JPH02222010A - Mark detecting type operation control method for unmanned vehicle - Google Patents

Abstract

PURPOSE:To enable an unmanned vehicle to perform the complicated actions despite a small number of set marks by setting plural commands to a single mark in a memory of the vehicle to show the actions of the carrier. CONSTITUTION:A memory 7 stores a point address 1, the number of commands m, the commands 1 - m, and the link information of these commands for each point (n) corresponding to the mark detecting order. A CPU 2 decides the presence or absence of a mark detecting signal received from a mark sensor 4 and sends the route data equivalent to one point (n) corresponding to the relevant detecting order (n) to an executing command buffer 27 from the memory 7. Then the point addresses are pointed up as n=n+1 for preparation for detection of the next mark. The CPU 2 carries out all data received by the buffer 27, then, disuses these data to wate for the next transfer.

Description

[Detailed Description of the Invention] Industrial Application The present invention relates to a mark detection operation control method for an unmanned vehicle that detects marks installed on the road and sequentially executes predetermined operations in the order in which the marks are detected. In particular, complex operations can be performed even with a small number of marks installed, and improvements have been made to minimize the need to change or add marks to changes or additions to operations. Regarding.

B2 Summary of the Invention The mark detection type operation control method for an unmanned vehicle according to the present invention sets a plurality of commands representing the operation of the unmanned vehicle in response to one mark detection in the memory of the unmanned vehicle, and simultaneously executes the commands in the order of execution. By making the unmanned vehicle operate according to the command every time a mark is detected, you can change the number of commands, change the content of the command, change the number of marks, change the number of marks, etc.
Complex behavior or changes in behavior with minimal additions.

It is designed to accommodate additions.

C3 Conventional technology In the conventional operation control method, one mark is detected for each mark detection.
I am trying to perform one action.

Now, as shown in FIG.
There are a total of 22 pieces installed from 1 to M22, starting from the place H3 with the Ml mark, starting from the stage STO, ST.
Route I to transfer the workpiece and return to the original location H3
Considering the operation control in A, for example, as shown in Table 1, route data in which commands representing one action are associated in the order of mark detection is stored in the memory inside the unmanned vehicle.

However, "transfer" is stopped, transferred, and restarted.

3rd gear all at once? ll: One command. "1st gear"
, "2nd speed" and "3rd speed" are respectively shift commands.

Then, when turning on the blinkers at point A and BA during IA, add a total of 4 marks M30-M33 as shown in Figure 7; and enter the route data in Table 1.
For example (Table 2 D of Table 2) Problems to be Solved by the Invention As mentioned above, conventionally, one operation (command) corresponds to mark detection, so the operation of an unmanned vehicle is complicated. In such cases, it was necessary to install a large number of marks, which increases costs.Also, it is necessary to change or add movement, or change the layout such as the running route or work stage thinning.
In the case of adding marks, since there is a one-to-one relationship between mark detection and commands, it is not possible to simply change the memorized route data, and it is always necessary to change or add the mark's hook location.

In view of the above-mentioned prior art, the present invention allows complex operations to be performed even with a small number of marks installed, and also enables changes in operations and layout.

To provide a mark detection type operation control method for an unmanned vehicle that can eliminate or minimize the need to change or add marks to the installation locations even when marks are added.

E. Means for Solving the Problems The mark detection type operation control method for an unmanned vehicle according to the present invention sets a command representing the operation of the unmanned vehicle for one mark detection in the memory of the unmanned vehicle, and The system is characterized in that the execution order is set, including simultaneous execution, and the unmanned vehicle is operated according to the command every time a mark is detected.

F. Operation In the above configuration, when a mark is detected, the unmanned vehicle executes each operation of a plurality of commands corresponding to the mark.

Therefore, if the unmanned vehicle has complex operations, the number of marks is reduced by increasing the number of commands in accordance with the number of operations.

In addition, when changes or additions are made to the layout or operation, changes or additions to marks are not required or are kept to a minimum.
Modify or add commands.

G. Example Hereinafter, the present invention will be explained with reference to an example shown in FIGS. 1 to 5.

As an example, when multiple operations (commands) are executed for one mark detection, r
andJ, rafterJ, renJ
Data is written by connecting each command using a link information symbol, and is stored in memory.

For example, action 1 and action 2 and action 3
after operation 4hnd operation 5 end
-Formula (1) where and is simultaneous execution, after is execution after completion of the previous operation,
end indicates the end.

Therefore, equation (1) means that operations 1, 2, and 3 are executed simultaneously, and after these executions are completed, operations 4 and 5 are executed simultaneously.

The route data in Table 1 above will become 17 as shown in Table 3 if the description of equation (1) is followed, and the marks M4 and M7 will be unnecessary. (Figure 5) Also, the route data in Table 2 is as shown in Table 4, and the M30
-Addition of mark M33 is not necessary.

Table 3 Table 4 Figure 2 shows an outline of the eight-doware configuration of an unmanned vehicle.
A mark detection sensor 4, a travel guide detection sensor 5, and various sensors 6 such as a safety device are connected to the U (central processing unit) 2 via an l10 (input/output interface) 3. In addition, the CPU 2 is connected to a memory 7 that stores programs, etc. in addition to route data, and is further connected to a drive wheel motor 9, a steering motor 10, a turn signal 11, a transmission 12, etc. via a drive circuit 8. It is. 1
3 is a signal for motor 9, 14 is a signal for motor 10, 1
5 is a signal for the blinker 11, and 16 is a signal for the transmission. The running path 1 shown in FIG. 5 is provided with a running guide such as an electromagnetic induction wire or an optical reflective tape.

As shown in Figure 3, 1. Memory 7 contains route data 28
, each point n (n
=1.2.3...), the point address, the number of commands m (m≧1), each command 1 to m and their link information (and, afternend) are stored. 2
7 is an execution command buffer of the CPU 2. As shown in FIG. Transfer the route data from the memory 7 to the execution command buffer 27 (Step 18), then set the point address to n =
It increases by one to n+1 and waits for the next mark detection (step 19).

The CPU 2 executes all data transferred to the execution command buffer 27 as described below with reference to FIG. 1, and after completion of the execution, discards the data and waits for the next transfer.

As shown in FIG. 1, the CPU 2 inputs the command address m (initially m=1
) to determine whether there is data in step 20), and if there is data, execute the command m and drive circuit 8
Make the unmanned vehicle perform the corresponding operation via (Step 2)
1). If there is no data, AtL/ Sum jIem
= 1 (Step 26), and the execution is completed.

When executing the command m, it is determined whether the link information attached to the command m is r afterJ (step 22), and if it is r afterJ, it is determined whether the link information of the next command m + 1 is r endJ. If it is rendJ, increase the address by one as m = m + 1 (Step 2).
4) Return to the original step 20, and after completing the execution of the previous command, execute the next command in step 21.

If there is no r afterJ in step 22, ran
Since it is J or rendJ, the process moves to step 24, increments the address by one, returns to the first step 20, and either simultaneously executes the next command or ends the execution.

If there is no rendJ in step 23, change the address m
= m + 1, step 25), returns to step 23, and the link information for the next command is re
It is determined whether or not it is ndJ.

After determining rendJ, the address is incremented by one (step 24), and the process returns to the first step 20.

For example, as shown in Table 5, at point 2 (n=2), 1 to
5, when the second mark (M3) corresponding to point 2 is detected, the CPU 2 first sets the transmission 12 to 2nd gear and at the same time lights up the right blinker of the blinker 11. , let the unmanned vehicle run for 1 meter. After these operations are completed, transmission 1
Change the gear from 2 to 3 and turn off the blinker 11 at the same time.

In addition, since we are focusing only on the detection order of the marks, we will be able to operate the unmanned vehicle from the mark in the middle.
An input device 29 is connected to the CPU 2 for manually setting the point address n from the outside. In addition, the marks themselves are numbered so that the operator can see what number the mark is at that time.

As described above, it is possible to execute a plurality of operations at the same time or at different times each time a mark is detected.

When there is a change or addition to the layout or operation, in most cases the data (commands and link information) stored in memory is simply changed without installing marks.

Furthermore, even if it is necessary to install marks, the data is changed so that the number of additional marks is small.

Effects of the Invention According to the present invention, even if the number of installed marks is small, a rough operation can be performed. Additionally, changes or additions to the locations of marks can be made unnecessary or minimized when changes or additions are made to the layout or operation.

[Brief explanation of the drawing]

1 to 5 show an embodiment of the present invention, in which FIG. 1 is a flowchart of command execution, FIG. 2 is a schematic diagram of the hardware configuration of an unmanned vehicle, FIG. 3 is an explanatory diagram of memory, and FIG. FIG. 4 is a flowchart of mark detection and data transfer, and FIG. 5 is a diagram showing an example in which the number of marks is reduced according to the present invention. FIG. 6 and FIG. 7 are diagrams showing examples of conventional mark installation, respectively. In the drawings, 1 is a running path, 2 is a CPU, 4 is a sensor, 7 is a memory, and M1 to M22 are marks. Patent applicant Meidensha Co., Ltd. Agent

Claims (1)

[Claims] In a mark detection operation control method for an unmanned vehicle that causes the unmanned vehicle to perform predetermined operations in the order in which marks installed on the road are detected, A mark detection type operation control method for an unmanned vehicle, characterized in that a plurality of commands representing the operations are set, the execution order among the commands is set including simultaneous execution, and the unmanned vehicle is made to operate according to the command every time a mark is detected. .