JPH02189604A - Device and method for automatic carrying - Google Patents

Abstract

PURPOSE:To attain automatic carrying with use of a carrier truck without using a guide rail by controlling the carrier truck in accordance with the current position of the carrier truck, a peripheral condition and a command signal. CONSTITUTION:When an indicator pointer 2 detects a beam projected from a beam projector 17 mounted on the carrier truck 3, a position specifying signal indicating the arrangement position of the pointer 2 is originated from an originating device included in the pointer 2. A position detecting means 22 detects the current position of the carrier truck 3 by obtaining the projecting direction of the beam projected from the beam projector 17 and detected by plural pointers 2 and the position specifying signals originated from the plural pointers 2 in accordance with the beam. The moving device control means 22 controls a moving device 18 in accordance with the current position of the carrier truck 3 detected by the position detecting means 22, the peripheral state of the carrier truck 3 detected by state detecting devices 20, 21 and a command signal transmitted from a command device 1 to move the carrier truck 3. Consequently, carrier based upon the carrier truck can be attained without using a guide line.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an automatic transport device and an automatic transport method that automatically transport using a movable transport vehicle, and in particular to This can be done easily and at low cost.

[Prior art] Conventional automatic transport devices using movable transport carts are
A guide line is provided with rails, tape, etc. on the path along which the carrier moves, and the carrier moves to the target position and carries out the conveyance according to this guide line.

[Problem to be solved by the invention]

However, with conventional automatic conveyance devices, it is impossible for a conveyance vehicle to move in a place without a guide line, so when expanding the conveyance area, it is necessary to provide a new guide line. When rearranging desks or equipment in an office or factory, etc., there is a restriction that equipment must be placed avoiding the vicinity of the guidance line. When installing equipment, etc., the guidance line becomes unusable, so it was necessary to change the installation position of the guidance line.

In other words, in order to expand or change the movement route of the transport vehicle using the conventional automatic transport device, it is necessary to add or change the guide line, which is very time-consuming and disadvantageous in terms of cost. For this reason, in office buildings and the like where relocation is relatively frequent, automatic conveyance devices using guide lines as described above are currently hardly used.

Therefore, the present invention was made by focusing on the problems that need to be solved with the conventional technology, and provides an automatic conveyance device and an automatic conveyance device that can be conveyed by a movable conveyance cart without using a guide line. The purpose is to provide an automatic transport method.

[Means to solve the problem]

In order to achieve the above object, the automatic transport device according to claim (1) is arranged at a specific position in a premises, has a wireless signal transmitting device, and indicates its own installation position when detecting a beam. a plurality of marker pointers that transmit position specifying signals using the transmitting device; a beam emitting device that emits a beam in an arbitrary direction; a wireless signal receiving device; a situation detecting device that detects surrounding conditions; and a mobile device. , detecting the current position by obtaining, for the plurality of marker pointers, the emission direction of a beam emitted by the beam emitting device and detected by the marker pointer, and a position specifying signal transmitted by the marker pointer in accordance with the beam; and a moving device control means that controls the moving device according to a detection result of the situation detecting device, a detection result of the position detecting device, and a command signal transmitted from the outside. a command device having a wireless signal transmitting device and issuing a command signal to the transport vehicle;

Further, the automatic transport device according to claim (2), in the invention described in claim (1), has a plurality of transport vehicles, and the beam emitting device of each transport vehicle emits a different beam on each transport vehicle. In addition, the beacon pointer emits different locating signals depending on the detected beam.

The automatic transport device according to claim (3), in the invention according to claim (1) or (2), has three or more marker pointers, and the position detecting means of the transport vehicle includes:
The current position is determined by obtaining the emitting direction of the beam emitted by the beam emitting device and detected by the marker pointer and the position specifying signal transmitted by the marker pointer according to the beam for the three or more marker pointers. To detect.

Furthermore, in order to achieve the above object, the automatic transport method according to claim (4) provides a method for determining the current position of the movable transport vehicle.
Determined based on the placement positions of a plurality of sign pointers arranged in the premises and the emission direction of the beam emitted from the transport vehicle and irradiated to the plurality of sign pointers, and
A device provided on the transport vehicle and controlling the movement of the transport vehicle receives a command signal wirelessly transmitted from a command device provided externally, and the current position of the submerged transport vehicle;
The transportation is carried out by moving the transportation vehicle depending on the surrounding situation of the transportation vehicle.

[Operation] In the invention described in claim (1), when the marker pointer detects the beam emitted from the beam emitting device provided on the carrier, the transmitting device of the marker pointer indicates the placement position of the marker pointer. Emit a location signal.

The position detecting means detects the direction of the beam emitted by the beam emitting device and detected by the marker pointer, and obtains a position specifying signal transmitted by the marker pointer in accordance with the beam with respect to the plurality of marker pointers. Detects the current position of.

The moving device control means controls the moving device according to the current position of the transport vehicle detected by the position detection means, the surrounding situation of the transport vehicle detected by the situation detection device, and the command signal transmitted from the command device. Control and move the transport vehicle.

In addition, in the invention described in claim (2), the beam emitting device of the plurality of transport vehicles is configured to emit different beams (for example, when the beam is pulsed light, the interval between the beams is changed, etc.). ) and the beacon pointer emits different locating signals depending on the detected beam (e.g.
If an FM transmitter is used, change the frequency, etc.). Therefore, each carrier can determine whether the position specifying signal transmitted by the marker pointer is a signal corresponding to the beam emitted by itself.

In the invention as set forth in claim (3), the transport vehicle is equipped with three or more marker pointers, and based on the position specifying signals obtained from the three or more marker pointers and the emission direction of the beam corresponding thereto. Since the current position of is detected, position detection with less error is performed.

Further, in the invention as set forth in claim (4), the current position of the movable conveyance vehicle is determined based on the arrangement positions of the plurality of sign pointers disposed within the premises and the positions of the plurality of sign pointers that are emitted from the conveyance vehicle and directed to the plurality of sign pointers. It is determined based on the emission direction of the irradiated beam.

Then, a device installed on the transport vehicle and controlling the movement of the transport vehicle performs transport according to the command signal transmitted wirelessly from the command device, the current position of the transport vehicle, and the surrounding situation of the R transport vehicle bundle. Conveyance is performed by moving a cart.

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

First, the configuration will be explained. FIG. 1 is a block diagram showing the overall configuration of the automatic transport device of this embodiment. The automatic transport device of this embodiment has a host computer 1 that is operable and serves as a command device, and A plurality of (in this embodiment, at least three) indicator pointers 2. ..., 2, and a plurality of movable transport vehicles 3.・
. . , 3, and has a host computer 1 and each indicator pointer 2 . ...2 means, for example, a telephone line or R3.
422 and the like through a network 4.

Then, indicator pointer 2. 2, as shown in FIG. 2, a microcomputer 5 having a storage device (not shown) composed of RAM, ROM, etc., an arithmetic processing unit (not shown), etc., and this microcomputer 2. 5, a communication device 6 serving as an interface for connecting the microcomputer 5 to the network 4, an FM transceiver 7 connected to the microcomputer 5 and transmitting and receiving wireless signals, and a light detection device 8.

Of these, the light detection device 8 includes, as shown in FIG. 3, a sensor 10 that is composed of, for example, a phototransistor, a solar panel, etc., and outputs a signal according to the irradiated light; A differentiator 11 that differentiates a signal and extracts only the change in the signal, an amplifier 12 that amplifies the output of this differentiator 11, and a microcomputer 5 that converts the analog signal output from this amplifier 12 into a digital signal. It is composed of an A/D converter 13 that supplies the Therefore, the light detection device 8 of the marker pointer 2 does not react to constant brightness around the sensor 10, but only to intermittent light signals, that is, pulsed light.

Then, the microcomputer 5 transmits, from the FM transmitter/receiver 7, a position specifying signal indicating the installation position of the marker pointer 2 (sensor 10) in response to the light detection signal supplied from the light detection device 8.

The above position specifying signal is, for example, as shown in Fig. 6, considering the premises 30 (indoors and corridor rings) as a two-dimensional orthogonal coordinate system of X-Y, ignoring the height direction. , indicator pointer 2. ..., 2 (sensors 10) are all arranged at the same height and on X=a (a is a constant), then
It can be expressed only by the Y coordinate. Moreover, if the transport vehicle 3 described later remembers the placement position of each sign pointer 2,
It is also possible to attach a number to each marker pointer 2 and use the number as a position specifying signal.

However, in this embodiment, since a plurality of transport vehicles 3 are provided (in order to improve transport efficiency), the marker pointer 2 indicates from which transport vehicle 3 the incident beam light is emitted, for example, by the beam. Judging based on the pulse interval of light,
A different position specifying signal (for example, a different frequency range) is transmitted for each transport vehicle 3.

Furthermore, since the host computer 1 is connected to the microcomputer 5 of the marker pointer 2 via the network 4 and the communication device 6, the host computer 1 also
Transmission and reception with the outside can be performed using the FM transceiver 7 provided in each marker pointer 2. In other words, there is no need to install a transceiver exclusively for the host computer 1.

Further, the arrangement position of the marker pointer 2 stored in the microcomputer 5 can also be changed by the host computer 1.

The transport vehicle 3 is shown in FIG. 4(a), which is a side view thereof.
, as shown in FIG. 4(b), which is a rear view, and FIG. 5, which is a block diagram of the functional configuration, the transported object loading unit 15
The main body 16 has a main body 16 that can be installed in a flat state, and the main body 16 includes a beam light emitting device 17 located at the upper part of the transport vehicle 3 (at a lower position than the sensor 10 of the marker pointer 2), and a known steering device. A drive unit 18 as a moving device for moving the transport vehicle 3, which is composed of a possible car mechanism, an electric motor, etc., an FM transmitter/receiver 19 for communicating with the outside, and An ultrasonic sensor 20 that detects objects near the side surface 16a, a touch sensor 21 that operates over the entire area of the side surface 16a, and a microcomputer 22 are provided.

Among these, the beam light emitting device it17 is configured such that its horizontal angle and elevation angle can be adjusted, and thereby can emit a beam light, which is pulsed light, in any direction. However, as described later, the sensor 10 of the marker pointer 2
For example, it is necessary to vary the pulse interval of the beam light for each transport vehicle 3 so that the microcomputer 5 of the marker pointer 2 can determine from which transport vehicle 3 the beam light detected by is emitted.

The beam light emitting device 17 is connected to a microcomputer 22, and the direction of emitting the beam light (that is, horizontal angle and elevation angle) is controlled by the microcomputer 22, and the horizontal direction detected by an encoder (not shown) or the like is controlled by the microcomputer 22. The angle and elevation values are supplied to the microcomputer 22.

The microcomputer 22 detects the current position of the transport vehicle 3 based on the position specifying signals obtained from the plurality of marker pointers 2 and the emission direction of the beam light emitted from the beam light emitting device 17 based on the same principle as that of a transit. do.

Specifically, the microcomputer 22 controls the emitting direction of the beam light so that the beam light emitted from the beam light emitting device 17 is irradiated onto the sensor 10 of the marker pointer 2, and the emitted light beam a position specifying signal transmitted by the marker pointer 2 when the sensor 10 is irradiated with the position identification signal;
The distance between the sign pointer 2 and the transport vehicle 3 is calculated based on the emission direction (elevation angle) of the beam light at that time, and the distance between the sign pointer 2 and the transport vehicle 3 is calculated with respect to the three mark pointers 2. By obtaining this, the current position of the transport vehicle 3 is determined.

Furthermore, if the current position of the transport vehicle 3 is detected, the marker pointer 2 is detected when the emitted beam light is irradiated onto the sensor 10.
The direction in which the transport vehicle 3 is facing (that is, the current direction of movement) can be determined from the position specifying signal transmitted by the transport vehicle 3 and the emission direction (horizontal angle) of the beam light at that time.

On the other hand, the FM transceiver 19 is also connected to the microcomputer 22, and the microcomputer 22
The position specifying signal transmitted by the marker pointer 2 is received via the M transmitter/receiver 19, and a command signal from the host computer 1 is also received. 1 (for example, the current position of the transport vehicle 3, the surrounding situation, the remaining amount of the battery that supplies power to the drive unit 18, etc.).

Note that since there are a plurality of transport vehicles 3, it is necessary to use a different frequency range for each transport vehicle 3 so that the wireless signals of each transport vehicle 3 do not mix. However, if the number of transport vehicles 3 is small, it is possible to allocate a dedicated frequency range to each transport vehicle 3, but if the number of transport vehicles 3 is large and allocation is not possible, a vacant frequency range is searched for communication. Just do it like this.

The microcomputer 22 is connected to an ultrasonic sensor 2o and a touch sensor 21, which constitute the situation detection means of the present invention.
The microcomputer 2 sequentially monitors the surrounding situation of the transport vehicle 3.
Let 2 know.

Further, the drive unit 18 that moves the transport vehicle 3 is also controlled by the microcomputer 22.

That is, in the above embodiment, the microcomputer 22 constitutes the position detecting means and moving device controlling means of the present invention.

Furthermore, the microcomputer 22 has a plurality of indicator pointers 2. . . . 2, the arrangement of desks, equipment, etc., and necessary processing programs are stored. In addition, indicator pointer 2. ...,
2 are individually numbered. Therefore,
In this embodiment, the number attached to the marker pointer 2 is sufficient as the position specifying signal transmitted by the marker pointer 2.

Next, the operation of the above embodiment will be explained using FIG. 6.

Now, the power-on position of a certain transport vehicle 3 is set to a specific position in the campus 30 (for example, the entrance/exit of the campus 30), and the transport vehicle 3
If the specific position is stored in the processing program of the microcomputer 22 (7), the microcomputer 22 can know the approximate position of the transport vehicle 3.

Then, the microcomputer 22 has a marker pointer 2.
．． . . , 2 are stored, so the microcomputer 22 determines which direction (since its own position is rough) based on its own position and the positions of these marker pointers 2. , is a direction with a certain range.)
If the beam light is emitted to the marker pointer 2, it can be determined whether the marker pointer 2 can be irradiated with the beam light.

Therefore, the microcomputer 22 of the transport vehicle 3 adjusts the horizontal angle and elevation angle of the beam light emitting device 17 so that the beam light emitted from the beam light emitting device 17 is irradiated onto the marker pointer 2 .

When the beam light is irradiated onto the marker pointer 2, the microcomputer 5 of the marker pointer 2 determines from which carrier 3 the beam light was emitted, for example, from the pulse interval of the beam light, and responds accordingly. At the frequency
A position specifying signal is transmitted from the FM transceiver 7 of the marker pointer 2.

Then, the carrier vehicle 3 that has emitted the beam light can determine that the beam light it has emitted is being irradiated onto the sensor 10 of the marker pointer 2 based on the frequency of the position specifying signal transmitted by the FM transmitter/receiver 7. The computer 22 stores the position specifying signal and the emission direction of the light beam at that time.

When such position specifying signals and beam light emission directions are obtained for the three marker pointers 2, the microcomputer 22 accurately determines the position of the transport vehicle 3 using the same principle as that of the transit as described above. The current position and the direction in which the transport vehicle 3 is facing can be determined.

Note that it is possible to detect the position of the transport vehicle 3 by obtaining a position specifying signal and the corresponding beam light emitting direction for the two marker pointers 2; 17, or depending on the current position of the transport vehicle 3, the error in position detection becomes large.

Therefore, in this embodiment, in order to improve the accuracy of position detection, three marker pointers 2 are used to perform position detection. However, although position detection may be performed using four or more marker pointers 2, even if four or more marker pointers 2 are used, a significant improvement in accuracy cannot be expected compared to three marker pointers 2. Considering processing speed, etc., it is optimal to use three indicator pointers 2.

Then, the host computer 1 selects F of the indicator pointer 2.
A command signal is transmitted to the transport vehicle 3 using the M transceiver 7.

In this case, if the command signals are prioritized, the microcomputer 22 of the transport vehicle 3 can judge them and perform processing in order of priority. Furthermore, if the usage status of the transport vehicle 3 (presence or absence of work to be processed, content, etc.) is sequentially transmitted from each transport vehicle 3 to the host computer l, the host computer l can select an empty transport vehicle 3. Since it is possible to search and send command signals, efficient conveyance processing can be performed.

For example, assume that the host computer 1 sends a command signal to the transport vehicle 3 shown in FIG. 6 to move to point A.

Then, since the transport vehicle 3 knows its current position and the direction it is facing, it determines the optimal route to point A while considering the situation in the campus 30 (location of desks, equipment, etc.). Can be calculated. Once the route has been determined, the microcomputer 22 outputs a control signal to the drive unit 18 to move the transport vehicle 3 toward point A.

However, if the transport vehicle 3 moves, the current position cannot be determined (it can also be calculated from the movement start point and movement speed, but the error associated with movement is large), so the position should be detected periodically. .

Furthermore, in order to deal with situations in the premises 30 that are not stored in the microcomputer 22 (for example, people, temporarily placed items, etc.), the route is finely adjusted according to the output of the ultrasonic sensor 20, and In order to ensure safety, the carriage 3 is stopped when the touch sensor 21 reacts.

Then, the transport vehicle 3 can safely and reliably move to point A, so that, for example, at point A, objects such as documents are loaded onto the object loading unit 1-15, and then the transport vehicle 3 is moved in accordance with subsequent commands. 3 to the destination.

In this way, according to the automatic transport device of the above embodiment, transport can be carried out by the movable transport cart 3 without using guide lines such as rails, so changing or expanding the transport route can be done by the host. Since it is possible to change only the data stored in the computer 1 and the microcomputers 5 and 22, which can be done at low cost, it is suitable for use even in office buildings where rearrangement is relatively frequent. Moreover, since a beam of light is used for position detection, there is no adverse effect on the human body.

In addition, although the accuracy of position detection of the transport vehicle 3 largely depends on the performance of the beam light emitting device 17, in the above embodiment,
Since the ultrasonic sensor 20 and the touch sensor 21 are provided, the carriage 3 can be moved safely with high precision, that is, without using the expensive light emitting device 17.

Furthermore, in the above embodiment, a plurality of transport vehicles 3 are provided to improve transport efficiency, but the beam light emitted from each transport vehicle 3 is made different, and the marker pointer 2 is Since different position specifying signals are transmitted depending on the detected beam light, there is no possibility that erroneous position detection will be performed in each transport vehicle 3.

Since three or more marker pointers 2 are provided and the position of the transport vehicle 3 is detected by the three marker pointers 2, the placement position of the marker pointer 2 is limited, and the marker pointer 2 and the beam light emitting device are Even if the difference in height from 17 is small, accurate position detection can be performed.

Furthermore, since the transport vehicle 3 moves horizontally, it is possible to deliver even objects that cannot be tipped over (for example, food, drink, medicine, etc.). For this reason, automatic conveyance devices such as those mentioned above,
In addition to offices and factories, it can also be used in fields such as hospitals and hotels.

Furthermore, if a plurality of sign pointers 2 are arranged on many floors and a device (for example, a dedicated elevator) for moving the transport vehicle 3 between floors is provided, the entire building can be used as an automatic transport system as a transport area. can do.

Also, for example, if a surveillance camera is installed on the transport vehicle 3,
It can also be used as a nighttime disaster prevention and crime prevention device, or as a monitoring device for dangerous areas (nuclear facilities, etc.) that humans cannot enter.

In the above embodiment, data communication between the transport vehicle 3 and the host computer 1 is performed using the FM transceivers 7 and 19. It is also possible to carry out optical communication using a beam of light emitted from the light emitting device 17.

Furthermore, an FM transmitter/receiver dedicated to the host computer 1 may be provided to transmit command signals, but if cost reduction of equipment such as the transmitter/receiver and wiring is taken into consideration, an FM transmitter/receiver dedicated to the host computer 1 may be provided. , the host computer 1 preferably utilizes the FM transceiver of the beacon pointer 2.

Note that the transmitting/receiving device is not limited to the FM transmitting/receiving device as in the above embodiment, but may be any other device.

Further, in the above embodiment, a case was explained in which light (beam light) is used as a beam, but the invention is not limited to this, and in short, any beam having directivity may be used.
The sensor lO of the marker pointer 2 may be changed depending on the beam used.

〔Effect of the invention〕

As explained above, according to the automatic transport device according to claim (1) and the automatic transport method according to claim (4), automatic transport can be performed using a movable transport cart without using a guide rail. Therefore, it is possible to change or expand the conveyance route at low cost.

Further, according to the automatic transport device according to claim (2), even when a plurality of transport vehicles are provided so as to improve transport efficiency, the beam light emitting device of each transport vehicle is different. In addition, the marker pointer emits a different position detection signal depending on the detected beam light, so the transport vehicle can accurately detect the position detection signal emitted according to the beam light emitted by itself. This has the effect of preventing erroneous position detection.

Furthermore, according to the automatic transport device according to claim (3), three or more mark pointers are provided, and the position detection means of the transport vehicle detects the position using the three or more mark pointers. Therefore, even if the placement position of the marker pointer is limited and the height difference between the marker pointer and the beam light emitting device is small, there is an effect that accurate position detection can be performed.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the overall configuration of an embodiment of the present invention, FIG. 2 is a block diagram showing an example of the configuration of a sign pointer, and FIG. 3 is a block diagram showing an example of the configuration of a light detection device for the sign pointer. 4(a) is a side view showing an example of the transport vehicle, FIG. 4(b) is a rear view of the transport vehicle, FIG. 5 is a block diagram showing the functional configuration of the transport vehicle, and FIG. 6 is a sign. FIG. 3 is an explanatory diagram illustrating an example of the arrangement of pointers and the operation of this embodiment. DESCRIPTION OF SYMBOLS 1... Host computer (command device), 2... Sign pointer, 3... Transport vehicle, 5.22... Microcomputer, 7, 19... FM transceiver, 10
...Sensor, 17...Beam light emitting device, 20...
- Ultrasonic sensor, 21... touch sensor.

Claims (4)

[Claims] (1) A plurality of marker pointers arranged at specific positions within the premises, each having a wireless signal transmitting device, and transmitting a position specifying signal indicating the location of the pointer when detecting a beam using the transmitting device; optional; a beam emitting device that emits a beam in a direction, a radio signal receiving device, a situation detecting device that detects surrounding conditions, a moving device, and emitting a beam that is emitted by the beam emitting device and detected by the marker pointer. a position detecting means for detecting a current position by obtaining a position specifying signal transmitted by the sign pointer according to the direction and the beam for the plurality of sign pointers; a detection result of the situation detection device; a transport vehicle having a mobile device control means for controlling the mobile device according to a detection result of the means and a command signal transmitted from the outside; and a transport vehicle having a wireless signal transmitting device to issue a command signal to the transport vehicle. An automatic conveyance device comprising: a command device; (2) It has multiple transport vehicles, and the beam emitting device of each transport vehicle emits a different beam, and the marker pointer emits different position specifying signals depending on the detected beam. The automatic conveyance device according to claim (1). (3) In addition to having three or more marker pointers, the position detecting means of the transport vehicle is configured to detect the direction of the beam emitted by the beam emitting device and detected by the marker pointer, and the position emitted by the marker pointer according to the beam. The automatic transport device according to claim 1 or 2, wherein the current position is detected by obtaining a specific signal from the three or more marker pointers. (4) The current position of the movable transport vehicle is determined based on the installation positions of a plurality of sign pointers arranged within the premises and the emission direction of the beam emitted from the transport vehicle and irradiated to the plurality of mark pointers. In addition, a device provided on the transport vehicle and controlling the movement of the transport vehicle receives a command signal wirelessly transmitted from a command device provided externally, and a current position of the transport vehicle determined as described above. . An automatic transport method, characterized in that the transport is carried out by moving the transport vehicle according to the surrounding conditions of the transport vehicle.