JPH02294805A - Operation controller for unmanned vehicle - Google Patents

Abstract

PURPOSE:To make each unmanned vehicle travel at constant intervals by providing a start command means which commands an unmanned vehicle to start, a timer means which clocks the elapsed time from the start, and a start command control means which operates the start command means so as to start a next unmanned vehicle. CONSTITUTION:The timer means 13a clocks the elapsed time after the start of the unmanned vehicle under the command of the start command means 11. Namely, the unmanned vehicle is made to travel at a predetermined constant speed in a specific travel section, so the timer means 13a clocks the time of a specific-distance travel from the entry of the unmanned vehicle into the specific travel section. Then the start command control means 13, when judging that the clocking result of the timer means 13a reaches a predetermined time, operates the start command means 11 so as to start the next unmanned vehicle. Consequently, the next unmanned vehicle which waits at an entrance position is entered into the specific travel section and travels at a specific distance to the precedent unmanned vehicle which is already started.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] This invention relates to an operation control device for an unmanned vehicle used in an unmanned transportation system or the like.

[Conventional technology] Is this type of operation system conventional? A generally known ffIl device is one that steers an unmanned vehicle along a guide line laid along a travel route. An unmanned transport system using this operation control device is being put into practical use on assembly lines of machine manufacturing as a logistics system that replaces fixed equipment such as conveyors.

[Problems to be Solved by the Invention] Therefore, in an unmanned conveyance system to which the above-mentioned operation control device is applied, when it is necessary to convey workpieces at regular intervals, similar to a conventional conveyor, multiple unmanned vehicles can be continuously conveyed. In addition, it is necessary to maintain a constant distance between each unmanned vehicle.

This invention has been made in view of the above-mentioned circumstances, and its purpose is to provide an operation control device for unmanned vehicles that can set constant intervals between a plurality of unmanned vehicles in a predetermined travel section on a travel route. It is about providing.

[A Thousand Steps to Solve the Problem] In order to achieve the above object, in the first invention, a plurality of unmanned vehicles are steered and self-propelled along a guide line laid on a travel route, and In an unmanned vehicle operation control device that causes each unmanned vehicle to sequentially travel at a predetermined constant speed in a predetermined travel section of a start command means for commanding the unmanned vehicle to start, a force clock means for measuring the elapsed time since the unmanned vehicle starts based on the command of the start command means, and time measurement by the force clock means. A start command control means is provided for activating a start command means to start the next unmanned vehicle when it is determined that the result has reached a predetermined time.

Similarly, in order to achieve the above-mentioned object, in the second invention, a plurality of unmanned vehicles are steered and self-propelled along a guide line laid on a travel route, and a plurality of unmanned vehicles are steered and guided in a predetermined travel section on the same travel route. In an unmanned vehicle operation control device that sequentially drives each unmanned vehicle at a constant speed, in order to sequentially enter each unmanned vehicle into a predetermined travel section, the unmanned vehicle parked at the entrance of the predetermined travel section is commanded to start. a starting command means for detecting the passing of each unmanned vehicle, and a passage detecting means disposed at a detection position a predetermined distance apart from the population position in a predetermined travel section to detect the passing of each unmanned vehicle; A start command control means is provided for activating a start command means to start the next unmanned vehicle when it is determined that the unmanned vehicle has passed the detection position based on the detection by the detection means.

[Operation] According to the first invention, the timer measures the time that has elapsed since the unmanned vehicle was started based on a command from the start command means. That is, since the unmanned vehicle travels at a predetermined constant speed in a predetermined travel section, the timing means measures the time from when the unmanned vehicle is introduced into the predetermined travel section until the unmanned vehicle travels a predetermined distance. . And the start command control means,
When it is determined that the time measurement result by the timer has reached a predetermined time, the start command means is activated to start the next unmanned vehicle. As a result, the next unmanned vehicle that was waiting at the entrance position is started and entered into a predetermined travel section, and travels a predetermined distance from the unmanned vehicle in front that has started first.

Therefore, by sequentially introducing a plurality of unmanned vehicles into a predetermined traveling section in this manner, a predetermined distance, that is, a constant interval, is formed between each unmanned vehicle.

Further, according to the second invention, the passage detection means detects passage of an unmanned vehicle entered into the predetermined travel section. That is, the unmanned vehicle travels at a predetermined constant speed in a predetermined travel section, and the passage detection means is disposed at a detection position that is a predetermined distance away from the entrance position in the predetermined travel section. Therefore, the passage detection means detects passage at the time when the unmanned vehicle has traveled a predetermined distance after entering the predetermined travel section. When the start command control means determines that the unmanned vehicle has passed the detection position based on the detection by the passage detection means, the start command control means operates the start command means to start the next unmanned vehicle. As a result, the next unmanned vehicle that was waiting at the entrance position is started and entered into a predetermined travel section, and travels a predetermined distance from the unmanned vehicle in front that has started first.

Therefore, by sequentially introducing a plurality of unmanned vehicles into a predetermined traveling section in this manner, a predetermined distance, that is, a constant interval, is formed between each unmanned vehicle.

[First Embodiment] Hereinafter, a first embodiment in which the first invention is embodied in an assembly line for machine manufacturing will be described in detail with reference to FIGS. 1 to 8.

FIG. 1 shows a schematic configuration of an unmanned transportation system using a plurality of unmanned vehicles l. In this example, on the road surface,
Guide wire (for example, guide wire that conducts minute low frequency current) 2
are laid out in a substantially rectangular shape to form a travel route 3.

An assembly area 5 including a plurality of assembly stations 4 as a predetermined travel section is provided on the roadside of one straight portion of the travel route 3. Various assembly parts are arranged in advance at each assembly station 4, and workers M who assemble these parts are assigned. Further, on the front side of the assembly area 5, that is, on the upstream side in the direction of traveling force F of the unmanned vehicle 1, on the traveling path 3, there is a loading station for loading and carrying the workpiece W into the unmanned vehicle 1 before parts are assembled. 6 are arranged. Furthermore, on the downstream side of the area 5 with τ'1, the workpiece W that has been assembled with the parts is placed on the travel route 3 by the unmanned vehicle 1.
An unloading station 7 for loading and unloading is provided.

Furthermore, on the entrance side of the assembly area 5, that is, at the entrance position P, the unmanned vehicle 1 that has arrived just before the assembly area 5 is on the travel route 3.
A standby mark 8 for instructing the unmanned vehicle 1 to temporarily wait is provided on the travel route 3 on the exit side of the assembly area 5, and a waiting mark 8 for instructing the unmanned vehicle 1 to advance from the assembly area 5 Mark 9 is placed. As shown in FIGS. 4 and 5, the marks 8 and 9 are formed in different patterns by the arrangement and combination of a plurality of iron plate pieces 10 (in this case, four pieces each), and the marks 8 and 9 are formed in different patterns from each other by the arrangement and combination of a plurality of iron plate pieces 10 (in this case, four pieces each). Each iron plate piece 10 is appropriately arranged on both the left and right sides of the guide wire 2 in the direction F.

Furthermore, as shown in FIGS. 1 and 2, on the roadside corresponding to the standby mark 8, there is a display for starting the unmanned vehicles 1 that are waiting at the population position P in order to sequentially introduce the unmanned vehicles 1 into the assembly area 5. A start command device 11 consisting of a light emitting device is provided as a start command means for commanding.

Next, the electrical configuration of the operation control device configured as described above will be explained with reference to FIG.

A microcomputer 12 installed in a ground control panel separate from each unmanned vehicle 1 is equipped with a central processing unit i (C
PU) 1 3, a read-only memory (ROM) 14 that stores entrainment control programs, etc. in advance, and a readable and rewritable memory (RAM) 15 that temporarily stores calculation results of the CPU 13, etc., which are stored in the ROM 14. Execute operation processing operations according to the operation control program.

The CPU 13 outputs a guidance command signal to the transmitter 16 based on a predetermined operation control program, and causes the guidance wire 2 to conduct a minute low frequency current. Further, the CPU 13 outputs a start command signal to the start command device 11, causes the start command device 11 to emit light, and sends a light signal for a start command toward the unmanned vehicle 1 waiting at the population position P of the assembly area 5. fire. At this time, the CP (I13) activates the timer 13a and
The elapsed time from the start of the vehicle is measured based on the light emitting operation of the start command device 11.

Then, when the CPU 13 determines that the time measurement result by the timer 13a has reached a predetermined time, that is, the set time for determining the constant travel time tZD that should be taken between each unmanned vehicle 10, the CPU 13 starts the next unmanned vehicle 1. In order to start the vehicle, the start command device 11 is operated to emit light. That is, after the previous unmanned vehicle 1 has started, an optical signal for a start command to start the next unmanned vehicle 1 waiting at the population position P is emitted.

In this embodiment, the arrival time from when the previous unmanned vehicle 1 starts to when the next unmanned vehicle 1 reaches the entrance position P is set in advance. That is, the arrival time is set to be shorter than the set time. In other words, the operation setting is such that the next unmanned vehicle 1 immediately arrives at the entrance position P after the previous unmanned vehicle 1 has started.

On the other hand, the CPU 13 inputs a speed setting signal from the speed controller 17 that is operated to appropriately change and set the traveling speed of the unmanned vehicle 1, and based on the setting signal, the transmitter 16
is activated to change the frequency of the minute low-frequency current that conducts through the guide wire 2. Further, the CPU 13 inputs an interval setting signal from an interval controller 18 that is operated to appropriately change and set the travel interval D of each unmanned vehicle 1, and adjusts the set time measured by the timer 13a based on the setting signal. Make changes.

Next, to explain each unmanned vehicle 1, the unmanned vehicle 1 travels along the travel route 3, and in order to be guided by the guide line 2 and steer itself, it detects the guide line 2 and changes the lateral displacement. The vehicle is equipped with a steering mechanism for correcting the movement, and a traveling mechanism for traveling along the guide line 2. In this embodiment, as shown in Fig. 7.8, a pair of left and right driving wheels 22 constituting a steering mechanism and a traveling mechanism are provided at the center of the lower surface of the vehicle body 21, and auxiliary wheels are also provided on both the front, rear, left, and right sides of the lower surface of the vehicle body 2l. 23 are provided respectively. Further, in order to detect the guide wire 2, an electromagnetic pisok-up coil 24 that is sensitive to minute low frequency currents is provided on the lower front side of the vehicle body 21. Furthermore, in order to read the standby mark 8 and advance mark 9 provided on the entrance side and exit side of the assembly area 5, the vehicle body 21
A mark sensor 25 consisting of a plurality of (six in this case) proximity sensors for detecting the iron plate piece 10 of each mark 8.9 is disposed approximately at the center of the lower surface of the mark 8.9. That is, this mark sensor 25 is installed with the same dimensions as the arrangement spacing of the iron plate pieces 10 of each of the marks 8 and 9, and reads the pattern of each mark 8, 9 by sensing each iron plate piece 10 facing each other, that is, the assembly. The instructions to stand by at C immediately before area 5 and the instructions to advance from assembly area 5 are read respectively.

On the other hand, the upper surface of the vehicle body 21 is a loading platform 26, and the workpiece W is placed on the loading platform 26. Further, an optical sensor 27 for receiving an optical signal from the start command device 11 is attached to one side of the vehicle body 21.

Next, the electrical configuration of the travel control device mounted on the unmanned vehicle 1 configured as described above will be explained with reference to FIG.

The in-vehicle microcomputer 31 includes a CPU 32, a ROM 33 that stores control programs, etc. in advance, and a CPU 32.
Consists of a RAM 34 that temporarily stores calculation results, etc.
The travel processing operation for each unmanned vehicle 1 is executed according to the control program stored in the ROM 33.

The CPtJ32 outputs a speed command signal to the motor drive circuit 35 based on a predetermined control program, and controls the rotational direction and rotational speed of the left-side travel motor 36, which is a DC motor drivingly connected to the left-hand drive wheel 22. do. Similarly, the CPU 32 outputs a speed command signal to the motor drive circuit 37 to control the rotational direction and rotational speed of the right drive motor 38, which is a DC motor connected to the right drive wheel 22. In addition, the CPU 32 controls each traveling motor 36.
, 38, the speed sensor 3 detects the rotational direction and rotational speed of the
The detection signal from 9.40 is inputted, and the running direction and running speed of each running motor 36, 38 at that time is calculated.

On the other hand, the CPU 32 inputs the detection signal from the pink assop coil 24, and based on the detection signal, each traveling motor 3
6 and 38 to perform steering control so that the unmanned vehicle 1 travels along the guide line 2.

Further, the CPU 32 inputs the detection signal from the pisoku asop coil 24 via the receiver 41. This receiver 41 demodulates the detection signal from the pisoku asop coil 24, that is, the minute low frequency current signal, and outputs a speed setting signal relative to that frequency. This speed setting signal corresponds to the setting signal set by the speed controller 17 on the control panel side. Therefore, the CPU 32 inputs the speed setting signal from the receiver a41, controls the rotation speed of each traveling motor 36, 38 based on the setting signal, and controls the traveling speed 1B of the unmanned vehicle 1.

Further, the CPU 32 inputs the detection signal from the mark sensor 25, and determines the presence or absence of the standby mark 8 and advance mark 9 based on the detection signal.

Then, when the CPU 32 determines the presence of the standby mark 8 based on the detection signal from the mark sensor 25, it is assumed that the unmanned vehicle 1 has reached the population position P of the assembly area 5, and the same position P
Each traveling motor 3 is used to temporarily make the unmanned vehicle 1 standby at
6, 38 are stopped.

Further, the CPU 32 determines a start command based on the command detection signal from the optical sensor 27, and starts each traveling motor 36, 38 in order to start the waiting unmanned vehicle 1.

In this embodiment, the worker M in the assembly area 5
In order to facilitate the parts assembly work, the traveling speed of the unmanned vehicle 1 in the assembly area 5 is set to a predetermined constant speed (for example, 0.75 m/min to 1.75 m/min).
minutes).

Further, when the CPU 32 determines the presence of the advance mark 9 based on the detection signal from the mark sensor 25, it assumes that the unmanned vehicle l has advanced from the assembly area 5, and finishes traveling at speed i:;k, and resumes traveling. Each travel motor 36 to increase speed
．． Increase the rotation speed of 38.

Next, an explanation will be given of the operation of the one-column operation control device configured as described above.

Now, when the first unmanned vehicle 1 loaded with the workpiece W at the loading station 6 reaches the assembly area 5 while steering itself along the guide line 2, the mark sensor 25 detects the standby mark 8, and the vehicle CPU3 2 on the side is assembly area 5
Assuming that the unmanned vehicle 1 has reached the entrance position P, each traveling motor 36, 38 is stopped in order to temporarily put the unmanned vehicle 1 on standby.

Thereafter, when the CPU 13 on the control panel side causes the start command device 11 to emit light in order to start the first unmanned vehicle 1, the light signal is received by the optical sensor 1a 27 of the unmanned vehicle 1. Therefore, the CPU 32 on the vehicle side starts each of the traveling motors 36 and 38 in order to start the waiting unmanned vehicle 1, that is, to make it enter the area 5 marked with N and .

At this time, the system? The CPU 13 on the fffl board operates a timer 13a to measure the time elapsed since the first unmanned vehicle 1 started. Also, during this time, the next unmanned vehicle 1
That is, when the second unmanned vehicle 1 reaches the population position P, the unmanned vehicle 1 will temporarily wait at the same position P like the first unmanned vehicle 1.

And that C. When P U 1 3 determines that the time measurement result by the timer 13a has reached a predetermined set time, it causes the start command device 11 to emit light in order to start the second unmanned vehicle 1.

As a result, the optical signal emitted from the start command device 11 is received by the optical sensor 27 of the second unmanned vehicle 1, and
The PU 3 2 starts each of the travel motors 36 and 38 in order to start the unmanned vehicle 1 that is on standby.

As a result, the second unmanned vehicle 1 is started and put into the assembly area 5, and is separated from the first unmanned vehicle 1 that has started by a predetermined distance, that is, a predetermined travel interval D. It will be running.

Therefore, by sequentially introducing a plurality of unmanned vehicles 1 into the assembly area 5 in this way, a predetermined constant running interval D is formed between each unmanned vehicle 1, as shown in FIGS. 1 and 2. be done. In other words, a certain distance 1iD between each unmanned vehicle 1
can be set, and each unmanned vehicle 1 can be caused to travel at a very slow speed while maintaining the travel interval D in the attached area 5.

Here, each unmanned vehicle 1 introduced into the assembly area 5 passes by the side of each assembly station 4, and as it passes, each worker M assembles parts on the workpiece W as appropriate. conduct. In this assembly area 5, a plurality of unmanned vehicles 1 carrying workpieces W travel at a slow speed while maintaining a constant travel interval D, so that workers M at each assembly station 4 move at a slow speed at regular intervals. It is possible to assemble the parts of the workpiece W that is being transported. In other words, parts assembly work can be performed with the same level of excitement as conventional assembly line work using conveyors.

After that, when the unmanned vehicle 1 carrying the work W whose parts have been assembled in the assembly area 5 advances from the assembly area 5,
The advance mark 9 is detected by the mark sensor 25, and the vehicle-mounted CPtJ32 assumes that the advance mark 9 has advanced from the assembly area)'5. increase the rotation speed.

Furthermore, the unmanned vehicle l that has advanced from the assembly area 5 travels to the unloading station 7, and when the transfer and unloading of the workpiece W is completed at the same station 7, it heads to the loading station 6 to load the next workpiece W again. drive.

[Second Embodiment] Next, a second embodiment in which the second invention is applied to an assembly line for machine manufacturing will be described in detail with reference to FIGS. 9 to 11. In the configuration of each of the following embodiments including this second embodiment, the same members as those in the first embodiment are given the same reference numerals, and the explanation thereof will be omitted, and only the different points will be explained.

In this embodiment, as shown in the ninth port, the start command device l
1 to the assembly area 5 side by a distance L corresponding to the travel interval D, that is, at a detection position Q that is a distance L away from the entrance position P, each unmanned vehicle 1 passes on the road side of the travel route 3. A passage sensor 46 is provided as passage detection means for detecting the passage. This passage sensor 46 is made of a reflective photoelectric switch, and the light emitted from the sensor 46 is reflected as the unmanned vehicle 1 passes, and the passage of the unmanned vehicle 1 is detected by receiving the reflected light. be. Further, for this purpose, a reflecting mirror 47 is attached to the unmanned vehicle 1 at a position below the optical sensor 27 on one side of the vehicle body 21, as shown in FIG. That is, the passage sensor 46 detects passage of the unmanned vehicle 1 by reflecting the emitted light on the reflector 47 of the unmanned vehicle 1.

Next, the electrical configuration of the operation control device will be explained.
As shown in Fig. 10, the CPU serves as a starting command control means.
13 inputs a passage detection signal from a passage sensor 46 in place of the interval controller 18. And CPtJ
13 is a start command for starting the next unmanned vehicle 1 when it is determined that the unmanned vehicle 1 has passed the detection position Q based on the detection by the passing sensor 46, that is, when it is determined that the passing detection signal has been input. The device 11 is operated to emit light. In other words, C
After the previous unmanned vehicle 1 has started, the PU 13 emits an optical signal for a start command to start the next unmanned vehicle l waiting at the entrance position P.

Therefore, in order to start the unmanned vehicle l waiting at the population position P and insert it into the assembly area 5, the CPU 13 activates the start command device l1 to emit light. Then, the optical signal is received by the optical sensor 27 of the unmanned vehicle 1, and each traveling motor 36, 38 of the unmanned vehicle 1 is activated, and the unmanned vehicle 1 begins to enter the assembly area 5. Moreover, when the next unmanned vehicle 1 reaches the entrance position iP during that time, the unmanned vehicle 1 will temporarily wait at the same position P like the previous unmanned vehicle 1.

Then, when the unmanned vehicle 1 that has been introduced into the assembly area 5 passes the detection position Q, the emitted light from the passing sensor 46 is reflected by the reflector 47 attached to the unmanned vehicle 1, and the unmanned vehicle 1 Passage is detected. Therefore, the CPU 13 determines that the unmanned vehicle 1 has passed the detection position Q based on the detection by the passing sensor 46, and issues a start command to start the next unmanned vehicle 1 waiting at the entrance position P! The Sll is operated to emit light.

As a result, the optical signal sent from the start command device 1l is received by the optical sensor 27 of the next unmanned vehicle 1, and each of the traveling motors 36 and 38 of that unmanned vehicle 1 is activated. As a result, the next unmanned vehicle 1 is started and put into the assembly area 5,
The driver will travel a predetermined distance, that is, a predetermined travel interval D, from the unmanned vehicle 1 that has started earlier.

Therefore, by sequentially introducing a plurality of unmanned vehicles 1 into the assembly area 5 in this manner, a predetermined constant travel interval D is formed between each unmanned vehicle 1, as shown in FIG. In other words, it is possible to set a constant traveling interval D between each unmanned vehicle l, and while maintaining the traveling interval D, each unmanned vehicle
can run at a speed of 'Ri'.

Therefore, in the assembly area 5, the plurality of unmanned vehicles 1 carrying workpieces W travel at a slow speed while maintaining a constant travel interval D, and the workers M at each assembly station 4 travel at a slow speed at constant intervals. Parts of the transported work W can be assembled.

In this embodiment, in order to change the running interval D of each unmanned vehicle 1 within the assembly area b, the installation position of the passage sensor 46 may be changed. That is, the distance L from the population position P on the roadside of the travel route 3 may be changed by six as appropriate.

[Third Embodiment] Next, a third embodiment in which the second invention is applied to an assembly line for machine manufacturing will be described in detail with reference to FIGS. 12 to 15.

In this embodiment, as shown in FIG. 12.13, a distance L1 corresponding to the running interval D is provided from the start command device 11 toward the assembly area 5, that is, a distance L1 is provided from the entrance position P. At the detection position Q1, the travel route 3
A first passage sensor 48 serving as passage detection means for detecting passage of each unmanned vehicle 1 is disposed near. Continuing from the first passage sensor 48, in the vicinity of the travel route 3, there are a second passage sensor 49, a third passage sensor 50, and a fourth passage sensor 51 for similarly detecting passage of the unmanned vehicle 1.
are arranged at equal intervals d. That is, 4
Each of the passing sensors 48 to 51 is arranged at each detection position Ql, Q2, Q3, Q4 which is located at a corner by a distance of 7 d.

As shown in FIG. 13.15, each of the passing sensors 48 to 51 has a flat case main body 52, a reed switch 53 that is mounted so that its position can be changed within the case main body 52, and a reed switch 53 that covers the housed reed switch 53. The cover body 54 is attached to the case body 52 for this purpose. Each of the IFFL excess sensors 48 to 51 configured as described above is buried in the road surface along the traveling route 3, and the lid body 54 thereof is flush with the road surface.

Each of the passing sensors 48 to 51 detects the passing of the unmanned vehicle 1 by operating each reed switch 53 as the unmanned vehicle 1 passes.

For this purpose, the unmanned vehicle 1 is provided with each passage sensor 48 to
A magneto switch 55 for operating the reed switch 53 of 51 is attached.

In other words, each passing sensor 48 to 51 is activated as the magneto sensor 55 attached to the unmanned vehicle 1 passes, and the unmanned vehicle 1
It is designed to detect the passage of. Incidentally, any one of the passage sensors 48 to 51 is selectively activated. In other words, by arbitrarily selecting one of the passing sensors 48 to 51, the traveling distance of the unmanned vehicle 1 from starting from the entrance position P to being detected by each passing sensor 48 to 5I is changed. be done.

Next, to explain the electrical configuration of this operation control device, as shown in FIG.
The PU 13 receives passage detection signals from the first to fourth passage sensors 48 to 51 instead of the passage sensor 46 of the second embodiment.

Further, the CPU 13 receives a selection signal from a selection switch 56 that is operated to select the detection of each of the passing sensors 48 to 51, and selects which passing sensor 4 based on the human input signal.
8 to 51 to determine whether to perform the detection operation. and,
The passage of the unmanned vehicle 1 is detected based on the detection by the selected one of the passage sensors 48 to 51.

That is, when the CPU 13 determines that the unmanned vehicle 1 has passed the detection positions Q1 to Q4 based on the detection by any one of the passing sensors 48 to 51, the CPU 13 selects the next unmanned vehicle 1.
In order to start the vehicle, the start command device 11 is operated to emit light.

In other words, after the previous unmanned vehicle 1 starts, the CPU 13 issues an optical signal for a start command to start the next unmanned vehicle 1 waiting at the entrance position iZP.

Therefore, when the first passage switch 7,48 is selected based on the operation of the selection switch 56, the entrance position P
In order to start the unmanned vehicle 1 that is waiting at the unmanned vehicle 1 and insert it into the assembly area 5, the CPU 13 causes the start command device 1l to emit light. Then, the optical signal is sent to the optical sensor 2 of the unmanned vehicle 1.
7, each traveling motor 36, 38 is started in order to start the unmanned vehicle 1, and the unmanned vehicle 1 moves to the assembly area 5.
begins to enter. Moreover, when the next unmanned vehicle 1 reaches the entrance position P during that time, that unmanned vehicle 1 will temporarily wait at the same position P like the previous unmanned vehicle 1.

Then, when the unmanned vehicle 1 introduced into the assembly area 5 passes over the first passing sensor 48 selected in advance, the reed switch 53 of the passing sensor 48 is connected to the magnetic sensor 55 attached to the unmanned vehicle 1. It is activated by the approach and the passing of the unmanned vehicle 1 is detected. Therefore, the CPU 13 determines whether the unmanned vehicle 1 is at the detection position Q based on the detection by the passing sensor 48.
1 is judged to have passed, and the start command device 11 is operated to emit light in order to start the next passenger vehicle 1 waiting at the entrance position Hp.

As a result, the optical signal emitted from the start command device 11 is received by the optical sensor 27 of the next unmanned vehicle 1, and each traveling motor 36, 38 is activated to start the unmanned vehicle 1. As a result, the next unmanned vehicle 1 is started and put into the assembly area 5, and is a predetermined distance from the previously started unmanned vehicle 1, that is, the distance L from the population position P to the first detection position iQ1.
This means that the vehicle travels at a distance D corresponding to 1.

Therefore, by sequentially introducing a plurality of unmanned vehicles 1 into the assembly area 5 in this manner, a predetermined constant travel interval D is formed between each unmanned vehicle 1, as shown in FIG. In other words, it is possible to set a constant running interval D between each unmanned vehicle 1, and to make each unmanned vehicle 1 run at a very slow speed while maintaining the running interval D.

Therefore, in the assembly area 5, the plurality of unmanned vehicles 1 carrying workpieces W travel at a slow speed while maintaining a constant travel interval D, and the workers M at each assembly station 4 travel at a slow speed at constant intervals. Parts of the transported work W can be assembled.

Also, to change the size of the travel interval D of each unmanned vehicle 1,
Each passing sensor 48 is selected simply based on the operation of the selection switch 56.
Detection according to 51 may be selected. That is, when the second passage sensor 49 is selected, the travel interval can be set to be larger than the distance L1 by the interval d, and when the third passage sensor 50 is selected, the interval d can be set larger than the distance L1. 2
The travel interval can be set twice as large, and the fourth
When the ilI1 oversensor 51 is selected, it is possible to set a travel interval that is three times the distance d larger than the distance L1.

In addition, in each of the passage sensors 48 to 51, the reed switch 53 is installed in the case body 52 so that its position can be adjusted, so by changing its position, the size of the travel interval D can be finely adjusted. can.

Furthermore, in this embodiment, each of the passing sensors 48 to 5l is buried in the road surface, so that they do not interfere with the work of the worker M or impede the movement of the unmanned vehicle 1.

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 each of the above embodiments, the start command means is the start command device 11 consisting of a light emitting device, and the optical sensor 27 for detecting the optical signal from the command device 11 is attached to the unmanned vehicle l. As shown, a loop coil 57 that conducts a minute low frequency current as a start command means is provided on the road surface, and an electromagnetic bisokhanop coil 58 that is sensitive to the minute low frequency current from the loop coil 57 is installed in the unmanned vehicle 1. It may be provided.

(2) In the second embodiment, the passage sensor 46 made of a reflective photoelectric switch was provided as the passage detecting means, but this may be replaced by a limit switch, a proximity sensor, or the like.

(3) In the third embodiment, each passage sensor 48 to 51 is provided with a reed switch 53 as a passage detection means, but the reed switch 53 may be a Hall element.

(4) In each of the above embodiments, the first invention is such that the next unmanned vehicle 1 is started based on the time elapsed since the unmanned vehicle 1 starts, and the unmanned vehicle at a predetermined detection position. The second invention, in which the next unmanned vehicle 1 is started based on the detection of the passage of the vehicle 1, has been individually embodied,
The first invention and the second invention may be combined so that the next unmanned vehicle is started when both the conditions for measuring elapsed time and detecting the passing of an unmanned vehicle are satisfied.

(5) In each of the above embodiments, the operation setting was such that the next unmanned vehicle 1 immediately arrives at the population position P after the previous unmanned vehicle 1 starts. The next unmanned vehicle 1 is placed on standby in advance, and the entrance position P
Even if it is set so that when the unmanned vehicle 1 that is already on standby starts and a vacant space becomes available at the population level Hp, the next unmanned vehicle that was waiting at the previous position immediately runs to the entrance position Hp. good.

(6) In each of the above embodiments, the predetermined traveling section is defined as the assembly area 5.
However, the predetermined travel section may be the entire area of the travel route 3.

[Effect of the invention] As detailed above, according to the first invention and the second invention,
It is possible to set the travel interval of multiple unmanned vehicles at a constant distance in a predetermined travel section on a travel route, and it has the excellent effect of being able to transport workpieces at regular intervals in the same way as a conventional conveyor. .

[Brief explanation of the drawing]

1 to 8 are drawings showing a first embodiment embodying the first invention, in which FIG. 1 is a schematic configuration diagram of an unmanned transportation system, and FIG. 2 explains the main parts thereof. Figure 3 is a Bronok diagram showing the electrical configuration of the operation control ill device, Figure 4 is a plan view of the standby mark, Figure 5 is a plan view of the advance mark,
FIG. 6 is a schematic diagram showing the electrical configuration of the vehicle-mounted travel control device, FIG. 7 is a side view of an unmanned vehicle, etc., and FIG. 8 is a plan view of the unmanned vehicle. 9 to 11 are drawings showing a second embodiment embodying the second invention, in which FIG. 9 is a diagram explaining the main parts of the unmanned transportation system, and FIG. 10 is a diagram of the operation control device. A block diagram showing the electrical configuration, FIG. 11 is a side view of an unmanned vehicle, etc. 12 to 15 are drawings showing a third embodiment embodying the second invention, in which FIG. 12 is a diagram explaining the main parts of an unmanned transportation system, and FIG. 13 is an unmanned vehicle and a plurality of 14th diagram illustrating the relationship with the passing sensor.
The figure is a block diagram showing the electrical configuration of the operation control device.
FIG. 5 is a perspective view showing the structure of each passing sensor. FIG. 16 is a plan view of an unmanned vehicle etc. showing another embodiment. In the figure, 1 is an unmanned vehicle, 2 is a guide line, 3 is a travel route, 5 is an assembly area as a predetermined travel section, 1l is a start command device as a start command means, and 13 is c as a start command control means.
pu, 13a is a timer as a timing means; 46 is a passage sensor as a passage detection means; 48 to 51 are first to fourth passage sensors as passage detection means; 57 is a loop coil as a start command means; L; Ll is the distance, P is the entrance position, Q is the detection position, and Q1 to Q4 are the first to fourth detection positions. Patent applicant Toyota Industries Corporation Toyota Motor Corporation

Claims (1)

[Scope of Claims] 1 A plurality of unmanned vehicles are steered and self-propelled along a guide line laid on a travel route, and each unmanned vehicle is sequentially operated at a predetermined constant speed in a predetermined travel section on the same travel route. In an operation control device for an unmanned vehicle to be driven, a start command means for instructing an unmanned vehicle parked at an entrance position of the predetermined travel section to start in order to sequentially introduce each of the unmanned vehicles into the predetermined travel section; a force timing means for measuring the elapsed time since the unmanned vehicle started based on a command from the start command means; and when it is determined that the time measurement result by the timing means has reached a predetermined time, the following and a start command control means for activating the start command means to start the unmanned vehicle. 2 Operation of an unmanned vehicle in which a plurality of unmanned vehicles are steered and self-propelled along a guide line laid on a travel route, and each unmanned vehicle is driven sequentially at a predetermined constant speed in a predetermined travel section on the same travel route. The control device includes: a start command means for instructing the unmanned vehicles parked at an entrance position of the predetermined travel section to start in order to sequentially enter the unmanned vehicles into the predetermined travel section; a passage detection means disposed at a detection position a predetermined distance apart from the entrance position to detect passage of each of the unmanned vehicles; and a passage detection means for detecting passage of each unmanned vehicle based on detection by the passage detection means. An operation control device for an unmanned vehicle, comprising a start command control means for activating the start command means to start the next unmanned vehicle when it is determined that the unmanned vehicle has passed the detection position.