JPH0312725B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides an unmanned vehicle such as an electromagnetic induction type or an optical guidance type used for transporting workpieces in warehouse facilities, assembly production lines, etc. on a predetermined operation line consisting of a traveling line and a work line. While automatically following along the route, branching, merging, shifting, and
This invention relates to an automatic operation control device for stopping, etc.

As automatic operation control devices for unmanned vehicles of this type, there have conventionally been devices shown in the following (a) and (b), respectively.

(b) Travel position indicators located on the ground side at appropriate intervals across the entire operating line, the destination address of the designated work line, and the branching position, merging position, deceleration position, and stopping position until reaching this address. A transmitter for transmitting destination data, such as a transmitter, is provided on the unmanned vehicle side, a sensor for detecting the presence or absence of the traveling position indicator, a means for counting the detection signal of this sensor, and a means for counting the detection signal of the sensor, and a means for counting the detection signal of the sensor, A device equipped with a receiver for receiving a signal, a means for calculating the count signal and the data signal of the receiver, and a means for outputting a control signal to the traveling system drive mechanism based on the result of the calculation; (b) Unmanned The vehicle side is equipped with a sensor that detects the absolute address of each position at a plurality of specific positions on the driving line and the work line, and the ground side is equipped with a sensor that receives detection signals from the sensors of each unmanned vehicle for each vehicle. , is equipped with a central controller that issues commands to the traveling system drive mechanism of each unmanned vehicle to move to a predetermined position on the desired work line based on the received results.

In the case of the former (a), multiple unmanned vehicles located on the operation line continuously accumulate a large number of addresses over a fairly long distance from each starting position to a predetermined position on the desired work line. , there is a drawback that there is a high possibility of inducing operational control troubles due to erroneous sensor detection activation or detection errors, etc.
In the case of the latter (b), one central controller on the ground side is used to store the current traveling position and destination data of each unmanned vehicle located on the operation line, and Since movement commands to each desired work line to a predetermined position must be sequentially given based on the travel address detection signal from the vehicle, the burden on the central controller is heavy, and in order to cope with this, a large-capacity one is required. However, it has the disadvantage that it tends to lead to a rise in equipment costs.

In view of the above-mentioned circumstances, it is an object of the present invention to make it possible to reliably and accurately execute intended operation control while reducing equipment costs.

The characteristic configuration of the automatic operation control device for an unmanned vehicle according to the present invention, which has been made to achieve such an object, is that the unmanned vehicle side is automatically controlled to follow along a predetermined operation line consisting of a travel line and a work line. , a first sensor that detects the absolute address of each position at a specific position on the travel line, a second sensor that detects the presence or absence of a travel position indicator provided at an appropriate interval on the work line, and detection of the second sensor. A means for counting signals, a receiver into which destination data on the work line is input, a means for calculating the count signal and the data signal of the receiver, and outputting a control signal to the traveling system drive mechanism based on the result of the calculation. In addition, the ground side is equipped with a means to
A function that receives the detection absolute address signal of each unmanned vehicle for each vehicle and gives a movement command to the traveling system drive mechanism of each unmanned vehicle to a predetermined position based on the reception result. The central controller is equipped with a function of transmitting the data signal to the receiver of the unmanned vehicle that has arrived at the location, and the functions and effects of this feature are as follows.

<Operation> In other words, when controlling the operation of a plurality of unmanned vehicles located on the travel line to the desired predetermined positions of the work line, it is necessary to specify the entrance of the work line or its vicinity from the starting position on the travel line. During the relatively long travel route to the location, each unmanned vehicle is operated based on commands from the central controller on the ground, and during the relatively short travel route from this specific location to the predetermined position on the work line. In this case, the unmanned vehicle itself controls its own operation based on the address count signal of each unmanned vehicle and the input destination data signal, so there is a drawback like the conventional case (a), that is, the sensor's erroneous detection operation. It is possible to reduce the burden on the central controller as much as possible compared to the conventional case (b), while minimizing the occurrence of troubles in operation control due to detection errors, etc. The central controller can be downsized.

<Effects> Therefore, it has been possible to advantageously configure equipment that can reliably and accurately control the operation of unmanned vehicles.

Hereinafter, embodiments of the configuration of the present invention will be described based on the drawings.

To configure an unmanned vehicle A for transporting cargo that automatically follows a predetermined travel line from a travel line R ₁ and a plurality of work lines R ₂ as shown in FIG. 1, as shown in FIG. As shown in FIG. 4, a steering frame 3 rotatable around a vertical axis P that supports a pair of left and right steering wheels 2, 2 is attached to the front part of the traveling frame 1, and this steering frame 3 is connected to a chain or the like. Steering and rotating motor
_M1 is provided, and a pair of left and right drive wheels 4, 4 driven by a motor _M2 are provided at the rear thereof.

In configuring the automatic operation control device for this unmanned vehicle A, the amount of lateral displacement of the vehicle body with respect to the light reflective tape 5, which is an example of a travel guidance mark provided on the floor surface along the operation line, is determined on the unmanned vehicle A side. A steering optical sensor 6 for detecting, a first sensor 8 for detecting the displayed absolute address of the magnetic absolute address display 7 provided at a plurality of specific positions on the traveling line _R1 , and a first sensor 8 for detecting the absolute address displayed on the magnetic absolute address display body 7 provided at a plurality of specific positions on the running line R1, and a first sensor 8 for detecting the absolute address displayed on the magnetic absolute address display body 7 provided at a _plurality of specific positions on the traveling line R1. A second sensor 10 using a reed switch detects the presence or absence of a magnetic travel position indicator 9 installed on the floor at a distance, and a second sensor 10 using a reed switch detects the presence or absence of a magnetic traveling position indicator 9 installed on the floor at a distance, and a second sensor 10 detects the presence or absence of a magnetic traveling position indicator 9 installed on the floor at a distance. A receiver 11 using a ferrite bar antenna that receives destination data and various control signals, and a transmitter 12 using a ferrite bar antenna that transmits the number, detected absolute address, etc. of the unmanned vehicle A via the guided radio line. , based on the detection signals of the sensors 6 and 10 and the input signal of the receiver 11, automatically moving the aircraft along the light reflective tape 5 and branching off at a desired position on the travel line;
The steering motor is used for merging, decelerating, and stopping.
Steering drive mechanism 13 of _M1 and the traveling motor _M2
The vehicle is equipped with a control calculation device 15 using a microcomputer that outputs control signals to the travel drive mechanism 4 of the vehicle.

On the other hand, on the ground side, the car number and detection absolute address transmitted from the transmitter 12 of each unmanned vehicle A via the above-mentioned guidance radio line are received for each vehicle, and based on the reception results, each vehicle is A function of giving a movement command to the receiver 11 of the unmanned vehicle A to a preset predetermined position via the above-mentioned guided radio line, and a function of giving a movement command to the receiver 11 of the unmanned vehicle A that has arrived at the predetermined position. A central controller 16 is provided that has the function of transmitting destination data via a guided radio line.

The optical sensor 6 includes light emitting parts 6a, 6a', which are arranged in pairs at the left and right sides of the light reflecting tape 5 and at the center of the width thereof, respectively.
6a'' and light receiving sections 6b, 6b', and 6b''.

Next, the steering and operation control operations by the control calculation device 15 using the microcomputer are performed in a fourth manner.
This will be explained based on FIG.

When the light receiving section of the optical sensor 6 detects reflected light, the detection signal of the optical sensor 6 is sent to the I/O
is input to the CPU 18 via port 17, and this
The CPU 18 calculates the detection signal according to the program stored in the memory 19, and based on the calculation result, for example, when the center light receiving section 6b' and the right light receiving section 6b sense, the aircraft is steered to the right. However, when the central light receiving section 6b' and the left side light receiving section 6b'' sense, the aircraft is steered to the left. '' is not sensitive, the steering motor is connected from I/O port 17 in order to control the aircraft in a straight line.
A control signal is output to the steering drive mechanism 13 of _M1 .

In this way, while the aircraft is automatically moved along the light reflective tape 5, the first sensor 8 detects the absolute address of the passing place. This first sensor 8
The detection signal from
When input to the CPU 18, the car number and detected absolute address are transmitted from the I/O port 17 to the central controller 16 via the transmitter 12 and the guided radio line according to the program stored in the memory 19.

The central controller 16 transmits movement commands such as going straight, branching, and stopping to each vehicle to guide it to a preset work line R ₂ based on the detected absolute address received for each vehicle.

When a movement command from the central controller 16 is input to the CPU 18 via the receiver 11 and the I/O port 17, the CPU 18 calculates the input signal according to the program stored in the memory 19, and processes the input signal according to the program stored in the memory 19. Based on the results, a control signal is output from the I/O port 17 to the steering drive mechanism 13 of the steering motor _M1 and the travel drive mechanism 14 of the travel motor _M1 .

When the unmanned vehicle A arrives at a predetermined position at the entrance of the desired work line R ₂ based on the movement command from the central controller 16, the central controller 16 sends destination data such as the deceleration position and stop position on the work line R ₂ . The destination data is sent to the receiver 1 in each unmanned vehicle A.
1, stored in the memory 19 via the I/O port 17 and CPU 18. At this time, the soft counter 20 that counts the number of traveling position indicators 9 from the starting position is reset based on the detection signal of the second sensor 10.

In this state, the machine body is automatically moved along the light reflective tape 5 and the number of running position indicators 9 is sequentially counted from the starting position. When the CPU 18 calculates the count signal and the data signal stored in the memory 19 and determines that the aircraft has arrived at the data deceleration position and stop position,
Control signals corresponding to these are outputted from the I/O port 17 to the travel drive mechanism 14 of the travel motor _M2 .

Furthermore, after the unmanned vehicle A that has arrived at the destination performs the specified cargo transfer work, it determines whether the work has been completed or not, and if there is work left to do,
Operation control similar to that described above is performed based on the newly input destination data.

[Brief explanation of the drawing]

Figure 1 is a schematic diagram showing an example of the route, Figure 2
FIG. 3 is a side view and a plan view showing the running relationship of the unmanned vehicle, FIG. 4 is an operation control system diagram, and FIG. 5 is a flowchart of operation control. R ₁ ... Travel line, R ₂ ... Work line, A...
...Unmanned vehicle, 8...First sensor, 9...Driving position indicator, 10...Second sensor, 11...Receiver, 13, 14...Driving system drive mechanism, 16...Central controller.

Claims (1)

[Claims] 1. On the side of unmanned vehicle A that is automatically controlled to follow along a predetermined travel line consisting of travel line _R1 and work line _R2 , the absolute address of each position is detected at a specific position on travel line _R1 . A first sensor 8, a second sensor 10 for detecting the presence or absence of a traveling position indicator 9 provided at an appropriate interval on the work line _R2 , a means for counting the detection signal of the second sensor 10, a means for counting the detection signal of the second sensor 10, It is equipped with a receiver 11 into which destination data is input, means for calculating the count signal and the data signal of the receiver 11, and means for outputting a control signal to the traveling system drive mechanisms 13 and 14 based on the result of the calculation. At the same time, on the ground side, the detection absolute address signal of each unmanned vehicle A is received for each vehicle, and based on the reception result, preset address signals are respectively set for the traveling system drive mechanisms 13 and 14 of each unmanned vehicle A. An unmanned vehicle equipped with a central controller 16 having a function of giving a movement command to a predetermined position and a function of transmitting the data signal to the receiver 11 of the unmanned vehicle A that has arrived at a predetermined position. Automatic operation control device.