JPH0332084B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an automatic guided vehicle, and in particular, the present invention relates to an automatic guided vehicle, and in particular, when automatic guided vehicles operate by reading operation instructions from mark plates installed at each operation instruction point, the automatic guided vehicle automatically operates according to a predetermined progress with respect to the traveling road surface. With respect to the direction, the front and back posture of the automatic guided vehicle that has arrived at each operation instruction point is determined, and no matter which direction the automatic guided vehicle arrives at, as long as it travels in the same direction at the same operation instruction point, it will be the same. The present invention relates to an operation instruction detection device capable of reading operation instructions.

[Prior art]

A driving instruction point is arranged on the traveling road surface of the automated guided vehicle, and is composed of a combination of multiple rows of mark plates consisting of mark plates for at least two key rows and mark plates for other instruction rows. There is a mark plate detection sensor arranged correspondingly to detect each mark plate of the above-mentioned operation instruction points separately, and when this mark plate detection sensor detects the mark plate of each key row, this mark plate is a regular operation instruction. Equipped with a discriminating means for identifying a point mark plate, the automatic guided vehicle can read the operation instructions of each operation instruction point while moving along the guide line laid on the above-mentioned traveling road surface, and can read the operation instructions for acceleration, stop, and departure. , an operation instruction detection device for automatic guided vehicles that automatically executes operation schedules such as load transfer work has already been proposed.

FIG. 3 is a plan view showing the configuration of the above-mentioned conventional automatic guided vehicle operation instruction detection device. , a steering and driving wheel 14 is provided at the front portion, and driven wheels 16, 16 are provided at the rear portion. In addition, operation instruction points P are arranged at each important point on the driving road surface, and the operation instruction points P are, for example, mark plates m arranged in three rows.
1R, m1L, m2R, m2L, m3R, m3L
The first row of mark plates m1
R, m1L and third row mark plate m3R, m
3L forms a key string. On the other hand, for example, on the lower surface of the body frame of the automatic guided vehicle 10, there is a mark plate m1 when passing the operation instruction point P.
R, m1L ~ m3R, the above mark plate m1R, m1L ~ to read the operation instructions by m3L
Three sets of mark plate detection sensors S1R, S1L, S2R, S2L, one pair for each row on the left and right correspond to the plates in each row in m3R, m3L,
S3R and S3L are provided. Further, the automatic guided vehicle 10 is equipped with a microcomputer 18, which forms a discriminating means for determining that the mark plate is a regular operation instruction point, and when determining that the mark plate is a regular operation instruction point. forms a processing means for outputting an operation instruction signal based on the meaning of the mark plate pattern.

[Problems to be solved]

According to the conventional automatic guided vehicle operation instruction detection device having the above-described configuration, the difference in the forward and backward passing posture of the automatic guided vehicle 10 when the automatic guided vehicle 10 passes through each operation instruction point P, that is, In FIG. 3, when the automatic guided vehicle 10 passes the operation instruction point P from the right to the left with its front part facing forward, the mark plate detection sensors S1R, S3R, and S3L detect, for example, the mark plate m1.
Although the case where R, m3R, and m3L are detected respectively is shown, when the automatic guided vehicle 10 passes through the same operation instruction point P with its front part facing backward in FIG. 3 and from left to right, In other words, if the above-mentioned passing direction is the forward direction, when passing in the opposite direction, the mark plate detection sensors S3L, S1
L, S1R are mark plates m1R, m3R, m
Therefore, even though the operation instruction point P is the same, the automatic guided vehicle 10
Different mark plate patterns will be detected depending on the difference in the front-back orientation of the mark plate. Therefore, it is necessary to regulate the running direction of the automatic guided vehicle on the pre-travel road surface so that different mark plate patterns are not detected at the same operation instruction point. In other words, there is a problem in that there are constraints on automatic operation of automatic guided vehicles.

Therefore, the present invention aims to expand the applications of automatic guided vehicles by eliminating such restrictive conditions and expanding the degree of freedom in automatic operation of automatic guided vehicles on a running road surface. be. That is, an object of the present invention is to provide a function of detecting the vehicle direction of the unmanned vehicle on the traveling road surface in addition to the operation instruction detection function of the conventional operation instruction detection device of the automatic guided vehicle, thereby solving the above-mentioned conventional problems. The aim is to provide an operation instruction detection device for unmanned vehicles that makes it possible to avoid such accidents.

[Means of solution and action]

In view of the above-mentioned objects, the present invention is mounted on an automatic guided vehicle that runs on its own along a guide line laid on a running road surface, and that is mounted on an automatic guided vehicle that runs on its own along a guide line laid on the running road surface. a mark plate detection sensor that detects a mark plate for driving instructions installed at a predetermined driving instruction point of the vehicle; and a mark plate detection sensor that determines whether or not the mark plate is regular based on the driving pattern detected by the mark plate detection sensor, and determines whether the mark plate is regular. In the operation instruction detection device for an automatic guided vehicle, which is sometimes equipped with a central processing means for transmitting an operation instruction output based on the detected operation pattern, the direction of the vehicle is determined attached to the mark plate of the predetermined operation instruction point. The automatic guided vehicle is provided with a mark plate for determining the direction, and is configured to engage with the direction determination mark plate only when the automatic guided vehicle travels in a predetermined direction with respect to a predetermined traveling direction of the traveling road surface. an orientation detector attached to the controller; operation pattern storage means for storing the operation pattern of the operation instruction mark plate corresponding to the presence or absence of the direction detection signal stored in the direction storage means; Provided is an operation instruction detection device characterized in that an unmanned vehicle is automatically operated by outputting an instruction, whereby a predetermined progress on a traveling road surface is provided, regardless of the front-rear posture of the automated guided vehicle. It is possible to distinguish between the case of self-propelling in the direction of travel and the case of traveling against the direction of travel, and obtain fixed operation instructions for each.

Hereinafter, the present invention will be described in more detail based on embodiments shown in the accompanying drawings.

〔Example〕

Now, in FIGS. 1 and 2, the guide line U laid on the running road surface R is provided to guide the automatic guided vehicle 20 so that it always travels along the guide line U without deviation. Therefore, the automatic guided vehicle 20 is equipped with a pick-up device (not shown) that cooperates with the guide line U. On the other hand, operation instruction points P are provided at numerous locations on the traveling road surface R, as in the conventional art, and form key points for giving operation instructions to the self-propelled automatic guided vehicle 20. Each operation instruction point P has a plurality of metal plates, for example, as shown in the figure, a plate m1 consisting of a maximum of 6 iron plates.
R, m1L, m2R, m2L, m3R, m3L are arranged at predetermined intervals in symmetrical positions on both sides of the guide line U, and in the first to third columns in the vertical direction. At least one plate is laid down, and the combination of the arrangement of these plates m1R to m3L is configured to give the necessary meaning regarding the operation instruction by the mark plate. Note that the first and third columns described above constitute key columns. In addition, each operation instruction point P mentioned above is located at a specific position close to a mark plate displaying operation instructions, that is, an automatic guided vehicle 20 along the guide line U.
A single plate m4R is provided at a position shifted by a certain distance in the transverse direction that intersects with the self-propelled center. This plate m4R is for automatic guided vehicle 2
This device detects whether the direction of the automatic guided vehicle 20 is forward or backward, and the forward or reverse direction of the traveling direction is determined in advance on the traveling road surface R. In the illustrated row, the plate m4R is provided at a position close to the plate m1R outside the mark plate.

As shown in FIG. 3, the automatic guided vehicle 20 is provided with drive and steering wheels 23 and longitudinal wheels 24 on its body frame 22, as in the case of the automatic guided vehicle 10. In addition, each operation instruction point P is provided on the lower surface of the vehicle body frame 22.
When reaching , the plates m1R, m1L, m2R, m2L, m3R, m3 of each row of mark plates
Three sets of mark plate detection sensors S1R, S1, each pair of left and right in each row can be engaged with L.
L, S2R, S2L, S3R, and S3L are fixedly installed. At the same time, the automatic guided vehicle 20 is oriented forward in its front-rear posture with respect to the forward direction of the traveling road surface R (for example, the direction shown by arrow A in FIG. side, driven wheel 2
(Position with the side where 4 is provided as the rear side of the transport vehicle)
A direction detection sensor S4R is fixedly provided at a position where it can engage with the above-mentioned direction determination plate m4R when the vehicle reaches the operation instruction point P. Mark plate detection sensor S1 mentioned above
R, S1L, S2R, S2L, S3R, S3L and orientation detection sensor S4R are respectively engageable plates m1R, m1R, m2R, m2L, m3
When R, m3L and direction determination plate m4R are engaged and detected, the detection signal is also sent to the automatic guided vehicle 2.
The data is sent to the microcomputer 26 provided at 0. That is, the microcomputer 26 includes an interface 28, a central processing unit (CUP) 30 for determining operation instructions, two types of memories, a ROM 32,
A RAM 34 is provided, and the above-mentioned detection signal is stored in the RAM 34 via the interface 28. In this case, specifically, plates m1R to m3L and m
The presence or absence of 4R will be stored in the RAM 34.

On the other hand, the ROM 32 contains information about what kind of mark plate pattern (for example, a pattern of combinations of plates m1R, m2R, m3L) is for each operation instruction point P, and what kind of operation instruction content the mark plate pattern means. A predetermined forward direction and reverse direction on the traveling road surface R are identified and registered in advance.

The CPU 30 has first row mark plate detection sensors S1R and S1L at each operation instruction point P.
When one of the sensors engages and receives a detection signal from either one of the mark plate detection sensors S3R and S3L in the third row, the first row, which is the key row of the mark plate, It is determined that there is a plate in the second row and the third row, and as a result of this determination, it is further determined that this plate is a regular operation instruction point plate, and all mark plate detection sensors S1R, S1L, S2R, S2
The presence/absence of plates in each row is stored in the RAM 34 based on the detection signals sent from L, S3R, and S3L. At the same time, the presence/absence of the detection signal of the front-rear attitude of the guided vehicle 20 sent from the direction detection sensor S4R is stored. I also remember.

Then, the CPU 30 detects all the mark plate detection sensors S1R and S1 as the transport vehicle 20 moves.
L, S2R, S2L, S3R, S3L and direction detection sensor S4R detect all the plates placed at the operation instruction point P, and
When the determination of the presence or absence of a plate in a column and the presence or absence of a plate for orientation determination is completed, the data of the presence or absence of a plate in each column stored in the RAM 34 is integrated as follows to form a mark plate pattern. That is, if the detection data of the orientation detection sensor S4R regarding the orientation determination plate m4R is present, the automatic guided vehicle 20 determines that the front and rear orientation is a forward orientation with respect to the predetermined traveling direction. Mark plate presence/absence data is sent to mark plate detection sensors S3L, S3R, S1L, S1R, S.
2L and S2R are read out from the data stored in the RAM 34 in this order and integrated.

In addition, if the detection data of the orientation detection sensor S4R regarding the orientation determination plate m4R is in the null state, it is determined that the automatic guided vehicle 20 is in a backward orientation, and the presence/absence data of the mark plate is detected by the mark plate detection sensors S1R and S1L. ,S3R,S3L,
Data stored in the RAM 34 is read out and integrated in the order of S2R and S2L. Next, the CPU 30 uses the mark plate pattern integrated in this way.
It is determined whether the mark plate pattern is registered in advance in the ROM 32 or not.

Next, the operation of the operation instruction detection device for an automatic guided vehicle having the above-described configuration will be explained with reference to the flowchart of FIG. 4 and the explanatory diagram of FIG. 5.

When the automatic guided vehicle 20 reaches each operation instruction point P, the mark plate detection sensors S1R, S1
The mark plate detection signal and the orientation determination plate detection signal are respectively input from L, S2R, S2L, S3R, S3L and orientation detection sensor S4R to the microcomputer 26. At this time, the CPU 30 of the microcomputer 26 first
It is determined whether one of the row mark plate detection sensors S1R and S1L has detected a mark plate (step), and then the third row mark plate detection sensors S3R and S3
It is determined whether one of the sensors L has detected the corresponding mark plate (step). In this way, when the sensors in the first and third rows detect the corresponding mark plates, since there are plates in the first and third rows of mark plates, it is the plate at the regular operation instruction point P. I judge that there is. Then, the CPU 30 receives signals output from all mark plate detection sensors S1R to S3L and direction detection sensor S4R as the automatic guided vehicle 20 moves, and determines the presence or absence of each plate in the first to third columns. The presence or absence of the orientation detection signal is stored in the RAM 34 (step).
When the CPU 30 finishes determining the presence or absence of all plates due to the movement of the automatic guided vehicle 20 (step), the CPU 30 moves the guided vehicle 20 in a predetermined normal traveling direction when the presence/absence data of the orientation determination plate m4R is in the presence state. Judging that he has a positive attitude towards
(See Figure A) Mark plate detection sensors S3L, S3R, S1L, S
1R, S2L, and S2R are read from the RAM 34 in this order and integrated. In addition, when the presence/absence data of the orientation determination plate m4R is in a state of null, it is determined that the conveyance vehicle 20 is in a backward attitude with respect to the predetermined normal traveling direction of the traveling road surface, and the presence/absence data of each mark plate is detected by the detection sensor S1R. ,S1L,S3R,S3L,S
2R and S2L are read out from the RAM 34 in this order and integrated as a mark plate pattern. and
The CPU 30 determines whether the mark plate pattern integrated in this way is a mark plate pattern registered in advance in the ROM 32, but in this case, the mark plate pattern is a mark plate pattern for forward movement or a mark plate pattern for reverse movement. Determine whether it is a pattern (step). Note that the reverse traveling direction is a direction in which the transport vehicle 20 moves by itself in a direction opposite to the forward traveling direction in FIGS. 5A and 5B (see FIGS. 5C and D).

If the mark plate pattern is registered as a mark plate pattern for forward movement, when the automatic guided vehicle 20 is in a forward posture and self-propelled in the forward direction, that is, when it is moving forward (step) and the automatic guided vehicle 20 is Self-propelled in the forward direction while facing backwards,
In other words, when moving backwards (step),
A driving instruction signal (for example, a speed command signal range from 2nd gear to 3rd gear or a curve running signal) based on the predetermined meaning of the mark plate pattern is output. In addition,
In step , when the automatic guided vehicles 20 are not self-propelled in the forward direction of the traveling road surface R, no action is taken and no operation instruction signal is output.

On the other hand, in the step, if the mark plate pattern for backward movement is registered in the ROM 32, the automatic guided vehicle 20 is in a forward posture and self-progresses in the predetermined reverse direction of the traveling road surface R, that is, it moves backward. Operation instructions based on the predetermined meaning of the mark plate pattern when the vehicle is moving forward (Step, ) and in a backward posture and also in a predetermined reverse direction on the running road surface R (Step, ). Output a signal. Of course, in step 2, if it is determined that the automatic guided vehicles 20 are not self-propelled in the opposite direction of the traveling road surface R, no action is taken and no operation instruction signal is output. Further, it goes without saying that the operation instruction signal is not output even when the mark plate pattern is not a pattern registered in the ROM 32.

As mentioned above, by being able to identify the front and back orientation of the automatic guided vehicle 20, as long as it moves in the predetermined direction of travel with respect to the traveling road surface when passing through each operation instruction point P, This means that the guided vehicle 20 can read the predetermined operation instruction signal regardless of its orientation, and conventionally, even if the automated guided vehicle is self-propelled at the same operation instruction point P in the same direction of travel. Regardless, different mark plate patterns are read depending on whether the vehicle is facing forward or backward, which inevitably imposes restrictions on the configuration of the autonomous guided vehicle self-propelled system. It turned out that the problem could be resolved.

In the above-mentioned embodiment, an example of a mark plate pattern with a maximum number of six plates was explained, but the idea of the present invention is not limited to this embodiment. It is also applicable to a mark plate pattern in which a maximum number of plates is 8 or more and is arranged in 4 or more rows. Furthermore, although a proximity sensor is most suitable as the mark plate detection sensor, various detection methods such as electrical and magnetic methods can be applied.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, as long as the automatic guided vehicle moves on its own in the same predetermined traveling direction on the traveling road surface at the same operation instruction point, regardless of the direction of its front and back posture, Since it is possible to read a constant operation instruction signal without being subject to any restrictions, an automatic guided vehicle system can be designed and constructed without being constrained by the front-rear orientation. In particular, when entering the transfer station for transfer work, after the work is completed, it is possible to return to the main travel path from the transfer station by a short route with the front and back posture reversed from the time of entry. This has the effect of improving traveling efficiency and reducing transport space.

[Brief explanation of drawings]

Fig. 1 is a schematic side view of an automatic guided vehicle on a running road surface, Fig. 2 is a schematic bottom view, and Fig. 3 is a bottom view similar to Fig. 2, which illustrates a conventional automatic guided vehicle operation instruction device. 4 is a flowchart of the operation instruction detection device according to the present invention, and FIGS. 5A to 5D are schematic plan views illustrating the relationship between the traveling direction and the front-rear attitude of the automatic guided vehicle. 20...Automated guided vehicle, 22...Vehicle body frame,
23... Drive, steering wheel, 24... Driven wheel, 26...
...Microcomputer, 28...Interface, 30...CPU, 32...ROM memory, 3
4...RAM memory, R...Road surface, U...Guidance line, S1R~S3L...Mark plate detection sensor, S4R...Direction detection sensor, m1R~m3
L...Plate, m4R...Direction identification plate, P...Operation instruction point.

Claims (1)

[Scope of Claims] 1. A mark that is mounted on an automatic guided vehicle that travels on its own along a guide line laid on a running road surface, and that detects an operation instruction mark plate installed at a predetermined operation instruction point on the running road surface. It comprises a plate detection sensor, and a central processing means that determines whether or not the mark plate is regular based on the travel pattern detected by the mark plate detection sensor, and sends a travel instruction output based on the detected travel pattern when determining whether the mark plate is regular. In the operation instruction detection device for an automatic guided vehicle, a mark plate for determining the direction of the vehicle is provided attached to the mark plate at the predetermined operation instruction point, and the mark plate is arranged to be attached to the mark plate at the predetermined operation instruction point. a direction detector is provided on the automated guided vehicle so as to engage with the orientation determination mark plate only when the automated guided vehicle travels in a predetermined longitudinal orientation; each time the automatic guided vehicle reaches each operation instruction point, an orientation storage means for storing the presence or absence of an orientation detection signal from the orientation detector; and the operation instruction mark corresponding to the presence or absence of the orientation detection signal stored in the orientation storage means. It is characterized by comprising a driving pattern storage means for storing the driving pattern of the plate, and the unmanned vehicle is automatically operated by outputting a driving instruction based on the driving pattern read from the driving pattern storage means. Automatic guided vehicle operation instruction detection device. 2. The orientation determination mark plate is formed by a single metal plate provided at a horizontal position shifted to either side from the self-propelled center line of the automatic guided vehicle, and the orientation detector is formed by a proximity sensor. An operation instruction detection device for an automatic guided vehicle according to claim 1, which is formed as follows.