JPH0354364B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a detection device for an automatic guided vehicle operation instruction point.

(Prior Art) In general, automated guided vehicles are driven unmanned along a travel course consisting of guide lines laid on the road surface. Each operation instruction point placed on the operation course is configured by placing a plate made of a plurality of iron plates, and the automatic guided vehicle detects the plate at the operation instruction point with a mark plate detection sensor consisting of a proximity switch, etc. The control means then determines the meaning of the detected operation instruction point and controls the operation.

(Problems to be Solved by the Invention) In the conventional unmanned vehicle as described above, iron pieces, etc. unrelated to the plates of the operation instruction points are erroneously placed between the operation instruction point plates or between the operation instruction points. If so, there was a risk that the iron piece would also be detected and malfunction.

Structure of the Invention (Means for Solving the Problems) The present invention has been made to solve the problems of the conventional art. In an automated guided vehicle that has configured operation instruction points arranged and travels along its operation course,
a mark plate detection sensor that is mounted on the transport vehicle and detects the plate at the operation instruction point; a travel distance detection sensor that is also mounted on the transport vehicle and detects the travel distance of the transport vehicle; a calculation means for calculating a travel distance based on a detection signal from the travel distance detection sensor when a starting end is detected; and a distance (a) shorter than a predetermined plate length (L) based on the calculation means. When the mark plate detection sensor moves to
a control means for resetting the calculation contents of the calculation means when the first determination means determines that there is no plate, and conversely causing the calculation of the calculation means to continue when the first determination means determines that there is a plate; When the calculation means continues calculation based on the first control means and the mark plate detection sensor moves to a distance (b) longer than the predetermined plate length (L), the mark plate detection sensor a second determining means for determining the presence or absence of a plate; when the second determining means determines that a plate is present, resetting the calculation contents of the calculating means;
On the other hand, the gist of the present invention is to include a third determining means that determines that the plate is a regular operation instruction point plate when it is determined that there is no plate.

(Function) With the above configuration, the calculation means calculates the distance traveled based on the detection signal from the distance detection sensor from the time when the starting end of the plate at the operation instruction point is detected. When the mark plate detection sensor moves to a distance (a) shorter than the plate length (L) predetermined based on the calculation means, the first discrimination means determines the presence or absence of the plate using the mark plate detection sensor. do.

When the first discrimination means determines that there is no plate, the control means resets the calculation contents of the calculation means, and on the other hand, when it determines that there is a plate, the control means continues the calculation of the calculation means. Then, when the calculation means continues calculation based on the control means and the mark plate detection sensor moves to a distance (b) longer than a predetermined plate length (L), the second discrimination means detects the same mark plate. A sensor determines the presence or absence of the plate at that time.

When the second discriminating means determines that there is a plate, the third discriminating means resets the calculation contents of the arithmetic means, and on the other hand, when it determines that there is no plate, the plate is changed to the plate of the regular operation instruction point. It is determined that there is.

(Embodiment) An embodiment embodying the present invention will be described below with reference to FIGS. 1 to 6.

As shown in FIG. 1, a guide line U is laid in an endless ring shape in the center of the operation course R, so that the automatic guided vehicle 1 can be guided in an unmanned manner. Further, the operation course R includes a plurality of operation instruction points P1,
P2, P3...P _k are arranged at predetermined intervals. These operation instruction points are, for example, plates m1R, m1L, m2R, m2L, m3R, m made of six iron plates as shown in Figure 3.
A mark plate consisting of an arbitrary combination of 3L has the meaning of necessary operation instructions.

As shown in FIG. 2, a body frame 2 of the automatic guided vehicle 1 is provided with drive wheels 3 and steering wheels 4, and the drive wheels 3 are driven by a transmission 5 and a drive motor 6. A gear-shaped slit plate 8 is fitted onto the rotating shaft 7 of the drive motor 6, and a pulse detection sensor Sp as a travel distance detection sensor is provided so as to correspond to the teeth 8a of the slit plate 8. The tooth portion 8a of the slit plate 8 is detected as a pulse number proportional to the rotational speed of the drive motor 6, that is, the actual travel distance of the automatic guided vehicle 1.

A pair of left and right mark plate detection sensors Ca and Cb are provided on the lower surface of the vehicle body frame 2, and a plate m1 is provided on the left and right sides of the operation instruction point.
L, m2L, m3L, m1R, m2R, and m3R are arranged so as to be detectable and correspond to each other.

The automatic guided vehicle 1 also includes an interface 9, a CPU (central processing unit) 10 as a calculation means, first to third determination means, and control means, and two memories, namely, a ROM (read-only memory) 11,
A microcomputer 13 configured with a RAM (read and write memory) 12 and the like is mounted. Operation instruction point P in the ROM11
1 to Pk, for example, as shown in FIG. 4, and operation instruction contents C1, C2, corresponding to the same mark plate patterns, respectively.
...Cn is stored in advance.

Detection signals detected by the pulse detection sensor Sp and mark plate detection sensors Ca and Cb are output to the CPU 10 via an interface 9.

When the automatic guided vehicle 1 reaches the operation point, the CPU 10 detects the mark plate detection sensor Ca,
Either one of Cb is the plate m in the first row
When the starting end of 1R or plate m1L is detected, the running distance starts to be calculated based on the pulse signal inputted from the pulse detection sensor Sp, and this running distance is calculated based on the plate size minimum check number a (plate size pre-stored in the ROM 11). When the distance (shorter than the length L) is reached, the presence or absence of the plates m1R and m1L is determined based on the detection signals from the mark plate detection sensors Ca and Cb.

Then, when the CPU 10 determines that both the left and right plates m1R and m1L are missing, it resets the calculation contents and retries from the beginning.

When the CPU 10 determines that there are plates m1R and m1L on either the left or right side, the CPU 10 continues the calculation, and the distance traveled is determined to be greater than the maximum plate size check number b (less than the plate length L) stored in the ROM 11 in advance. long distance)
Then, the presence or absence of the plates m1R and m1L is determined again.

At this time, the CPU 10 is connected to the left and right plates m1R,
When m1L determines that either one exists, it resets the calculation contents and retries from the beginning.

On the other hand, the CPU10 has left and right plates m1R, m
When it is determined that there is no 1L, the plate detected at the minimum check number a is determined to be the plate of the regular operation instruction point, and the mark plate detection sensors Ca and Cb detect the plate checked at the minimum check number a. The presence or absence is stored in the RAM 12.

Next, the CPU 10 starts calculating from the first column and determines that the travel distance is within the range of the set value A±α of the plates m2R, m2L in the second column stored in advance in the ROM 11. At that time, the left and right plates m2R, m
When it is determined that both 2L are absent, the calculation contents are reset and retried from the beginning. On the other hand, within the range of the set value A±α of the second column plate stored in advance in the ROM 11,
When the starting end of either the left or right of plates m2R and m2L is detected and it is determined that a plate is present, the traveling distance at the time of detection is stored in the RAM 12 as the second column plate actual measurement value A1.

Then, when the traveling distance reaches the actual measurement value A1+a, the CPU 10 controls the plates m2R and m2R.
Determine the presence or absence of 2L. Then, when it is determined that both the left and right plates m2R and m2L are missing, the calculation contents are reset and retried from the beginning.

Also, when the CPU 10 determines that there are plates m2R and m2L on either the left or right side, further
CPU10 continues calculation and the mileage is A1+
At the time b, the presence or absence of the plates m2R and m2L is determined again.

At this time, if the CPU 10 determines that one of the left and right plates m2R and m2L is present, it resets the calculation contents and retries from the beginning.

On the other hand, when the CPU 10 determines that neither the left nor right plates m2R and m2L are present at that time, the CPU 10 determines that the plate detected at A1+a is the plate of the regular operation instruction point, and the mark plate detection sensors Ca and Cb A1+a
Check the presence or absence of the plate placed on the
Store in RAM12.

Next, in the case of the third row, the presence or absence of the plates m3R and m3L is determined in the same manner as in the second row.

That is, the CPU 10 starts calculating from the first column, and calculates the travel distance from the set value B±α of the plates m3R and m3L in the third column, which is stored in the ROM 11 in advance.
Within the range of, left and right plates m3R, m3
When it is determined that both L are absent, the calculation contents are reset and retried from the beginning. On the other hand, when the starting end of either the left or right of the plates m3R, m3L is detected within the range of the set value B±α of the plates m3R, m3L in the third column stored in the ROM 11 in advance, and it is determined that there is a plate. The travel distance at the time of the detection is stored in the RAM 12 as the third column plate actual measurement value B1.

Then, when the traveling distance reaches the actual measurement value B1+a, the CPU 10 controls the plates m3R and m3R.
Determine the presence or absence of 3L. When it is determined that both the left and right plates m3R and m3L are missing, the calculation contents are reset and retried from the beginning.

In addition, if the CPU 10 determines that there are plates m3R and m3L on either the left or right side, further
CPU10 continues calculation and the distance traveled is B1+
When the time comes to b, the presence or absence of the plates m3R and m3L is determined again.

At this time, when the CPU 10 determines that one of the left and right plates m3R and m3L is present, it resets the calculation contents and retries from the beginning.

On the other hand, the CPU10 has left and right plates m3R, m
When it is determined that there are no 3Ls, the above B1
The plate detected at B1+a is determined to be the plate at the regular operation instruction point, and the presence or absence of the plate checked at B1+a by the mark plate detection sensors Ca and Cb is stored in the RAM 12.

As described above, when the determination of the presence or absence of plates in the first to third columns is completed, the CPU 10 integrates the plates of each column stored in the RAM 12 to form a mark plate pattern, and this integrated mark plate pattern becomes the mark registered in advance in the ROM 11. If the mark is one of the plate patterns, a predetermined operation instruction signal (for example, a speed instruction signal to the drive motor controller) is output based on the meaning of the mark plate pattern. or,
This integrated mark plate pattern is ROM1
If the mark plate pattern is not registered as No. 1, the calculation contents are reset and retried.

Now, the operation of the operation instruction point detection sensor output device in the automatic guided vehicle configured as above will be explained.

When the automatic guided vehicle 1 reaches the operation instruction point while driving the drive motor 6, the CPU 10 detects the mark plate detection sensors Ca, Cb.
One of them is plate m1 in the first row.
When the start end of R, m1L is detected, the pulse signal inputted from the pulse detection sensor Sp starts to be calculated, and when this travel distance reaches the minimum plate size check number a stored in the ROM 11 in advance, the mark plate is detected. The presence or absence of plates m1R and m1L is determined based on detection signals from sensors Ca and Cb.

At this time, the CPU 10 is connected to the left and right plates m1R,
When it is determined that both m1L are absent, the calculation contents are reset and retried from the beginning.

On the other hand, at this time, when the CPU 10 determines that there are plates m1R and m1L on either the left or right side, the calculation is continued, and the distance traveled is determined in advance.
When the maximum plate size check number b stored in the ROM 11 is reached, the plates m1R, m
Determine the presence or absence of 1L.

At this time, the CPU 10 is connected to the left and right plates m1R,
When m1L determines that either one exists, it resets the calculation contents and retries from the beginning.

On the other hand, CPU10 has left and right plates m1R, m
When it is determined that there is no 1L, the plate detected at the minimum check number a is determined to be the plate of the regular operation instruction point, and the plate detected by the mark plate detection sensors Ca and Cb at the minimum check number a is determined. The presence or absence of is stored in the RAM 12.

Next, the CPU 10 starts calculating from the first column, and if the travel distance is within the range of the set value A±α of the second column plate stored in the ROM 11 in advance, then both the left and right plates m2R and m2L are absent. When it is determined, the calculation contents are reset,
Retry from the beginning.

On the other hand, if the starting end of either the left or right of the plates m2R and m2L is detected within the range of the set value A±α of the second example plate stored in the ROM 11 in advance, and it is determined that there is a plate, the detection is performed. The travel distance is stored in the RAM 12 as the second column plate actual measurement value A1.

Then, when the traveling distance reaches the actual measurement value A1+a, the CPU 10 controls the plates m2R and m2R.
Determine the presence or absence of 2L. Then, when it is determined that both the left and right plates m2R and m2L are missing, the calculation contents are reset and retried from the beginning.

Also, when the CPU 10 determines that there are plates m2R and m2L on either the left or right side, further
CPU10 continues calculation and the mileage is A1+
When reaching b, the presence or absence of the plates m2R and m2L is determined again.

At this time, when the CPU 10 determines that one of the left and right plates m2R and m2L is present, it resets the calculation contents and retries from the beginning.

On the other hand, the CPU10 has left and right plates m2R, m
When it is determined that there is no 2L, the above A1
The plate detected at A1+a is determined to be the plate of the regular operation instruction point, and the mark plate detection sensors Ca and Cb check the presence or absence of the plate checked at A1+a.
to be memorized.

Next, in the case of the third row, the presence or absence of the plates m3R and m3L is determined in the same manner as in the second row.

That is, the CPU 10 starts calculating from the first column, and if the travel distance is within the range of the set value B±α of the third column plate stored in advance in the ROM 11, then both the left and right plates m3R and m3L are absent. When it is determined that this is the case, the calculation contents are reset and retried from the beginning. On the other hand, in advance ROM
Setting value B± of the third column plate stored in 11
Within the range of α, the starting edge of either the left or right of plates m3R and m3L is detected, and when it is determined that there is a plate, the traveling distance at the time of detection is set as the third column plate actual measurement value B1 in the RAM
Store in 12.

Then, when the traveling distance reaches the actual measurement value B1+a, the CPU 10 controls the plates m3R and m3R.
Determine the presence or absence of 3L. Then, when it is determined that both the left and right plates m3R and m3L are missing, the calculation contents are reset and retried from the beginning.

Also, if the CPU 10 determines that there are plates m3R and m3L on either the left or right side, further
CPU10 continues calculation and the distance traveled is B1+
When reaching b, the presence or absence of the plates m3R and m3L is determined again.

At this time, when the CPU 10 determines that there is either one of the left and right plates m3R and m3L, it resets the calculation contents and retries from the beginning.

On the other hand, the CPU10 has left and right plates m3R, m
When it is determined that none of the 3Ls are present, the front B1+
The plate detected at step a is determined to be the plate of the regular operation instruction point, and the presence or absence of the plate checked at B1+a by mark plate detection sensors Ca and Cb is stored in the RAM 12 or higher.

As described above, when the determination of the presence or absence of plates in the first to third columns is completed, the CPU 10 integrates the plates of each column stored in the RAM 12 to form a mark plate pattern, and this integrated mark plate pattern becomes the mark registered in advance in the ROM 11. If it is one of the plate patterns, a predetermined operation command signal based on the meaning of this mark plate pattern is output. If the integrated mark plate pattern is not the mark plate pattern registered in the ROM 11, the calculation contents are reset and retried.

In this way, since the arrangement and size of the mark plates of the operation instruction points duly laid out on the operation course are checked one by one, it is possible to reliably carry out cargo handling operations based on the operation instruction points.

If an iron piece unrelated to the operation instruction point is mistakenly placed between the plates between each row, it is confirmed that this iron piece is not a regular plate.
Since the CPU 10 can make the determination, the automatic guided vehicle 1 is prevented from malfunctioning.

Furthermore, since the size of the plate can be determined between the minimum number of checks a and the maximum number of checks b, there is no need to increase the dimensional accuracy of the plate. Since the dimensional tolerance range can be widened, the mounting work and the manufacture of the plate can be easily performed.

Effects of the Invention As detailed above, this invention can detect only regular mark plates, thereby preventing malfunctions of automatic guided vehicles, thereby improving reliability and safety. Furthermore, it is an excellent invention for industrial use because it has the effect of making the plate easy to manufacture and laying on the travel course.

[Brief explanation of drawings]

Figure 1 is a schematic plan view showing the operation course of the automatic guided vehicle, Figure 2 is an enlarged side view of the automatic guided vehicle, Figure 3 is an explanatory diagram of the mark plate, and Figure 4 shows the types of operation instruction points. FIG. 5 is a flowchart of this operation instruction point detection device, and FIG. 6 is an explanatory diagram showing the detection state. Automatic guided vehicle 1, body frame 2, drive motor 6, rotating shaft 7, slit plate 8, interface 9, CPU 10, ROM 11, RAM 12, microcomputer 13, pulse detection sensor Sp,
Guide wire U, mark plate detection sensor Ca, Cb,
Plates m1R to m3R, m1L to m3L, operation instruction points P1 to Pk.

Claims (1)

[Scope of Claims] 1. In an automated guided vehicle in which a driving instruction point composed of a plate is placed on a driving course and travels along the driving course, the system is mounted on the guided vehicle and detects the plate of the driving instruction point. a mark plate detection sensor that detects the travel distance of the transport vehicle; a travel distance detection sensor that is also mounted on the transport vehicle and detects the travel distance of the transport vehicle; and when the mark plate detection sensor detects the starting end of the plate, a a calculation means for calculating the traveling distance based on the detection signal; and when the mark plate detection sensor moves to a distance (a) shorter than a predetermined plate length (L) based on the calculation means, a first discriminating means for determining the presence or absence of a plate; and when the first discriminating means determines that there is no plate, it resets the computation content of the arithmetic means; control means for continuing the calculation of the means; and when the calculation means continues the calculation based on the control means and the mark plate detection sensor moves to a distance (b) longer than a predetermined plate length (L), the same operation is performed. A second determining means uses a mark plate detection sensor to determine the presence or absence of a plate at that time; and when the second determining means determines that a plate is present, it resets the calculation contents of the calculating means; An operation instruction point detection device for an automatic guided vehicle, characterized in that the device comprises a third discriminating means for determining that the plate is a regular operation instruction point plate when it is determined that there is no such plate.