JP4178473B2 - Transport device - Google Patents

Description

In the present invention, a plurality of reflectors for position detection are arranged for each of a plurality of areas, corresponding to the travel route of the article transport vehicle set in a state over a plurality of areas,
The article transport vehicle scans measurement light in a horizontal or substantially horizontal plane and receives light reflected by the reflector, and scanning when the light receiving and receiving means receives reflected light. Travel control means for detecting a current position based on angular information and arrangement position information about the plurality of reflectors in each of the plurality of areas and controlling travel so as to travel along the travel route; The present invention relates to a transport device provided.

  The transport device as described above transports an article with an article transport vehicle to a station or the like as an article transfer location disposed in each of a plurality of areas, and travel provided in the article transport vehicle. The control means causes the vehicle to travel along the travel path to the target article transfer location while detecting the current position based on the scanning angle information and the arrangement position information on the plurality of reflectors in each of the plurality of areas. It is what.

  As such a transport device, conventionally, the travel control means has previously stored arrangement position information for all the reflectors, and the reflector is shielded by an obstacle or the like when the article transport vehicle is initially inserted. When the current position is initially detected, such as when the current position becomes unknown, the travel control means compares the arrangement position information and the scanning angle information for all reflectors to determine all reflections. Some bodies detect the current position by identifying a reflector that matches the scanning angle information (see, for example, Patent Document 1).

JP 2000-56828 A

  In the above-described conventional transport device, a plurality of reflectors are provided for each of a plurality of areas, and since there are a large number of reflectors, the traveling control means uses a large number of reflectors for initial detection of the current position. The arrangement position information and the scanning angle information must be compared, and it takes a long time to detect the current position.

Therefore, when the current position is initially detected, information on the area where the article transport vehicle is currently located among the plurality of areas is input to the travel control means by the operator's manual input. By obtaining arrangement position information for a plurality of reflectors in the input area of the reflectors, and comparing the obtained arrangement position information with the scanning angle information to detect the current position, a scanning angle is obtained. It is conceivable to reduce the number of arrangement position information about the reflector to be compared with the information and to shorten the time until the current position is detected.
However, in this case, when inputting information on the area where the article transport vehicle is currently located to the travel control means, manual input by the operator is necessary, and the work of initially detecting the current position is complicated. There is a risk of becoming.

  The present invention has been made paying attention to such a point, and its purpose is to simplify the operation of initial detection of the current position when initial detection of the current position of the article transport vehicle, It is in the point which provides the conveying apparatus which can aim at time reduction until it detects.

In order to achieve this object, the first characteristic configuration of the transport device according to the present invention is for position detection for each of a plurality of areas in correspondence with the travel route of the article transport vehicle set in a state over a plurality of areas. A plurality of reflectors are disposed,
The article transport vehicle scans measurement light in a horizontal or substantially horizontal plane and receives light reflected by the reflector, and scanning when the light receiving and receiving means receives reflected light. Travel control means for detecting a current position based on angular information and arrangement position information about the plurality of reflectors in each of the plurality of areas and controlling travel so as to travel along the travel route; In the transport device provided,
The communication means installed for each of the plurality of areas and capable of communicating with the travel control means includes area identification information for identifying which of the plurality of areas is its own area. Provided for communication,
When the travel control means initially detects a current position, the current position of the plurality of areas is determined based on area identification information communicated from communication means capable of communication among the plurality of communication means. Arrangement position information for the plurality of reflectors in the area is obtained, and a current position is detected based on the obtained arrangement position information and the scanning angle information , and the current position is initially detected. In the case where there are a plurality of communication means capable of communication among the plurality of communication means, an area in which the communication means having the best communication state among the plurality of communication means capable of communication is disposed. The area is configured to be the current position .

In other words, the travel control means can communicate with the communication means disposed in the area where the article transport vehicle is currently located among the plurality of areas, and in any of the plurality of areas from the communication means. Area identification information for identifying whether or not there is communicated.
Then, the traveling control means obtains the arrangement position information for the plurality of reflectors in the area where the current position is based on the area identification information, and the current position based on the obtained arrangement position information and the scanning angle information. Can be detected.

  Therefore, the communication means simply inputs the area identification information to the travel control means, and can input information on the area currently located to the travel control means. By detecting the current position by comparing the arrangement position information and scanning angle information for a plurality of reflectors in the area to be reduced, while reducing the number of arrangement position information for the reflector to be compared with the scanning angle information, The current position can be detected.

  In addition, for the communication means installed for each of the plurality of areas, not only simply communicating the area identification information to the travel control means, but for example, the destination information of the article transport vehicle and the current state of the article transport vehicle The communication means can also be used for communication of information other than the area identification information.

  From the above, when the current position of the article transport vehicle is initially detected, the area identification information is communicated to the travel control means by the communication means that can be used for communication of information other than the area identification information. By doing so, it has become possible to provide a transport device capable of simplifying the configuration, simplifying the initial detection of the current position, and reducing the time until the current position is detected.

Further , depending on the arrangement position of the communication means, in some of the plurality of communication means, some of their communicable ranges may overlap, and when the article transport vehicle is located in the overlapping communicable range, the travel control means However, there are a plurality of communication means capable of communication.
In such a case, the article transporting vehicle is configured such that the travel control means sets the area where the communication means with the best communication state among the plurality of communication means capable of communication is located as the current position. The area where the current position is located can be accurately identified, and the current position can be accurately detected.

In a second characteristic configuration of the transport device according to the present invention, the travel control unit controls the travel of the article transport vehicle based on destination information communicated from a management unit that manages the operation of the article transport vehicle. And the communication means is configured to relay communication between the management means and the travel control means.

That is, the management unit manages the operation of the article transport vehicle by managing the destination of the article transport vehicle, and the management unit causes the travel control unit to communicate the destination information while being relayed by the communication unit. The travel control means controls the travel of the article transport vehicle so as to travel to the target article transfer location based on the destination information relayed by the communication means.
Accordingly, the area identification information can be communicated to the travel control means while utilizing the communication means provided for the management means to manage the operation of the article transport vehicle, so that the configuration can be simplified by sharing the communication means. As a result, the time until the current position is detected can be shortened.

According to a third characteristic configuration of the transport device according to the present invention, the travel control includes area identification information of an area in which the management unit is provided with a communication unit that relays communication with the travel control unit. In order to communicate with the means, the communication of the plurality of communication means is configured to be managed.

In other words, the management means can identify the communication means relaying communication with the travel control means from among the plurality of communication means, and the communication identified in the state of relaying by the identified communication means. The area identification information of the area where the means is disposed can be communicated to the travel control means.
Therefore, since the management means manages the communication of the plurality of communication means, it is possible to easily identify the communication means relaying communication with the travel control means from among the plurality of communication means. Thus, the configuration for communicating the area identification information to the travel control means can be simplified.

An embodiment of a transfer device according to the present invention will be described based on the drawings.
As shown in FIG. 1, this transport device is an article transport vehicle 2 that travels along a travel route 1 and a microcomputer-based travel that is provided in the article transport vehicle 2 and controls the travel of the article transport vehicle 2. It is configured to include a travel control unit 3 as a control means, and is configured to transport an article to each of the stations 4 as an article transfer location by autonomous travel of the article transport vehicle 2 along the travel route 1. Yes.

The travel route 1 of the article transport vehicle 2 is set in a state extending over a plurality of areas 5a to 5h, and a plurality of position detections are provided for each of the plurality of areas 5a to 5h in correspondence with the travel route 1. A reflector 6 as a reflector is provided.
In the example shown in FIG. 1, the travel route 1 is set in a state that spans eight areas of the first area 5 a to the eighth area 5 h, and the reflecting plate 6 is disposed on a building wall or the like.

As shown in FIG. 2, the vehicle body of the article transporting vehicle 2 includes a pair of left and right extending portions 7 along the front-rear direction of the vehicle body, and a main body portion 8 that connects the extending portions 7 on the front side of the vehicle body. In addition, it is configured so as to be substantially U-shaped in a plan view, and is configured to place an article on the upper surface of the extended portion 7.
2A is a perspective view of the article transport vehicle 2 viewed from the front side, and FIG. 2B is a perspective view of the article transport vehicle 2 viewed from the rear side. is there.

  In addition, the vehicle body of the article transport vehicle 2 is provided with a transfer device 9 that can project to the rear side of the vehicle body. The transfer device 9 includes a fork 9a and a fork 9a as shown in FIGS. And a moving mechanism 9b that moves up and down along the longitudinal direction of the vehicle body and moves up and down in the vertical direction.

Incidentally, the fork 9a is configured to move up and down along a post extending in the vertical direction via an electric mechanism such as a chain by an electric motor, and the post is erected on a carriage movable in the front-rear direction of the vehicle body. Thus, the fork 9a can be moved back and forth in the longitudinal direction of the vehicle body.
Further, in the state where the fork 9a is lowered to the lowest position, the fork 9a enters the space between the left and right extension parts 7 and can be lowered below the upper surface of the extension parts 7. ing.

  The fork 9a is configured to be movable up and down with respect to the upper surface of the extension part 7, and the extension part 7 side, which is the rear side of the vehicle body, faces each station 4 so that the fork 9a can be moved in and out. By moving up and down, the article on the station 4 side can be placed on the upper surface of the extension part 7, or the article on the upper surface of the extension part 7 can be transferred to the station 4 side.

A drive wheel 10 is provided at the bottom of the main body portion 8 so as to be rotatable around a vertical axis along the vertical direction, and each of the pair of left and right extending portions 7 has a free play on the bottom in the middle in the front-rear direction. A rotary driven wheel 11 is provided, and a caster type idle wheel 12 is provided at the bottom of the tip.
And it is comprised so that the load of the vehicle body of the article conveyance vehicle 2 may be supported by three-point support of the drive wheel 10 and the driven wheel 11. FIG.

Incidentally, although not shown in FIGS. 3 and 4, the drive wheel 10 is composed of a pair of drive wheel bodies that are spaced apart from each other and an electric drive motor 13 is directly connected to each of the drive wheel bodies. .
The two driving wheel bodies are configured to be capable of forward / reverse rotation driving separately, giving a difference in the rotational speeds of the two driving wheel bodies, or rotating them in opposite directions, so that they are integrated around the longitudinal axis. It is configured so that the orientation can be changed.

  Further, as shown in FIGS. 5 and 6, the article transport vehicle 2 scans the measurement light in a horizontal or substantially horizontal plane and receives light reflected from the reflecting plate 6 as light projecting / receiving means. A light detector 14, a distance detector 15 such as a rotary encoder provided in a drive motor 13 that detects the travel distance of the article transport vehicle 2, an orientation detector 16 such as a rate gyro that detects the orientation of the article transport vehicle 2, and the like are provided. It has been.

A management unit 17 is provided as a management means using a microcomputer for managing the operation of the article transport vehicle 2, and the destination information is communicated from the management unit 17 to the travel control unit 3.
In addition, for each of the plurality of areas 5a to 5h, wireless antennas 18a to 18h as communication means that can communicate with the traveling control unit 3 and with the management unit 17 are disposed, and the wireless antennas 18a to 18h are provided. The area identification information for identifying which area of the plurality of areas 5a to 5h is the communication area is provided so as to be communicable.

Incidentally, when the destination information is described, for example, each of the plurality of stations 4 is assigned with a station number such as No. 1 and No. 2, and the station number in the target station 4 is designated as the destination information. Is configured to communicate as
Moreover, one radio antenna 18a-18h is arrange | positioned for every some area, and is installed in the ceiling etc. of each area 5a-5h.

The wireless antennas 18a to 18h are configured to relay communication between the management unit 17 and the travel control unit 3, and the destination information from the management unit 17 includes a plurality of wireless antennas 18a to 18h. The article transport vehicle 2 is configured to be communicated to the travel control unit 3 in a state where it is relayed by a wireless antenna disposed in the area where the article transport vehicle 2 is currently located.
In other words, eight radio antennas 18a to 18h are provided corresponding to the first area 5a to the eighth area 5h, ie, the first radio antenna 18a to the eighth radio antenna 18h.
For example, when the article transport vehicle 2 is located in the first area 5a, the destination information from the management unit 17 is communicated to the travel control unit 3 while being relayed by the first wireless antenna 18a. Has been.

In this way, when the destination information is communicated from the management unit 17, the traveling control unit 3 controls the operation of the drive motor 13 so as to reach the target station 4 based on the destination information. When the station 4 is reached, the operation of the transfer device 9 is controlled so as to move the transfer device 7 out and up and down.
In addition, the traveling control unit 3 manages the current state information of the article transport vehicle 2 such as a traveling state indicating whether the vehicle is traveling or stopped and a battery state in a state where the current state is relayed by the wireless antennas 18a to 18h. It is comprised so that it may communicate with the part 17, and the management part 17 is comprised so that the status information of the present article conveyance vehicle may also be managed.

  When the traveling control unit 3 travels the article transport vehicle 2, the scanning angle information when the light projecting and receiving unit 14 receives reflected light and the plurality of reflecting plates 6 in each of the plurality of areas 5 a to 5 h. From the current position, the detection information of the distance detection unit 15 and the detection information of the direction detection unit 16 to the target station 4 along the travel route 2 while detecting the current position based on the arrangement position information of The article transport vehicle 2 is configured to travel.

To explain the detection of the current position when the article transport vehicle 2 travels, the travel control unit 3 detects the initial position based on the detection information of the distance detection unit 15 in the state where the current position is initially detected. The travel distance from the detected current position or the previously detected current position is detected.
Then, the travel control unit 3 stores in advance the distance to reach the next area when traveling on the travel route 1, and from the stored distance and the detection information of the distance detection unit 15, It is configured to discriminate whether or not the next area has been reached and identify the currently located area 5 among the plurality of areas 5.

The travel control unit 3 stores in advance the layout position information about all of the reflection plates 6 and the position information about the travel route 1 as a layout map, and the plurality of reflection plates 6 in the area currently located from the layout map. Is arranged so as to detect the current position based on the obtained arrangement position information and scanning angle information.
For example, when the area 5 where the current position is located is the first area 5a, the traveling control unit 3 obtains the arrangement position information about the plurality of reflectors 6 in the first area 5a, and the obtained arrangement position information. The current position is detected by identifying the reflector 6 that matches the scanning angle information.

  Hereinafter, the initial detection of the current position will be described. When the article transport vehicle 2 is initially turned on, or when the reflector 6 is shielded by an obstacle or the like, the current position becomes unknown. Configured to detect.

And the traveling control part 3 is based on the area identification information communicated from the radio | wireless antenna which can communicate among several radio | wireless antennas 18a-18h, and several reflection in the area 5 currently located among several areas 5 is carried out. The arrangement position information about the plate 6 is obtained, and the current position is detected based on the obtained arrangement position information and scanning angle information.
When there are a plurality of communicable radio antennas among the plurality of radio antennas 18a to 18h, the traveling control unit 3 selects the radio antenna with the best communication state among the plurality of communicable radio antennas. The arranged area 5 is configured as an area where the current position is located.

  In addition, when the current position is initially detected, the travel control unit 3 is communicated with area identification information from the communicable wireless antenna 18. The communication of the plurality of radio antennas 18 is managed so as to communicate the area identification information of the area 5 where the radio antenna 18 relaying communication with the control unit 3 is provided to the travel control unit 3. It is configured.

  As for the initial detection of the current position, for example, as shown in FIG. 7, a specific example is given of a case where the article transport vehicle 2 is located in a location close to the boundary with the second area 5 b in the first area 5 a. Add a description to.

First, the management unit 17 performs response communication, so-called polling, with the traveling control unit 3 in a state in which the plurality of wireless antennas 18a to 18h are sequentially relayed, and the traveling control is performed from among the plurality of wireless antennas 18a to 18h. The wireless antenna relaying communication with the unit 3 is identified.
In the case of FIG. 7, since the article transport vehicle 2 is located in the communicable range of the first radio antenna 18a and the second radio antenna 18b, the management unit 17 controls the travel of the first antenna 18a and the second antenna 18b. It is configured to be distinguished from a wireless antenna that relays communication with the unit 3.

Then, since there are two wireless antennas that can communicate, the management unit 17 sets the area where the wireless antenna having a good communication state is provided as the current position, and uses the area identification information of the area as the travel control unit. 3 is configured to communicate.
In the case of FIG. 7, since the first wireless antenna 18a has higher communication sensitivity than the second wireless antenna 18b, the first area 5a in which the first wireless antenna 18a is disposed is the current position area. The area identification information of the first area 5a is communicated to the traveling control unit 3 while being relayed by the first wireless antenna 18a.

When the area identification information of the first area 5a relayed by the first wireless antenna 18a is communicated, the travel control unit 3 first determines the first area from the arrangement position information for all of the plurality of reflectors 6. The arrangement position information about the plurality of reflecting plates 6 in 5a is obtained.
Then, the travel control unit 3 calculates the scanning angle from the plurality of reflecting plates 6 in the first area 5a from the obtained arrangement position information and scanning angle information about the reflecting plates 6 in the first area 5a. By identifying the reflecting plate 6 that matches the information, the current position is detected.

In this way, the wireless antennas 18a to 18h simply communicate the area identification information to the travel control unit 3 and input the information on the area currently located to the travel control unit 3, and the travel control unit 3 detects the current position by comparing the arrangement position information on the plurality of reflectors 6 in the area where the current position is located with the scanning angle information, and compares the arrangement position information on the reflector 6 to be compared with the scanning angle information. While reducing the number, the current position is detected and the initial detection of the current position is simplified, and the time until the current position is detected is shortened.
Moreover, in order to communicate the area identification information to the travel control unit 3, a plurality of areas 5a to 5h used for communicating destination information of the article transport vehicle 2, information on the current state of the article transport vehicle, and the like. The current position is initially detected while simplifying the configuration by utilizing the radio antennas 18a to 18h installed for each.

[Another embodiment]
(1) In the above embodiment, when the management unit 17 identifies which of the plurality of wireless antennas 18a to 18h is the wireless antenna that relays communication with the travel control unit 3. However, by performing a communication mode other than polling, which one of the plurality of wireless antennas 18a to 18h relays communication with the traveling control unit 3 is selected. It is also possible to identify whether
For example, an identification number such as No. 1 or No. 2 is assigned to each of the plurality of radio antennas 18a to 18h, and the identification number is added between the radio antennas 18a to 18h and the management unit 17. Communicate with.
The management unit 17 communicates responses to the plurality of wireless antennas 18a to 18h all at once with the traveling control unit 3, and relays communication with the traveling control unit 3. It is also possible to configure and carry out the configuration in which the wireless antenna relaying communication with the traveling control unit 3 is identified from among the plurality of wireless antennas 18a to 18h by the antenna identification number. Is possible.

(2) In the above-described embodiment, the travel route 1 is set in a state extending over the eight areas 5a to 5h. However, how to set the travel route 1 such as the number of the traveled areas is appropriately changed. Is possible.

(3) In the above embodiment, the management unit 17 communicates the area identification information of the area where the wireless antenna relaying communication with the travel control unit 3 is provided to the travel control unit 3. However, the communication means itself installed for each of the plurality of areas 5 a to 5 h can be configured and implemented so as to communicate the area identification information to the travel control unit 3.
For example, a communication device as a communication unit is installed for each of the plurality of areas 5a to 5h, and among the plurality of communication devices, a communication device that can communicate with the travel control unit 3 is arranged by the communication device. The area identification information of the provided area is communicated to the travel control unit 3.

(4) In the above-described embodiment, in the plurality of wireless antennas 18a to 18h, there is a portion where a part of the communicable range overlaps, and the traveling control unit 3 performs the initial detection of the current position. There may be a plurality of communicable radio antennas among the antennas 18a to 18h. For example, by adjusting the arrangement positions and the communicable ranges of the plurality of radio antennas 18a to 18h, In the wireless antennas 18a to 18h, it is possible to prevent a portion where the communicable ranges are overlapped.

(5) In the above embodiment, the management unit 17 that manages the operation of the article transport vehicle 2 is provided. However, the management unit 17 is provided by, for example, inputting destination information to the travel control unit 3 in advance. It is also possible to implement without.

(6) In the above embodiment, the plurality of radio antennas 18a to 18h are configured to communicate the area identification information and the destination information from the management unit 17 to the travel control unit 3, but simply the area identification. Information may be simply communicated to the traveling control unit 3.

(7) In the above embodiment, the article transporting vehicle 2 is provided with the transfer device 9. However, the article transport vehicle 2 may not be provided with the transfer device, and the shape and the like may be appropriately changed. Yes, various goods transport vehicles can be applied.

Plan view of transfer device Front and rear perspective views of the article transport vehicle Side view of goods transport vehicle Side view of goods transport vehicle Control block diagram of transfer device The perspective view explaining the detection of the present position of an article conveyance vehicle Explanatory drawing for initial detection of the current position of the article transport vehicle

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Traveling route 2 Goods conveyance vehicle 3 Traveling control means 5a-5h Area 6 Reflector 14 Light emitting / receiving part 17 Management means 18a-18h Communication means

Claims (3)

A plurality of reflectors for position detection are arranged for each of the plurality of areas, corresponding to the travel route of the article transport vehicle set in a state over a plurality of areas,
The article transport vehicle scans measurement light in a horizontal or substantially horizontal plane and receives light reflected by the reflector, and scanning when the light receiving and receiving means receives reflected light. Travel control means for detecting a current position based on angular information and arrangement position information about the plurality of reflectors in each of the plurality of areas and controlling travel so as to travel along the travel route; A conveying device provided;
The communication means installed for each of the plurality of areas and capable of communicating with the travel control means includes area identification information for identifying which of the plurality of areas is its own area. Provided for communication,
When the travel control means initially detects a current position, the current position of the plurality of areas is determined based on area identification information communicated from communication means capable of communication among the plurality of communication means. Arrangement position information for the plurality of reflectors in the area is obtained, and a current position is detected based on the obtained arrangement position information and the scanning angle information , and the current position is initially detected. In the case where there are a plurality of communication means capable of communication among the plurality of communication means, an area in which the communication means having the best communication state among the plurality of communication means capable of communication is disposed. A transport device configured to be an area where it is currently located . The travel control unit is configured to control the travel of the article transport vehicle based on destination information communicated from a management unit that manages the operation of the article transport vehicle.
The transport apparatus according to claim 1 , wherein the communication unit is configured to relay communication between the management unit and the travel control unit . Communication of the plurality of communication means so that the management means communicates area identification information of an area where communication means relaying communication with the travel control means is provided to the travel control means. The transport apparatus according to claim 2 , wherein the transport apparatus is configured to manage the system.

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