprend un label (5) comportant un code représentant la position momentanée ou une distance de déplacement et une marque représentant une information permettant de détecter la position d'un véhicule de transport automatique (4), un lecteur de label (12a à 12d) permettant de lire les informations respectives, un processeur de données (20) pour sortir au moins une information relative à la position momentanée du véhicule automatique (4) ainsi qu'une information relative à la distance de déplacement de ce dernier sur la base de l'information lue respective, et pour calculer et sortir une distance tridimensionnelle relative entre le véhicule automatique (4) et le label (5), et un dispositif de commande de déplacement (11) pour commander la vitesse, le guidage et l'arrêt du véhicule de transport automatique (4), les déplacements étant basés sur la distance tridimensionnelle relative et l'information concernant la position momentanée ou la distance de déplacement.
PCT/JP1997/002632 1996-07-31 1997-07-29 Dispositif et methode pour commander le deplacement d'un vehicule de transport automatique, methode de manutention automatique d'une cargaison, commande pour manutention de cargaison, bande de guidage de deplacement, dispositif reperant les defaillances de la bande et methode pour reparer cette derniere WO1998004480A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP8/218024 1996-07-31
JP8218024A JPH1049231A (ja) 1996-07-31 1996-07-31 無人搬送車の走行制御装置及びその制御方法
JP8/224506 1996-08-07
JP8/224505 1996-08-07
JP8224505A JPH1049228A (ja) 1996-08-07 1996-08-07 走行誘導テープ及びそのテープの破損判別装置及びそのテープの修復方法
JP22450696A JPH1053396A (ja) 1996-08-07 1996-08-07 無人荷役方法及びその荷役制御装置

Publications (1)

Publication Number Publication Date
WO1998004480A1 true WO1998004480A1 (fr) 1998-02-05

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PCT/JP1997/002632 WO1998004480A1 (fr) 1996-07-31 1997-07-29 Dispositif et methode pour commander le deplacement d'un vehicule de transport automatique, methode de manutention automatique d'une cargaison, commande pour manutention de cargaison, bande de guidage de deplacement, dispositif reperant les defaillances de la bande et methode pour reparer cette derniere

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WO (1) WO1998004480A1 (fr)

Cited By (4)

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Publication number Priority date Publication date Assignee Title
GB2407315A (en) * 2003-10-25 2005-04-27 Hewlett Packard Development Co A mobile picker, storage structure and storage system
CN109661359A (zh) * 2016-09-05 2019-04-19 株式会社理光 移动路径确定方法和程序
WO2020219788A1 (fr) 2019-04-24 2020-10-29 Innovation First, Inc. Salle de spectacle pour robots avec système de localisation de position
CN113791618A (zh) * 2021-08-31 2021-12-14 江西中天智能装备股份有限公司 一种立体车库车辆入出库车头方向自动控制方法及系统

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JPS6125219A (ja) * 1984-07-13 1986-02-04 Daifuku Co Ltd 光学誘導式移動車制御設備
JPH0281105A (ja) * 1988-09-17 1990-03-22 Nippon Yusoki Co Ltd 自動操舵制御方式
JPH0350210U (fr) * 1989-07-13 1991-05-16
JPH03147607A (ja) * 1989-11-01 1991-06-24 Murata Mach Ltd スタッカクレーンの位置制御装置
JPH04164705A (ja) * 1990-10-29 1992-06-10 Fujitsu Ltd 部品自動格納搬送機構
JPH0552903U (ja) * 1991-12-02 1993-07-13 五洋建設株式会社 無人搬送車用走行ガイド

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JPS612603A (ja) * 1984-06-14 1986-01-08 ソシエテ　アノニム　レドウ−テ　カタログ 自己推進ロボツト型台状搬送車
JPS6125219A (ja) * 1984-07-13 1986-02-04 Daifuku Co Ltd 光学誘導式移動車制御設備
JPH0281105A (ja) * 1988-09-17 1990-03-22 Nippon Yusoki Co Ltd 自動操舵制御方式
JPH0350210U (fr) * 1989-07-13 1991-05-16
JPH03147607A (ja) * 1989-11-01 1991-06-24 Murata Mach Ltd スタッカクレーンの位置制御装置
JPH04164705A (ja) * 1990-10-29 1992-06-10 Fujitsu Ltd 部品自動格納搬送機構
JPH0552903U (ja) * 1991-12-02 1993-07-13 五洋建設株式会社 無人搬送車用走行ガイド

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2407315A (en) * 2003-10-25 2005-04-27 Hewlett Packard Development Co A mobile picker, storage structure and storage system
CN109661359A (zh) * 2016-09-05 2019-04-19 株式会社理光 移动路径确定方法和程序
CN109661359B (zh) * 2016-09-05 2021-05-07 株式会社理光 移动路径确定方法和计算机可读存储介质
US11034517B2 (en) 2016-09-05 2021-06-15 Ricoh Company, Ltd. Movement route determination method and program
WO2020219788A1 (fr) 2019-04-24 2020-10-29 Innovation First, Inc. Salle de spectacle pour robots avec système de localisation de position
EP3959049A4 (fr) * 2019-04-24 2023-04-19 Innovation First, Inc. Salle de spectacle pour robots avec système de localisation de position
CN113791618A (zh) * 2021-08-31 2021-12-14 江西中天智能装备股份有限公司 一种立体车库车辆入出库车头方向自动控制方法及系统
CN113791618B (zh) * 2021-08-31 2023-04-11 江西中天智能装备股份有限公司 一种立体车库车辆入出库车头方向自动控制方法及系统

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