JPS63127308A - Control system for unmanned truck - Google Patents

Abstract

PURPOSE:To eliminate the need for forming a running control program at each drive pattern by adopting the constitution such that path information is provided to each branch and stop point of a running line and the running path is discriminated by reading the path information. CONSTITUTION:When an unmanned truck 1 continues running and a branch point 41 exists, a path information reader 11 of the track 1 starts the read operation by a start mark 42 and reads the path information from an informa tion label 43. The read path information is compared with a running path data stored in a running path data memory 12 formed in advance, the branch direc tion is judged and the track 1 is driven to the branch path. Then, when a stop point 44 exists, the reader 11 is started by a start mark 45 to read the path information of the information label 46. The path information is compared with the drive data stored in the memory 12 to judge the presence of the stop point. Thus, the forming of the running control program at each running pattern is not required at all and the track is driven autonomously by a command of only the stop point independently of the start point.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic guided vehicle control system that controls autonomous running of an automatic guided vehicle, such as starting and stopping the vehicle.

[Prior Art] A conventional automated guided vehicle control system of this type is shown in FIG. 4 as an overall schematic diagram. This conventional automatic guided vehicle control system includes an automatic guided vehicle (+) that transports objects by traveling according to the contents of a traveling program;
an automatic guided vehicle controller (
2), and a plurality of communication stations (3) for transmitting control signals of the automatic guided vehicle controller (2) to the automatic guided vehicle (+), and control transmitted by the communication station (3). The automatic guided vehicle (1) is configured to travel on a traveling path (4) based on a signal to perform a transport operation.

Next, the operation of the conventional automatic guided vehicle control system will be explained based on the configuration described in section 2. First, create a travel program' that determines which route north of the travel route (4) the automatic guided vehicle (1) should travel, manually input the travel program to the automatic guided vehicle controller (2), and then Control signals are sent out via a plurality of communication stations (3) under the control and management of a vehicle controller (2). The automatic guided vehicle (1) receives the control signal sent from the communication station (3), loads the object to be transported at the starting point according to the contents of the control signal, stops at a predetermined stopping point, and stops along the traveling path. The vehicle is transported to the final transport destination point through the predetermined route (4).

[Problems to be Solved by the Invention] Since the conventional automatic guided vehicle JII control system is configured as described above, a traveling program is created and registered for each traveling pattern of the automatic guided vehicle. When driving conditions change due to changes in the driving route or stop/stop stage, etc., it is necessary to create or change the driving control program 11 times, and it takes a lot of time to create and change the driving control program.・There was a problem that it required a lot of labor.

This invention was made in view of the problem described in L. It is not necessary to create a travel control program for each travel pattern, and autonomous travel is performed by only instructing the stop + l = point regardless of the starting point position. The aim is to obtain an automatic guided vehicle control system that can

[Means for Solving the Problems] The automatic guided vehicle control system according to the present invention forms a transport route for a transported object using a travel path, and performs automatic guided vehicle control at positions corresponding to branching points and stopping points of the travel path. , an information label having route information corresponding to each content is provided, the route information of the information label is read by the reading unit of the automatic guided vehicle, and the read route information is converted into data of the L travel route created in advance. The configuration is such that a travel route is determined based on an external command at the location of travel route data corresponding to the route information, and the automatic guided vehicle is driven based on the transport route of the determined travel route.

[Function] The automatic guided vehicle of the present invention reads the route information on the information labels provided at the branch points and stop points of the travel route, determines the travel route based on this route + rj information, and autonomously travels. do.

[Embodiment] An embodiment of the present invention will be described below with reference to FIGS. 1 to 3. This figure 1 is a schematic diagram of the running route, and the second figure is a schematic diagram of the running route.
Fig. 3 shows a branching direction matrix of the traveling path data of the automatic guided vehicle, and Fig. 3 shows a traveling operation flowchart. Information labels (43) provided at positions corresponding to the running route (4) to be formed and the branch points (41) and stop+F points (44) of the running route, respectively, and having route information corresponding to the respective contents; (46) and the information label (4:]).

The route information of (IlG) is read by the route information reader (11), and this read route information is compared with the travel route data created in advance and stored in the travel route data memory (I2). This configuration includes an automatic guided vehicle (1) that determines a travel route based on an external command at a location of travel route data corresponding to the travel route data and travels on the travel route.

The above information labels (42) and (4fi) are the driving route (
Activation marks (42) and (45) for activating the route information reading operation of the automatic guided vehicle (1) are also provided at the passage surface positions of the branching point (41) and the stopping point (44) of 4). , instruct the unmanned conveyance vehicle "1L (1) to read the route information in advance on the passage surface of the branch point (41) and the stop point (44).

The above-mentioned automatic guided vehicle (+) stores all the data of the traveling route in the traveling route data memory (12) as a branching direction matrix as shown in Fig. 2 corresponding to the valley branching point, which leads to the transportation objective value. Receive the route as an external destination instruction command and set a flag to the corresponding station number! Enter F and select a travel route to the outside point.

The operation of this embodiment based on the above configuration will be explained based on FIG. First, the automatic guided vehicle (+) starts traveling after loading the object to be transported, and then continues traveling (Step 1)
, At the same time, the presence or absence of a branch point (41) is determined (step 2), and if the branch point (41) is found, the route information reader (11) of the automatic guided vehicle (1) starts the reading operation at the start mark (42). Then, route information (branch point information) is read from the information label (43) (step 3). A branching direction is determined based on this read route information (branch point end 1) (step 4), and the automatic guided vehicle (1) performs a branching operation (step 5), and after this branching, the above-mentioned traveling operation is repeated. That will happen.

On the other hand, if the above branch point (41) is determined to be null,
Furthermore, it is determined whether or not the stopping point (44) has been reached (step 6). The route information reader (11) of the automatic guided vehicle (1) activates the start mark (45) to indicate that the stop point (44) is the stop point (44), and reads the route information (stop station information) on the information label (46) (step 7) Determine whether there is a stop based on the read route information (stop station information) (
Step 8). Further, if it is determined that the vehicle is not at the stopping point (44) or that the vehicle is not at a stop, the vehicle returns to step 1 and continues traveling.

In addition, if it is determined that the stop point E (44) in 4- is reached and it is determined that the stop point (44) is to be stopped, the traveling will be stopped and the conveyed object will be conveyed to the conveyance target value. That's what I did.

[Effects of the Invention] As described above, according to the present invention, route information is provided at predetermined locations on the travel route, and the route information is read to determine the travel route, so that travel control for each travel pattern is possible. There is no need to create a program at all, and the vehicle can run autonomously by simply specifying the stop point, regardless of the location of the start point.

[Brief explanation of the drawing]

Fig. 1' is a schematic configuration diagram of a running route according to an embodiment of the present invention, Fig. 2 is a diagram of branching direction matrix form of running route data of an automatic guided vehicle, Fig. 3 is a flowchart of running operation, and Fig. 4
The figure shows a schematic configuration diagram of a conventional system. In the figure, (1) is an automated guided vehicle, (2) is an automated guided vehicle controller, (3) is a communication station, (4) is a traveling path, and (11) is an automated guided vehicle.
is a route information reader, (12) is a travel route data memory, (41) is a branch point, (42) and (45) are start marks, (43) and (4B) are information labels, (4
4) is the stopping point. In each figure, the same reference numerals indicate the same or corresponding parts.

Claims (3)

[Claims] (1) Information labels that are provided at positions corresponding to a travel path that forms a transportation route for the transported object, branch points and stopping points of the travel route, and have route information corresponding to each content, and the information The route information on the label is read, the read route information is compared with the travel route data created in advance, and the travel route is determined based on an external command at the location of the travel route data that corresponds to the route information. An automatic guided vehicle control system comprising: an automatic guided vehicle that travels on the traveling path; (2) The above-mentioned information label is characterized in that the above-mentioned information label is also configured to include an activation mark for activating the route information reading operation of the automatic guided vehicle at a position before passing each of the branch points and stop points of the travel route. The automatic guided vehicle control system according to item 1. (3) The automatic guided vehicle described in claim 1 or 2 is characterized in that the automatic guided vehicle is configured to include travel route data created in advance as a branch direction matrix corresponding to each branch point. Automatic guided vehicle control system.