JPS6143309A - Guiding device for unmanned truck - Google Patents

Abstract

PURPOSE:To simplify the constitution of a guiding device of an unmanned truck with reduction of cost by applying the control signals to a conductive optical guiding route set on a floor surface and controlling the start/stop of the unmanned truck with the control signals. CONSTITUTION:A guiding device of an unmanned truck 2 consists of a conductive and reflective optical guiding route 1 made of an aluminum foil, etc. and set on a floor surface along a drive course of the truck 2, a transmission controller 3 which applies the control signals to the route 1, a low frequency oscillator 4, etc. The truck 2 contains a steering wheel 6, a motor 7 for wheel 6, a driving wheel 8 and its motor 9, a receiver 10, an optical sensor 11, a main body 13, etc. The receiver 10 receives the low frequency signals delivered from the controller 3, and the drive of the truck 1 is controlled by the wheel 8 via the motor 9. When the truck 2 gets out of the route 1, the sensor 11 detects this. Then the wheel 7 is controlled via the motor 9 to set the truck 2 back to the route 1 again.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention is directed to an unmanned vehicle that can be implemented using the Tough (TA (3T) production system) without complicating the configuration or increasing costs associated with it. Regarding a guidance device.

[Conventional technology]

2. Description of the Related Art As a conventional unmanned vehicle guidance device, for example, there is one that optically guides an unmanned vehicle loaded with parts and products to make it run at a production site such as a factory. This unmanned vehicle guidance device attaches white vinyl tape with an adhesive layer or aluminum foil tape to the floor of a production site such as a factory or the like in the center of the driving path as a light reflective guidance path.
The unmanned vehicle is powered by an on-board battery and is powered by a motor.The bottom of the unmanned vehicle is equipped with an optical sensor for steering control and control (a light source that irradiates light onto a light reflection guide path, and a light source that emits light reflected from the light source). An unmanned vehicle (consisting of a plurality of light-receiving elements that receive light depending on the driving state) is established, and the unmanned vehicle is driven along a light reflection guidance route based on the detection signal obtained by the optical sensor.

゛ The unmanned vehicle can start running and move to the next step by operating the start switch mounted on the vehicle body. In addition, to stop an unmanned vehicle,
A stop marker is installed near the light reflection guide path of the point where the vehicle should be stopped, and this marker is detected optically to stop the vehicle. (It can also be stopped by a worker's operation depending on the situation). Based on this structure, the so-called Free 70 production method divides product assembly into multiple processes, and unmanned vehicles are moved to each process according to the work situation to transport the assembled products in one step. This allows the product to be assembled efficiently.

[Problem that the invention seeks to solve]

However, according to conventional guidance systems for unmanned vehicles, the timing of the start and end of work depends on the work speed of the worker.
Since differences in work time occur due to differences in the abilities of individual workers, there is an inconvenience that the above-mentioned timings are inconsistent.

In order to solve the inconveniences of this free 70-production system, it is desired to realize a tact (TACT) production system in which all processes start and end operations at the same timing.

[Means and effects of stone rolling to solve the problem] The present invention has been made in view of the above, and in order to realize a tact production system without complicating the structure and increasing costs accordingly. The present invention provides an unmanned vehicle guidance device in which a control signal is applied to a conductive light guide path attached to a surface, and the stop and departure of the unmanned vehicle is controlled by the control signal. It should be noted that, as a matter of course, the present invention can be similarly applied to uses other than takt production systems.

〔Example〕

Hereinafter, the unmanned vehicle guidance system according to the present invention will be described in detail.

Figure 1 shows one embodiment of the present invention, in which a material with excellent conductivity and light reflection performance such as aluminum foil is pasted in a loop on the floor along the desired travel course of the unmanned vehicle. A light guide route 1, an unmanned vehicle 2 running on the light guide route 1,
For example, 20
Transmission controller 3 applying a signal with a frequency of 30Hz
and a low frequency oscillator 4 that supplies a signal of the frequency to the transmission controller 3, and is connected between the transmission controller 3 and the light guide path 1 to prevent overcurrent from flowing when the loop end of the light guide path 1 is short-circuited. It is composed of a protective resistor 5 for preventing.

FIG. 2 shows details of the unmanned vehicle 2, which includes a steering wheel 6 provided with a steering mechanism for driving the vehicle along the light guide path 1;
A motor 7 that provides steering driving force to the steered wheels 6, and a front wheel 6.
Drive wheels 8 are arranged at regular intervals to apply driving force to drive the vehicle, a motor 9 applies driving force to the driving wheels 8, and The low frequency signal is detected by a coil, the motor 9 is controlled on/off, the light is irradiated towards the receiving device 10 and the light guide path 1, and an electrical signal corresponding to the amount of received reflected light is output. An optical sensor unit 11 that outputs multiple outputs and performs forward and reverse control of the motor 7, a battery 12 that serves as a power source for each motor and each electric circuit, and the above-mentioned components are mounted, and an object to be transported is placed on the upper surface. It is composed of a main body 13.

As shown in FIG. 3, unmanned vehicles 2 having the configuration as shown in FIG. All Niji cars start and stop at the same time.

FIG. 4 shows details of the receiving device 10, which includes a detection coil 2G that is installed at the bottom of an unmanned vehicle 2 in the vicinity of the light guide path IK and detects a low frequency signal flowing in the light guide path 1; A connecting cable 21 connected to the coil 2o, an amplifier 22 that amplifies the detection aj signal obtained through the cable 21 to a predetermined level, and an amplifier 22 that amplifies only the desired low frequency signal component in the output signal of the amplifier 22. a tuning fork filter 23 that passes through the signal and removes unnecessary signals other than the signal component;
An NXtJb circuit 24 that amplifies the output signal of the filter 23 to generate a drive signal, and a relay 26 that is installed in the g-movement circuit 24 to control opening and closing of the contact 25 and selectively connect the battery 12 to the motor 9. , and a power switch 27 for manually cutting off power to the motor 9.

Further, FIG. 5 shows an example of the groove configuration of the steering control device combined with the optical upper/seat part 11, and the optical separator 11 used here is located at the right end of the light guide path l during normal driving. The light-receiving element 11a to be set, the light-receiving element 11b to be set to the center, and the light-receiving element 11c to be set to the left end (C7).
and a light source l disposed above the light guide path 1 at a position where the reflected light from the light guide path 1 enters the light receiving cables 11a to 11c.
The id is configured. Phototransistors can be used as the light receiving elements 11a-lie, and the light 111
A lamp, LED, etc. can be used for d. The steering control device includes a NAND gate 31 to which the output signals of the light receiving elements 11m and lla are applied, and which generates an output signal of 11" level when the signal level of either one is @0# level, and the gate 31, a relay 33 connected between the collector of the transistor 32 and 217912 and whose contact 34 is controlled to open/close, and a light receiving element 1.
A NAND gate 35 to which respective output signals of 1i and llb are applied and generates an output signal of ``1'' level when the signal level of either one is ``0'' level, and light receiving element 1
The AND gate 36 generates an output signal of the 1" level when the respective output signals of 1b and lla are applied and both are at the ""l#l# level, and the gate 36 and the NAND gate 35 both output "l". an AND gate 37 that outputs a 1'' level signal when a level signal is output; a common emitter transistor 38 that is controlled on/off by the output signal of the AND gate 37''; and a transistor 38 connected to the transistor 38. IJI/-39 is connected between the collector of the transistor 38 and the battery 12.
An excitation coil 40 that is excited when the transistor 38 is turned on.
The battery 12 is connected to the motor 7 through a normally closed contact so as to be able to rotate in the forward direction, and is also connected through a normally open contact so that the battery 12 can rotate in the reverse direction, and the contact is switched by the excitation of the excitation coil 40. 41 a p 4 l b and
Power switch for supplying power to the electrical system.

It is more structured than Te42.

In the above configuration, driving control of the unmanned vehicle 2 will be explained. When the unmanned vehicle 2 is normally set on the light guide path 1 and the power switch 27 is turned on, a low frequency signal is output from the transmission controller 3 when the vehicle is running, and no low frequency signal is output when the vehicle is stopped. shall be.

When a low frequency signal is output from the transmission controller 3, a voltage at a level formed by the low frequency current flowing through the light guide path 1 is induced in the detection coil 20. The detection signal obtained by this induction is amplified by an amplifier 22, and then only a necessary signal of 2030 Hz is extracted by a filter 23. Further, after being amplified by a drive circuit 24, a relay 26 is excited. This closes the relay contact 25 and causes the motor 9 to open.

The battery 12 is connected, the motor 9 rotates, the drive wheels 8 rotate, and the unmanned vehicle'@2 travels.

On the other hand, when the unmanned vehicle 2 is traveling along the light guiding route l, detection signals are generated from all of the light receiving cables 11EL to llc. Therefore, the output signal of each of the gates 31 and 35 is @o# level), and the transistor 3
2 is non-conductive and the logic 3HH of AND gate 37
Since the fz condition does not hold, the transistor 38 is in a non-conducting state. Therefore, the relays 33 and 39 are not excited, the motor 7 is not rotated, and the steering mechanism is not driven.
Unmanned heavy vehicle 2 moves straight ahead. However, if the unmanned vehicle 2 is on the light guiding path 1. If the light receiving element 11 & or lie is off, no light will be received by the light receiving element 11 & or lie.

For example, if the unmanned vehicle 2 deviates from the course to the right, the light receiving element 11
When the output signal is no longer generated at the NAND gate 31, a '1'' level signal is output to the NAND gate 31, and the transistor 3
2 becomes conductive, and the relay 33 is excited, so that the motor 7 can be energized. At this time, the logic condition of the AND gate 36 is not satisfied and an output signal of the ``0# level is generated, and the output of the NAND gate 35 is at the ``+'' level, so the output of the AND gate 37 is ``h'' at the lO level. Therefore, transistor 38 is non-conducting.
The relay contacts 41 and 41b are not switched, and the motor 7 and the battery 12 are connected through the B side contact and the contact 34 shown in FIG.
is directed to the left, the unmanned vehicle 2 is steered to run in the center of the light guide path 1, and the light receiving elements 11m and li
When detection signals are obtained from both e, the relay 34 is turned off and the motor 7 is de-energized. Further, when the unmanned vehicle 2 deviates from the course to the left and the output signal is no longer generated at the light receiving element 11c, the relay contact 34 is turned on as in the case of the deviation to the right described above, and the NAND gate 3
At the same time, a @1'' level signal is output to the AND gate 36, and a ``1# level signal is output to the AND gate 36. Therefore, A.N.
The D gate 37 satisfies the logic condition and outputs the ""1# level output signal, the transistor 38 becomes conductive, and the excitation coil 40 of the relay 39 is energized, so the relay contact 4
1m and 41b are switched to L side contacts. As a result,
The direction of energization of the motor 7 is reversed, the steering wheel 6 is directed to the right, the unmanned vehicle 2 is steered to run in the center of the light guide path 1, and a detection signal is obtained from each of the light receiving elements 11& and lie. The relay 34 is turned off and the motor 7 is de-energized.

While repeating the above operations, the unmanned vehicle 2 travels along the light guide path l, and when the low frequency signal from the transmission controller 3 is interrupted, the excitation of the relay 26 shown in FIG.・-The power supply to E9 is cut off, and the unmanned vehicle 2 stops running.

Figure 6 shows the control system for takt production.
Switch boxes 501 to 50n installed at each of the cutting sites of workers in each process, and the switch boxes 501
~50n are connected to each other, and alarm control and management box 5 for warning bells, main bells, etc. based on takt setting conditions is connected to each of them.
The controller 960 has a function of displaying the cropping status from each of 01 to 50n.

The switch boxes 501 to 50n include a buzzer 51 that notifies the worker of the warning bell and the main bell, a string-type work completion switch 52 that is operated by the worker when the work is completed before the warning bell rings, and a buzzer 52 that notifies the worker of the warning bell and the main bell. A string-type emergency stop switch 53 that is operated when it is determined that the work cannot be completed before the main bell rings, a blue 2 lamp 54 that lights up in conjunction with the operation of the work completion switch 52, and an emergency stop switch. 5
3, and a yellow lamp 56 that lights up when a warning switch 57 (for example, prompts for replenishment of parts when one part is consumed) is operated.

Furthermore, the controller 60 includes the transmission controller 3 and low frequency oscillator 4 shown in FIG. 1, as well as a timer 61 that displays the current time on a 24-hour cycle, and a takt condition (for example.

In the case of 3 conditions, ■ Takt conveyance using pitch timer only,
■ Takt transport at the timing of the pitch timer or when everyone completes work, whichever is earlier; ■ Takt transport performed on condition that everyone completes work) Takt condition setting button 62 and the blue color displayed in the management boxes 501 to 50n It is configured to include a lamp group 63 (distinguished so that it can be recognized which process it belongs to) in which lamps of the same color are lit in conjunction with the lighting of the lamp or the red lamp. Furthermore, the controller 60 has a built-in control section 64 that stores a program for executing the tact processing shown in the flowchart of FIG. 7 and processes the program using a microprocessor.

Below, with reference to Figures 6 and 7, takt setting conditions ■
The takt processing will be explained.

In the controller 6o, a takt timer uniquely determined by the number of processes, working hours, and number of production units, a break time within working hours, a pre-bell timer, a main-bell timer, etc. are set in advance. Before starting work, the 1st controller, the 96o t-source switch 65, and the power switches of all unmanned vehicles 2 are turned on (takt conditions can be set using the takt condition setting button 62).
is selected). Based on this K, the controller 6o executes various preparation processes for tact transportation of the two groups of unmanned vehicles from the work start time (for example, 8:30°9200, etc.). During this time, the chime timer turns on and the chime sounds.

When the chime stops or stops due to the time up,
The warning bell timer and tact timer are turned on.

The takt timer is, for example, used to give 2 minutes of work time to each process, and the pre-bell timer is the time that elapses before the takt timer expires (for example, there is a takt timer).Incidentally, the main bell is rung 10 seconds after the pre-bell (the takt timer (at time up), the unmanned vehicle 2 moves to the next process one second after the main bell.While the pre-bell timer and tact timer are on, it is determined whether it is a break time or not.If it is a break time, before the pre-bell If there is one, turn off the tact timer and warning timer.
Both timers are restarted after the break, and the tact timer is stopped and stopped before the main bell, and the timer is restarted after the break is finished. Then for some reason.

For example, if there is a shortage of parts and work becomes impossible, the emergency stop switch 53 will be turned on.

It is checked whether the emergency stop switch 53 has been operated. If operated, the buzzer 51 will sound and the red 2
Light the lamp at the corresponding position of the rung group. This emergency stop process is executed according to chart 70 shown in FIG.

As shown in Figure 8, if there is an emergency stop before the warning bell, the
-51 (the tact timer and warning bell timer are stopped, this buzzer drive is reset, and the emergency stop is canceled, so the tact timer and the warning bell timer restart. When the buzzer is driven, the tact timer stops and stops, and the tact timer is restarted by resetting the buzzer drive and canceling the emergency stop.Furthermore, if it is during the main bell, only the buzzer is driven, and the emergency stop is stopped when the buzzer is reset. Processing ends.

After the emergency stop processing is completed, the tact processing is continued, and at the same time as the pre-bell time is reached, the buzzer 51 is sounded to alert the worker. During the 10 seconds from the preliminary bell until the main bell is reached, the vehicle is checked once again during the above-mentioned rest period or when an emergency stop has been applied (procedure, Ri A process). When these checks are completed and 10 seconds have elapsed, the buzzer of the main bell will sound to notify the worker that the unmanned vehicle 2 will soon depart. When this main bell process is completed, the unmanned vehicle 2 will move on to the next one after 1 second. However, since there is a possibility that an emergency stop will occur during this one second period, the emergency stop will be checked again. After this process, the controller and roller 60
The transmission controller 3 transmits a low frequency signal until the unmanned vehicle 2 reaches a predetermined position for the next process. By repeating the above series of processes by the number of steps, one day's worth of products has been produced, and the production counter monitors whether the planned production quantity has been reached.

When it matches the set value, all takt processing ends at the next stage.

In addition, if takt setting condition ■ is selected, a check is made to see if everyone has completed the work, and the warning bell process is omitted.
Takt processing is executed from the main bell processing shown in FIG. In addition, if the takt setting condition ■ is selected, the pitch timer or the end of all work, whichever is earlier, will be applied.
The process 70- or the process 70- is selected and executed.

In FIG. 1, it is assumed that the unmanned vehicle travels on a single route, but the routes may also cross as in the ninth factor. In this case, in addition to the above-mentioned signals meaning start and stop, the transmission controller 23 needs to send out signals instructing branching and merging (for example, by changing the frequency or by superimposing them).

Further, in the embodiment, the detection coil 20 and the optical sensor 1
1 is shared by the light guide path 1, but they can also be made independent by laying a cable or wire parallel to the light guide path 1 and applying a low frequency signal to this cable or wire.

〔Effect of the invention〕

This has been explained above. [Union] According to the U-guiding device for an unmanned vehicle of the present invention, a control signal is applied to the conductive light @ guiding path attached to the floor surface, and the stopping and starting of the unmanned vehicle is controlled by this control signal. Therefore, it is possible to realize a takt production system without complicating the configuration or increasing costs.

[Brief explanation of the drawing]

FIG. 1 is a schematic configuration diagram showing one embodiment of the present invention, FIG. 2 is a front sectional view showing details of the unmanned vehicle 2 shown in FIG. 1, and FIG.
4 is a circuit diagram showing a receiving device 10 according to the invention, FIG. 5 is a detailed circuit diagram showing a steering control device according to the invention, and FIG. The figure is a configuration diagram of a control system for tact production to which the present invention is applied, and FIG. 7 is a flowchart showing an example of takt production processing.
FIG. 8 is a flowchart showing the emergency stop process of the process shown in FIG. 7, and FIG. 9 is a plan view showing another example of the light guide path. Explanation of symbols 1...Light guidance route, 2...Unmanned vehicle, 3.
...Transmission controller, 4...Low frequency oscillator,
5... Protection resistance, 6... Steering wheel, 8...
Drive wheel, 7.9... Motor, 10... Receiving device, 11... Optical sensor, lla~lie/
...Light receiving element, lid...Light source, 12...Pap 1J-113...Main body, 20...Detection coil, 22...Amplifier, 23...Filter, 2
4... Drive circuit, 25-... Contact, 26-... Relay, 501~5Gn-... Switch box,
51 - Buzzer, 52... Work completion switch,
53--Emergency stop switch. 54... Back lamp, 55... Red lamp, 6
0--Controller, 62--Takt condition setting button. Patent applicant: Ishi Xerox Co., Ltd.
Representative of Tokyo Electronics Industry Co., Ltd. Patent attorney: Shin Matsuhara 2nd Patent attorney: Seishunma Muraki Patent attorney: Tadashi Taira Hikai Patent attorney: Atsushi Ueshima −
[ij Patent Attorney Hitoshi Suzuki Figure 1 Army Figure 2 Figure 3 Figure 8! ! 0 army 9 figure

Claims (1)

[Scope of Claims] A guidance device for an unmanned vehicle that causes the unmanned vehicle to travel on a floor according to a predetermined schedule, in which a material that is conductive and has a light reflecting function is used to form a traveling route. a control signal generating means for applying an electric signal to the light guide route to control running and stopping of the unmanned vehicle; 1. A guidance device for an unmanned vehicle, comprising: a receiving section that controls traveling of the unmanned vehicle by detecting an electric signal.