JPS6362006A - Teaching method for trackless unmanned carrier - Google Patents

Abstract

PURPOSE:To omit a job to measure the distance between passing positions of a trackless unmanned carrier in its teaching mode and to simply the teaching job, by providing a map on a coordinate input device to show the passing route of the carrier and a attaining successive inputs of the coordinates of passing positions on the map. CONSTITUTION:A controller is set in a teaching mode and the coordinates of passing positions of a trackless unmanned carrier 1 are designated by a coordinate designating device 16 on a map set on a table 15. In this case, these passing positions are designated with input of coordinates based on the home position HP of a starting point. These input coordinates are calculated by a coordinate calculating part 17 as the coordinate value on the tablet 15. Then a drive information input device 12 designates the types of actions, e.g., loading of cargoes carried out at each passing position and then converted into the coordinate value by a coordinate converting part 18 based on said previous coordinate value and the HP. At the same time, the actual distances between passing points are calculated from the reduced scale ratio and stored in a data memory part 9. These actions are repeated with all teaching data.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention provides a trackless automatic guided vehicle that travels on a passage in a factory, for example, by providing information such as a traveling route 1 passing position, a stop position, and the traveling state between the passing positions. Regarding the teaching method of teaching.

(Conventional technology) In recent years, in response to demands for unmanned production lines and labor savings, trackless automated guided vehicles have been used to automatically transport workpieces to storage (stations) set up for each process. It became so.

Since this trackless automatic guided vehicle is trackless, it uses various gyros to detect the direction of travel of the automatic guided vehicle itself.
It allows the vehicle to travel along a route taught in advance.

This trackless automatic guided vehicle is constructed as shown in FIG.

The trackless automatic guided vehicle 1 has a loading platform 2, and a workpiece is placed on this loading platform 2. And trackless automatic guided vehicle 1
Microcombinations 1 to 4 are provided inside the trackless automatic guided vehicle 1 to perform control operations such as running and stopping the trackless automatic guided vehicle 1.
The microcomputer 4 is connected to a direction detector 3 consisting of a gyro or the like, a steering motor 5 that controls the direction of the running wheels 6 based on instructions from the microcombi 1-4, and a drive motor 8 that drives the drive wheels 7. ing. The microcomputer 4 operates the steering motor 5 and the drive motor 8 based on the data taught in advance and the angle information output from the direction detector 3 to control the running direction and running speed of the trackless automatic guided vehicle 1. , the trackless automatic guided vehicle 1 passes through a predetermined route as shown in FIG. 6, for example.

Further, a block diagram of a control device in the trackless automatic guided vehicle 1 configured as described above is shown in FIG. 7.

As shown in the figure, the data storage unit 9 that stores information necessary for the travel of the trackless automatic guided vehicle 1 stores passing position coordinates (marked with an X in Figure 6) on the travel route as shown in Figure 6. ) and the actual measured distance between the passing position coordinates as numerical data, and a route input device for inputting the passing order of the stations (indicated by A-D in FIG. 6) for temporarily storing the workpiece. 11, and whether the passing position coordinates are a mere passing position or a loading position.

A traveling information input device 12 that inputs information such as whether the position is to be unloaded, and a calculation section 13 that calculates the traveling direction of the trackless automatic guided vehicle 1 based on the data input to the data storage section 9. A drive unit 14 that drives the running wheels 6 and drive wheels 7 is connected to the calculation unit 13 .

To teach the control device of the trackless automatic guided vehicle 1 configured in this manner, for example, the route shown in FIG. 6, the following procedure is performed.

First, the coordinates of point a, which is the home position (origin position) of this route, are input as (0,0) into the data storage section 9 using the numerical input device 10. Next, the measured distance from point a to the passing point is similarly input. Similarly, the measured distances between points b and c, between points c and d, etc. are sequentially input. Then, the traveling information at these passing positions is inputted into the traveling information input device 12 to determine the station passing order (for example, A-B-C-D or D-C).
-B-A) are respectively input by the route input device 11.

Based on the data thus taught, the trackless automatic guided vehicle 1 travels along a predetermined route.

(Problems to be Solved by the Invention) However, in the conventional method of teaching the trackless automatic guided vehicle 1, the distance between the passing positions is actually measured and the numerical value is input using the numerical input device 10. Therefore, it took a lot of time to measure the distance and was difficult to teach. In addition, if there is a change in the passing route, it is necessary to measure the distance between the passing position coordinates of this changed route.
This work also took a lot of time and made the teaching work difficult. Furthermore, although the trackless automatic guided vehicle 1 has a high degree of freedom in route setting in that it can freely set any route just by teaching it, this advantage is somewhat offset by the difficulty of teaching work. There were some problems, such as:

The present invention has been made in view of such conventional problems, and uses a coordinate input device such as a tablet on which a scaled map of the range in which the trackless automatic guided vehicle 1 is pasted is used to input the map. It is an object of the present invention to provide a teaching method for a trackless automatic guided vehicle in which the coordinates of passing positions are sequentially input.

(Means for Solving the Problems) In order to achieve the above object, the present invention forms a scaled map of the range in which the trackless automatic guided vehicle travels on a device for inputting coordinates, and The origin position coordinates, passing position, and stop position coordinates of the vehicle on the map are sequentially set, and the traveling speed 2 of the trackless automatic guided vehicle is set.
Pass, stop.

The present invention is characterized in that traveling information such as a passing route is set sequentially, the respective coordinates and the traveling information are sequentially stored, and the trackless automatic guided vehicle is taught on the map.

(Function) By teaching in this way, there is no need to actually measure the distance between passing position coordinates, and there is no need to input this distance as a numerical value, so the teaching work is simplified and the teaching time is This saves a lot of time and maximizes the benefits of trackless automated guided vehicles.

(Example) Hereinafter, an example of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a block diagram of a control device for a trackless automatic guided vehicle using the teaching method according to the present invention, and is configured as follows.

A tablet 15 on which a map of the inside of the factory is pasted as shown in FIG. 3, and a coordinate designator 1 for designating the passing position coordinates of the trackless automatic guided vehicle 1 on the map pasted on the tablet 15
6 is connected to a coordinate calculation unit 17 that calculates the coordinates on the tablet 15 on the map. The coordinate calculation unit 17 and the passing position coordinates are simply passing positions.

The traveling information input device 12, which inputs whether the loading position is the loading position or the unloading position, etc., sets the coordinate system on the tide bullet 15 to the home position (origin position ) is connected to a coordinate conversion unit 18 that converts the coordinate system into a coordinate system in ). Also, coordinate transformation section]8
is connected to a data storage unit 9 that stores information necessary for traveling of the trackless automatic guided vehicle 1, and this data storage unit 9
In this step, the running wheels 6 of the trackless automatic guided vehicle 1 are calculated via a calculation unit 13 that calculates the traveling direction of the trackless automatic guided vehicle 1.
and a drive section 14 that drives the drive wheels 7.

The teaching operation of the trackless automatic guided vehicle 1 configured as described above is performed as follows based on the flowchart shown in FIG.

Step 1 Set the operation mode of the control device shown in FIG. 1 to teaching mode.

Step 2 Using the coordinate designator 16, designate the coordinates of the passing position of the trackless automatic guided vehicle 1 on the map pasted on the tablet 15. Specifically, the coordinate designation is performed by turning on a coordinate capotan (not shown) installed in the coordinate designator 16. This coordinate specification is performed from the home position (the point indicated by HP in Fig. 3), which is the starting point of the trackless automatic guided vehicle 1, and the coordinates of this starting point are (
O20), and the subsequent passing position coordinates are input with coordinate values based on this starting point position.

Step 3 The coordinate calculation unit 17 calculates the coordinate values on the tablet 15 specified by the coordinate designator 16.

Step 4: Using the travel information input device 12, input how the trackless automatic guided vehicle 1 will operate at the passing position input in step 2. For example, in FIG. 3, when loading is carried out at the HP position, cargo information is specified using the traveling information input device 12.

Step 5 Based on the coordinate values on the tablet calculated in Step 3, the coordinate conversion unit 18 converts the coordinate values into coordinate values based on the HP position, and also converts the actual measured distance data by taking into account the map scale factor. calculate.

For example, let the coordinate values on the tablet 15 at the HP position be (Xhp, Yhp), and the deviation in the X direction between the origin position and the HP position in the coordinate system of the tablet 15 are X, Y.
When the 1-difference in direction is y, the data (X, Y) stored in the data storage unit 9 is (X, Y)=(K (Xhp
-x), K (Yhp-y)).

However, K is the scale factor of the map.

Step 6 The data calculated in Step 5 is stored in the data storage unit 9.
Store in. The data stored in this data storage section 9 is data as shown in FIG.

Step 7: If the teaching work has been completed, the teaching is finished; if it has not been completed, the process returns to step 2 and another passing position is designated.

To explain the above flowchart in more detail with reference to FIG. Enter the load as .

Next, set the coordinates of point a in the same way, input passing and low speed driving information, and do the same in the same way as point b, point 0, etc.
..., input 1 point. When unloading at this one point, unloading is input as travel information. Points below as well.

Set the coordinates of each passing position up to 5 points, . . ., point V.

In this way, the teaching work can be easily taught using the tablet 15.

In the above embodiments, a tablet has been described as a device for inputting coordinates, but for example, a map may be displayed on a CRT screen and the coordinates of this map may be input using a light pen.

(Effects of the Invention) As is clear from the above explanation, according to the present invention, a map indicating the passage route of the trackless automatic guided vehicle is formed on the coordinate input device, and the coordinates of the passage position are sequentially input on the map. This eliminates the need to measure the distance between passing positions during teaching, and the teaching work can be performed very easily.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a control device using the teaching method for a trackless automatic guided vehicle according to the present invention, FIG. 2 is a flowchart of the control device shown in FIG. 1 at the time of teaching, and FIGS. The figure is a diagram for explaining the flowchart in Figure 2, and Figure 5 is a schematic configuration diagram of a general trackless automatic guided vehicle.
FIG. 6 is a diagram for explaining conventional teaching, and FIG. 7 is a block diagram of a control device using the conventional teaching method for a trackless automatic guided vehicle. 1... Trackless automated guided vehicle, 2... Loading platform, 6...
- Running wheel, 7... Drive wheel, 15... Tablet (input coordinates @). Patent applicant Nissan Motor Co., Ltd. Figure 1 Figure 2 @ Figure 5 Figure 6 Figure 7

Claims (1)

[Claims] A scaled map of the range in which the trackless automatic guided vehicle travels is formed on a device for inputting coordinates, and the origin position coordinates, passing position, and stop position coordinates of the trackless automatic guided vehicle on the map are sequentially set. Traveling information such as traveling speed, passing, stopping, passing route, etc. of the trackless automatic guided vehicle is sequentially set, the respective coordinates and the traveling information are sequentially stored, and the trackless automatic guided vehicle is taught on the map. A teaching method for a trackless automatic guided vehicle.