JPH02183308A - Operation controller for unmanned vehicle - Google Patents

Abstract

PURPOSE:To easily confirm the position of an unmanned vehicle by arranging an absolute address display body, which corresponds to each station block, and an order display body corresponding to respective plural stations for each block on a traveling route. CONSTITUTION:On a traveling route 3, absolute address mark plates 11 and 12 for absolute address display having respectively different patterns are embedded in this side of first and second station blocks 7 and 8 on the route. In positions corresponding to plural stations 6 in the respective station blocks 7 and 8, order mark plates 14-18 are embedded on the surface of the route as the order body having the respectively different patterns to display the arrangement order of the respective stations 6. Thus, the absolute address of the many stations can be allocated with reliability by the display body having the small number of the patterns and the position of an unmanned vehicle 1 can be easily confirmed.

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention relates to an unmanned vehicle used as an unmanned general transportation system, etc., and particularly relates to an unmanned vehicle that steers itself along a guide line laid on a travel route. The present invention relates to an operation control device for operating a vehicle to a large number of stations provided along a travel route.

[Prior Art] Conventionally, this type of operation control device has been equipped with an unmanned vehicle at each station in order to make the unmanned vehicle reach the destination station according to a predetermined operation plan, for example, in order to transfer workpieces or the like at the destination station. On the other hand, by applying the envelope address to the mark plate as a display body and detecting the mark plate, each station can be absolutely identified no matter where the unmanned vehicle travels from on the travel route. Something like this has already been proposed.

However, in this operation control device, since there is a limit to the number of patterns on the mark plate, it may be difficult to allocate an absolute address to each of a large number of stations.

Therefore, an improved operation control device has been proposed that can take advantage of the absolute 7-trace display even in a traveling system with a large number of stations (Japanese Patent Laid-Open No. 6
Publication No. 1-271505 II) 0 This improved operation control device, as shown in FIG. Absolute addresses are assigned by mark plays 1 and 34.35 as display bodies each having a unique pattern, and positions corresponding to each station 31 in each block 32 and 33 are used for counting with similar patterns. 36 is arranged on the count play 1 as a display body.

When the unmanned vehicle 38 is self-propelled along the travel route 37 toward each station 31, a mark plate sensor and a count plate are provided on the unmanned vehicle 38 for detecting an address and a count plate. Activate the sensor. At this time, the unmanned vehicle 38 determines the absolute address based on the detection data of the mark plate sensor, and also determines the count data of the count plate sensor, that is, how many times the count plate 36 has been detected. And one color pair address by mark play 1-34.35,
That is, after determining the station blocks 32 and 33, when it is determined that the count data has reached the target predetermined count number, it is determined that the unmanned vehicle 38 has reached the target station 31. ing.

[Problems to be Solved by the Invention] However, in the improved operation control device, it is determined that the unmanned vehicle 38 has reached the target station 31 based on the count data of the count plate 36. For example, if the unmanned vehicle 38 temporarily deviates from the driving route 37 for some reason, or if the driving of the unmanned vehicle 38 and the detection timing of the count play I sensor do not match, the detection of count play 1 and 36 may be missed. If this happens, the counting data will be incorrect, and there is a risk that the current position will be incorrectly confirmed and it will be difficult to reach the target station 31.

Therefore, when the counting data is incorrect in this way, the unmanned vehicle 3 does not have the position data corresponding to the count plate 31, so the unmanned vehicle 3
Restoration work, such as restoring 8, will require time and effort.

This invention was made in view of the above-mentioned circumstances, and its purpose is to make it possible to allocate absolute addresses to a large number of station controllers using a display with a small number of patterns, and to
To provide an operation control device for an unmanned vehicle that can easily confirm the position of an unmanned vehicle even if a display body detection error occurs and can easily restore the unmanned vehicle to its normal position.

[Means for Solving the Problems] In order to achieve the above object, the present invention has a plurality of station blocks including a plurality of stations arranged on the road side of the travel route, In an unmanned vehicle operation control system that allows the unmanned vehicle to steer itself along a guide line and reach each station, each block is placed at an appropriate location on the travel route corresponding to each station block. Absolute address display bodies for absolute address display having mutually different patterns, and absolute address display bodies arranged on the travel route corresponding to each of a plurality of stations for each block, and different from each other to display one prefectural office of each station. a one-order display having a pattern and having a similar pattern between blocks; an absolute address reading means provided on the unmanned vehicle side to detect the absolute address display; and an absolute address reading means provided on the unmanned vehicle side to detect the absolute address display body; an order reading means for detecting display objects facing each other; and an operation determination means for confirming the current position by determining whether each of the read data of the absolute address reading means and the read data of the order reading means matches a predetermined operation image data. and (itfi).

[Function] Therefore, when the unmanned vehicle is steered toward each block along the travel route, the absolute answer reading means and the order reading means are respectively activated, so that the assignment is made for each block. The absolute address is read from the absolute address display body arranged in the station, and the order of each station is read from the order display body allocated and arranged corresponding to each station. Then, the operation determination means performs a comparison between each of the data read by the absolute address reading means and the data read by the order reading means and a predetermined operation plan, and thereby determines the current position of the unmanned vehicle, that is, the current destination. The station that is currently playing is confirmed.

Further, the same pattern is shared in each block for the order display assigned corresponding to each stage. Furthermore, within each block each station is identified by an order indicator.

[Embodiment 1] Hereinafter, an embodiment embodying the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a schematic configuration of a traveling system for an unmanned vehicle 1. As shown in FIG. In this embodiment, a guide wire (for example, a guide wire for conducting a minute low frequency current i'a>2) is laid in a substantially elliptical shape on the road surface to form a travel route 3.

The unmanned vehicle 1 moves forward and backward along this elliptical travel path 3, and in order to be guided from the guided line 2 and steer itself, the unmanned vehicle 1 detects the guided line 2 and corrects the lateral displacement. It has a steering mechanism that steers the vehicle so as to move the vehicle, and a traveling mechanism that moves forward or backward along the guide line 2. As shown in FIG. 9, in this embodiment, a steering shaft 4 constituting a steering mechanism is provided on the front side of the unmanned vehicle 1, and drive wheels 5 constituting a traveling mechanism are provided on the rear side. Further, as a detection means for the guide wire 2, an electromagnetic pickup device (not shown) that is sensitive to low frequency minute current is used. Note that the details of these steering mechanisms and traveling mechanisms are already well known in many conventional unmanned vehicles, and therefore will not be described here.

A large number of stations 6 are provided on the roadside of the travel route 3. In this embodiment, the first stage includes a plurality of (five) stay shims 1 and 6 on the road side of one straight portion of the traveling route 3. A third station block 7 is disposed, and a second station block 8, which also includes a plurality (five) of stations 6, is disposed on the roadside of the other straight section.

The unmanned vehicle 1 is operated to perform various unmanned operations at desired stations 6 belonging to these first and second station blocks 7.8, and depending on changes in the operation plan, each station 6 may be It can serve as a passing station where you just pass through, or it can serve as a destination station where you stop and perform desired unmanned work (for example, work delivery/reception work).

Each station 6 also includes a stop command output device 9 that outputs a stop command to the unmanned vehicle 1 that is running, and a start command output device 10 that outputs a start command to the unmanned vehicle 1 that is stopped.
are provided for each. These command output devices 9,
10 is activated at each station 6 accordingly.

Further, on the travel route 3, in front of the first and second station blocks 7.8, there is provided an absolute address display body for displaying a one-color text/I address unique to each station block 7.8. absolute address mark play 1
-11.12 is buried in the road surface with its surface exposed. As a result, each station block 7
．． An absolute address is assigned to each of the 8.

These absolute address mark plates 1-11 and 12 are formed in mutually different patterns by arranging and combining two to six iron plate pieces, and in this embodiment, the absolute address mark plates 1-11 and 12 are formed in different patterns.
As shown in the figure, each iron plate piece 13 is composed of five iron plate pieces 13, and each iron plate piece 13 is arranged in the front 1st and 3rd rows at equal intervals, with the left and right pair sandwiching the guide line 2 in one row in the direction of travel of the unmanned vehicle 1. The place is huge. When setting station blocks other than the first and second station blocks 7.8, a wider variety of absolute addresses can be secured by changing the arrangement combination of the two to six iron plate pieces 13. These can be assigned to each station block.

Note that the pattern formed by the arrangement combination -U of the iron plate pieces 13 is not only assigned to one absolute address of the station block, but also a shift point for instructing acceleration/deceleration and a branching point for instructing branching while the unmanned vehicle 1 is running. It is also possible to use it as a pattern for giving various instructions such as points, merging points for merging directions of travel routes, etc.

Also, on the travel route 3, each station block 7
．． At the positions corresponding to a plurality of stations 6 in 8, the arrangement order of each station 6, that is, "1st", "2nd", "3rd" counting from each absolute address mark plate 11, 12 is written. Order mark plates 14 and 15 as order display bodies that display "4th" and "5th"
．． 1617.18 is buried in the road surface with its surface exposed.

Like the absolute address mark plates 11 and 12, these order mark plates I 14 to 18 are formed in mutually different patterns by the arrangement and combination of 2 to 6 iron plate pieces. As shown in FIGS. 1 to 8, each of these is made up of four iron plate pieces 13, and is formed in a pattern different from that of the absolute address mark plates 1-11 and 12. In this embodiment, a total of five types of order mark plays 1, 14 to 18 each having a different pattern are arranged corresponding to the five stations 6 included in the first station block 7. That is, five patterns indicating the order are secured by the arrangement and combination of the four iron plate pieces 13, and these are assigned to each station 6.

Also, in this embodiment, the second station block 8
In the five stations 6 included in the first station block 7, order mark plays 1 and 14 to 18, which are made up of five types of patterns similar to the first station block 7, are arranged. That is,
Sequence marking plates 14-15 having a similar pattern are used between the first and second station blocks 7,8.

On the other hand, as shown in FIG. 10.11, the unmanned vehicle 1 is equipped with a plurality of proximity sensors constituting absolute address reading means and order reading means for reading each of the above-mentioned mark patterns (12.14 to 18). No.1 cube brake 1
- a sensor 21 is provided; In this embodiment, a total of six mark plate sensors 21 are arranged in left and right pairs in three rows, front and rear, corresponding to the traveling direction of the unmanned vehicle 1, with a predetermined interval left and right, front and back, with respect to the structure of the unmanned vehicle 1, i.e. Each mark plate IL 12.14-18 is attached with the same dimensions as the arrangement interval of the iron plate pieces 13. Then, they face and detect each iron plate piece 13 forming each mark play 11L12.14-18. That is, in this embodiment, the same McPray 1-sensor 21 is used for both the detection of the absolute address mark plates 11 and 12 and the detection of the order mark plates 14 to 18.

In this embodiment, in detecting each iron plate piece 13, one of the left and right mark plates 1 to 1 in the front and rear rows of the three rows of mark plate sensors 21 is
The arrangement combination of each iron plate piece 13 is determined so that the sensor 21 always detects the iron plate piece 13. Thereby, when the mark plate sensor 4J21 performs a detection operation while the unmanned vehicle 1 is running, it is possible to determine whether or not a normal pattern has been read. Also, in this embodiment, the mark plate sensor 2
The detection action by No. 1 is performed periodically every time the unmanned vehicle I travels a predetermined distance.

Further, the unmanned vehicle 1 is equipped with a microcomputer (hereinafter referred to as "microcomputer") 22 as a means for determining operation. The microcomputer 22 has a CPU 23 that determines whether the operation plan matches, outputs commands to the traveling mechanism, etc.
inputs the detection signals of each mark play 1 to sensor 21 via the interface 24. Furthermore, the CPU 23
Data is exchanged with a memory 25 consisting of OM and RAM.

This memory 25 stores each mark plate 11.1214-1.
Storage of correspondence between 8 and each station block 7.8 and each station 6 included in them, travel route 3
It is designed to record operation plans such as the destination station block and its destination station, or to temporarily store detection data from each mark plate sensor 4J21.

Further, in this embodiment, a stop command sensor 26 and a start command sensor 27 are installed on the side of the unmanned vehicle 1 to detect output signals from the stop command output device 9 and the start command output device 10.
are respectively provided, and their detection signals are input to the CPU 23 via the interface 24.

Furthermore, in this embodiment, a mark plate sensor 21 is installed on the side of the unmanned vehicle 1 for each mark plate 1-11.1.
2. An alarm 28 is provided to notify an abnormality when the detections of 14 to 18 are missed, and the alarm 28 is activated by the CPU 2.
It is activated based on the air control signal from 3.

Next, the operation for causing the unmanned vehicle 1 to reach a desired destination station in the operation control system configured as described above will be explained with reference to the flowcharts shown in FIGS. 1 and 1.1. The flowchart in FIG. 11 is based on the microcomputer 22.
shows the control operation.

Each station block 7 is stored in the memory 25 of the unmanned vehicle l.
．． The correspondence relationship between 8 and the unique pattern of 1 envelope address mark play 1-1112, the correspondence relationship between the arrangement order of each station 6 and the unique pattern of each order mark play 1 and 14 to 18 are registered in advance. has been done. In addition, the operation plan of which station 6 of the unmanned vehicle 1 or each stage 9 block 7.8 is to be the destination station is stored in the memory by a command signal transferred from the ground station via the guide line 2. The settings are stored in a changeable manner in 25.

Now, while the unmanned vehicle 1 is stopped at the starting point shown in FIG. Load. For example, if the target station to be reached this time is the "third" stage stove of the first station block 7, then the absolute address data of the station block 7 and the order data of the target station 6 that falls within that block 7 are respectively Read it.

When the reading of each data is completed, the process moves to step 102, and the traveling mechanism etc. are activated to start the unmanned vehicle 1.

Then, when the unmanned vehicle 1 starts moving in the direction of the arrow in FIG. Activate the mark plate sensor 21. In this embodiment, the unmanned vehicle 1
The mark plate sensor 21 is activated periodically every time the vehicle travels a predetermined distance.

Therefore, in the next step 104, it is determined whether the mark plate is detected while the unmanned vehicle 1 is traveling a predetermined distance. If the mark plate is not detected while traveling a predetermined distance, that is, if the mark plate is not detected at the timing when it should be detected, the operation of the unmanned vehicle 10 is determined to be abnormal.

The process moves to step 105, where the traveling mechanism is stopped in order to stop the unmanned vehicle 1, and then the process moves to step 106, where the alarm 28 is activated to notify an abnormality.

If the mark plate I~ is detected while traveling a predetermined distance, the process moves to step 107, and it is determined whether or not the detected mark plate matches the target absolute address. That is, the actually detected absolute child dress mark plays 1 and 11
It is determined whether or not the unique pattern matches the absolute address corresponding to the first station block 7.

If it does not match the target absolute address, jump to step 103 and mark the enveloped address.
Redo the search for rate 11. Also, the absolute purpose 71'-
If it matches the response, it is recognized that the target station 6 exists within the first station block 7, and the process advances to the same station block 7 and proceeds to the next step 108.

In this way, when the unmanned vehicle l enters the first station block 7, in step 108, the order mark play 1-16 corresponding to the order of 1-3-1 of the target station 6 to be reached this time is searched. Then, each mark plate sensor 21 is activated.

Subsequently, the process proceeds to step 109, where it is determined whether or not the unmanned vehicle 1 has detected a mark plate while traveling a predetermined distance. If the mark plate is not detected while traveling a predetermined distance, it is assumed that the unmanned vehicle 1 is traveling abnormally, and at the same time jumps to step 105 to stop the traveling mechanism, and proceeds to step 106 to activate the alarm 28. Saseru.

If a mark plate is detected while traveling a predetermined distance, the process moves to step 110, and the detected mark plate 1.
Determine whether or not the order matches the desired order. That is, the unique pattern of the actually detected sequential mark plate,
It is determined whether the order matches the "third" order. If the order does not match the desired order, step 10
8 and re-search the order mark plate 16.

Also, if it matches the target order, the target station 6
It is recognized that the vehicle is close to , and the process moves to the next step 111.

In step 111, a low speed command is output to the traveling mechanism to decelerate the unmanned vehicle 1. Next, the process moves to step 112, in which the stop command sensor 26 searches for a stop command signal from the stop command output device 9 at the target stage 9-6. Then, the process moves to step 113 and waits for the reception of the stop command signal, and when the stop command signal is received, the process moves to step 114 and stops the traveling mechanism in order to stop the unmanned vehicle l. As a result, the unmanned vehicle 1 is brought alongside the destination station 6 as shown by the two-dot chain line in FIG.

Next, the process moves to step 115, and predetermined operations such as work transfer and reception are performed. Then, step 116
, and waits for reception of the activation command signal outputted after completing the predetermined operation. That is, it waits for the activation command sensor 4J27 to receive the activation command signal from the activation command output device 10.

When the activation command signal is received, the process jumps to step 101, and the processing operations from step 101 to step 116 are executed again. That is, processing operations such as causing the unmanned vehicle 1 to self-propel toward the destination station 6 in the next second station flock 8 are executed.

In this way, the unmanned vehicle 1 repeatedly travels along the travel route 3 and travels between desired destination stations 6 according to the travel program.

- In this embodiment, as in note F, a plurality of stations 6
Instead of the general concept of identifying and displaying marks using mutually different absolute address mark plates, an absolute address mark plate 1112 having a unique pattern different from each other corresponding to each station block 7.8 including a plurality of stations 6 is used. and display the arrangement order of the stations 6 included in each station block 7.8, and have a similar pattern between each station block 7.8.・14 to 18 are assigned. That is, by matching the MI of each absolute address mark plate 1, 11, 12 and order mark plates 14 to 18, the absolute address of each stage J6 is assigned.

Therefore, the total number of patterns, which is the number of patterns assigned to the absolute address mark plays 11112 of each station block 7.8 and the number of patterns assigned to the order mark plays 1-14 to 18 of each stage 1-6, is 7. It can be seen that the total number of patterns is less than 10 if each station 6 of each station flock 7.8 is allocated with mark plays l~ each having a unique pattern. This decrease in the number of patterns becomes more noticeable when the number of station blocks is further increased.

That is, the number of mark plate patterns used to identify each station 6 can be significantly reduced.

Furthermore, in this embodiment, the order mark plays 1-14 to 18 having different patterns are assigned to each station 6 included in each station block 7.8, so that the same station block 7.
．． 8, each stage stove can be reliably identified. Therefore, for example, even if the detection of the order mark plates 14 to 18 corresponding to the target station 6 is missed for some reason, if the absolute address of each station block 7.8 is detected normally, the nearest order mark plate 1 is detected. - The current position of the unmanned vehicle 1 can be easily confirmed by simply transporting the vehicle to the locations 14 to 18 and searching the order mark plates 14 to 18, and the return work to the destination station 6 can be easily performed.

Note that this invention is not limited to the above embodiments,
The present invention can be implemented as follows by changing a part of the structure as appropriate without departing from the spirit of the invention.

(1) In the above embodiment, on the road side of travel route 3? !
Although the case has been described in which two station blocks 7.8 containing several stations 6 are provided, it is also possible to provide a larger number of station blocks and configure each station block to include a plurality of stations. Also good.

(2) In the above embodiment, each station block 7.8
Although the same number of stations 6 are provided between each station block 7, and the same number of order mark plates 1, 14 to 18 are assigned to each station block, a different number of stations may be provided between each station block 7, and order mark plates are assigned to each station block.

(3) In the embodiment described above, each mark plate 1-11, 12, 14 to 18 is constituted by a plurality of iron plate pieces 13, and each mark plate sensor 21 is provided to detect them facing each other. It is also possible to provide a mark sensor that detects the marks facing each other.

(4) In the embodiment described above, the guiding method of the unmanned vehicle 1 is an electromagnetic type in which the guiding wire 2 that conducts a minute low frequency current and the pickup device that is sensitive to the guiding wire 2 is installed, but it may be a magnetic type or an optical type.

[Effects of the Invention] As detailed above, according to the present invention, absolute addresses of a large number of stations can be reliably assigned using a display with a small number of patterns, and even if a detection error occurs in an unmanned vehicle. This has excellent effects in that the position of the unmanned vehicle can be easily confirmed and the unmanned vehicle can be easily restored to its normal position.

[Brief explanation of the drawing]

1 to 11 are drawings showing an embodiment embodying the present invention, in which FIG. 1 is a schematic configuration diagram of an unmanned vehicle running system, and FIGS. 2 and 3 are absolute address mark plates. Figures 4 to 8 are plan views showing the order mark plate, Figure 9 is a plan view showing the unmanned vehicle and the station, Figure 10 is a schematic configuration diagram of the unmanned vehicle, and Figure 11 is the operation diagram. This is a diagram illustrating the operation of the control device. FIG. 12 is a schematic diagram of a conventional unmanned vehicle driving system. In the figure, 1 is an unmanned vehicle, 2 is a guide line, 3 is a driving route, 6 is a station, 7 is a first station block, 8 is a second station block, and 1112 is an absolute address mark plate as an absolute address indicator. 1~. 14-1
Reference numeral 8 designates an order mark plate as an order indicator, 21 a mark plate sensor constituting absolute address reading means and order reading means, and 22 a microcomputer as operation determination means.

Claims (1)

[Scope of Claims] 1. A vehicle having a plurality of station blocks including a plurality of stations disposed on the road side of a travel route, and an unmanned vehicle steered and self-propelled along a guide line laid on the travel route. In an operation control device for an unmanned vehicle that allows the unmanned vehicle to reach each station, an absolute address display having a different pattern for each block arranged at an appropriate location on the travel route corresponding to each station block. an address display, which is arranged on the traveling route in correspondence with each of the plurality of stations in each block, and has a different pattern from each other to display the order of each station, and has a similar pattern between each block; an order indicator having a pattern; absolute address reading means provided on the unmanned vehicle side to detect the absolute address indicator in opposition; and order reading means provided on the unmanned vehicle side to detect the order indicator in opposition. and operation determination means for confirming the current position by determining whether each of the data read by the absolute address reading means and the data read by the order reading means matches predetermined operation plan data. Control device.