JP3886252B2 - Driving control method of automatic guided vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a traveling control method for an automated guided vehicle, and more particularly, an automated guided vehicle in which a plurality of automated guided vehicles traveling along a predetermined traveling path regardless of a tracked or untracked track precedes a curved traveling path. The present invention relates to a traveling control method for an automatic guided vehicle that can travel safely and smoothly without colliding with a vehicle.
[0002]
[Prior art]
In a transport device that loads, transports, and unloads articles while simultaneously traveling a plurality of automatic guided vehicles traveling along a predetermined traveling path, it is particularly preferable to control the traveling of the automatic guided vehicle. In order to improve the conveyance efficiency on the conveyance path, when traveling a plurality of conveyance vehicles at the same time, traveling control so as to travel safely and smoothly without colliding with the preceding automatic guided vehicle on the curved traveling path, This is a very important issue.
For example, Japanese Laid-Open Patent Publication No. 5-53644 discloses a driving control method for an automatic guided vehicle for this purpose.
In this automatic guided vehicle traveling control method, a reflective photoelectric sensor for detecting a reflector provided at the rear end of the automatic guided vehicle is used for detecting a right curve, detecting a straight line, and detecting a left curve at the front end of the automatic guided vehicle. In order to prevent malfunction of the travel control device while traveling on a curved road, a photoelectric sensor that switches and detects the right curve or the left curve of the curved road is used for right curve detection. A mechanism for selecting the left curve detection is provided.
[0003]
[Problems to be solved by the invention]
By the way, the traveling control method for the conventional automatic guided vehicle includes a reflector provided at a rear end portion of a preceding automatic guided vehicle and a reflector provided at a front end portion of the automatic guided vehicle during traveling on a curved traveling path. The reflection type photoelectric sensor to be detected needs to be mounted so as to face each other, and in particular, there is a limit to the detection angle by the reflection type photoelectric sensor for accurate detection. For this reason, as shown in FIG. 5, when the preceding automatic guided vehicle 2A travels on a curved traveling path, the reflective photoelectric sensor provided at the front end of the subsequent automatic guided vehicle 2 does not function, and the subsequent There is a problem that there is a limit to the radius of curvature of the curved traveling path that can reliably perform traveling control of the automatic guided vehicle 2.
Further, the radius of curvature of the curved road is not necessarily constant, and even in the same curve, a portion having a large curvature radius and a portion having a small curvature may be continuously formed, and cannot be applied to such a complicated curved road. There was a problem.
[0004]
The present invention solves the problems of the above conventional automatic guided vehicle traveling control method, and precedes even when two or more automated guided vehicles traveling along the traveling path travel on the same curved traveling path. It is an object of the present invention to provide a traveling control method for an automatic guided vehicle that can travel safely and smoothly without colliding with the automatic guided vehicle.
[0005]
[Means for Solving the Problems]
To achieve the above object, the travel control method of the automatic guided vehicle of the present invention, a plurality Rutotomoni, the front end fitted with a reflector on the rear side of the automatic guided vehicle to travel along a traveling path predetermined In a traveling control method for an automated guided vehicle that receives a reflected signal from the reflector and prevents a collision, a position display installed at a position in the vicinity of a connecting portion between a straight traveling path and a curved traveling path The member is detected by a position detection sensor provided on the conveyance vehicle side, and when it is detected that the automatic guided vehicle has reached the position of the position display member, a plurality of pieces are virtually arranged at predetermined intervals along the curved traveling path. it sets the address to identify the virtual address of the current position of the automatic guided vehicle based on the travel distance from the position indicating member by odometer preceding vehicle attached to the AGV in this address detection signal Characterized in that to prevent detection and collision preceding AGV in the curve travel path are sequentially switched intellectual sensor.
[0006]
In this unmanned guided vehicle traveling control method, when the automated guided vehicle traveling along the traveling path reaches the curved traveling path of the traveling path, the addresses set virtually at predetermined intervals along the curved traveling path are sequentially This is detected, and the traveling position of the automatic guided vehicle is detected by this address detection signal.
And, according to the traveling position of this automatic guided vehicle, among the multiple preceding vehicle detection sensors attached to the following automatic guided vehicle, the preceding vehicle detection sensor most suitable for detecting the preceding automatic guided vehicle on the curved traveling road Since the switching is performed sequentially, the preceding vehicle can be detected reliably and accurately even in a preset short distance range regardless of the curvature radius of the curved road and the difference in curvature radius.
[0007]
In this case, a plurality of types of preceding vehicle detection sensors for the left curve and the right curve can be provided.
[0008]
Thereby, the preceding automatic guided vehicle can be accurately detected even when the automatic guided vehicle travels in the direction of the left curve and the right curve of the curved traveling path.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of a traveling control method for an automatic guided vehicle according to the present invention will be described below with reference to the drawings.
[0010]
1 to 4 show an embodiment of a traveling control method for an automatic guided vehicle according to the present invention.
As shown in FIG. 1, this automatic guided vehicle travel control method is performed along a travel path 1 constituted by connecting a straight travel path 10 to a straight travel path 11 and continuously connecting to the other straight travel path 12 again. When the automatic guided vehicle 2, 2 </ b> A travels in the order of the straight traveling path 10, the curved traveling path 11, and the straight traveling path 12, the automatic guided vehicle 2 </ b> A preceded by the automatic guided vehicle 2 in the same curved traveling path 11. For safe and smooth travel without collision.
[0011]
Both the automatic guided vehicle 2 and the preceding automatic guided vehicle 2A have the same structure, and are equipped with traveling wheels W, a driving device, a control device, and the like so that the vehicle travels on the traveling path 1 and is grounded. Side equipment, for example, it is configured so that traveling can be stopped in front of a station for loading and unloading, and necessary loading and unloading can be performed, and at the front end of the traveling direction, the preceding automatic guided vehicle 2A A plurality of preceding vehicle detection sensors 31, 32, 33, 41, 42, 43 for detecting presence / absence and a position detection sensor 5 on the lower surface of the transport vehicle and a reflector 6 at the rear end are provided. To do.
[0012]
In this case, the preceding vehicle detection sensors 31, 32, 33, 41, 42, and 43 and the reflector 6 provided in the automatic guided vehicle 2 and the preceding automatic guided vehicle 2 </ b> A are configured so that the automatic guided vehicle travels from the straight traveling path 10 to the curved traveling path. 11, when traveling on the curved traveling road 11, the reflector 6 provided on the rear end side of the preceding automatic guided vehicle 2 </ b> A on the curved traveling path 11 and the front end side of the subsequent automatic guided vehicle 2 are provided. Any one of the preceding vehicle detection sensors 31, 32, 33 for the left curve or any one of the preceding vehicle detection sensors 41, 42, 43 for the right curve is selectively opposed. It arrange | positions so that.
More specifically, as shown in FIG. 3, the preceding vehicle detection sensors 31, 32, and 33 for the left curve are attached with different detection angles with respect to the traveling direction of the automatic guided vehicle. Depending on the position of the reflector 6 provided on the rear end side of the preceding automatic guided vehicle 2A, the direction of the curve of the curved traveling path 11, and the magnitude of the curvature, the preceding vehicle detection sensor 31, 32, 33 leads. The automatic guided vehicle 2A to be detected can be detected.
Also, the preceding vehicle detection sensors 41, 42, and 43 for the right curve are attached with different detection angles, similarly to the preceding vehicle detection sensors 31, 32, and 33 for the left curve.
[0013]
For the preceding vehicle detection sensors 31, 32, 33, 41, 42, and 43 of the automatic guided vehicle, it is preferable to use a retroreflective sensor, and it is preferable to use a retroreflector for the reflector 6. It is possible to improve detection accuracy by preventing detection errors in the presence or absence of an automatic guided vehicle due to an incident signal from a light source other than the light source or diffuse reflection from a wall surface.
Here, the retroreflective sensor is composed of, for example, a micro prism (triangular pyramid), in which only lateral light is projected from the light projecting side by, for example, a lateral polarization filter built in the main body. When reflected by the retroreflective plate, the light changes from the horizontal direction to the vertical direction, and this reflected light passes through the vertical polarization filter built in the retroreflective sensor and is incident on the light receiving element. Thereby, only the reflected light from the regressive reflection plate can be detected.
[0014]
In addition, a position display member 7 such as a magnet is installed in the vicinity of the connecting portion between the straight traveling path 10 and the curved traveling path 11, so that the automatic guided vehicle has approached the curved traveling path 11 from the straight traveling path 10. The position display member 7 can be detected by the position detection sensor 5 provided on the transport vehicle side.
[0015]
Further, the address display members A1, A2, A3, A4, A5... Are provided at predetermined intervals along the curved traveling path 11 along the curved traveling path 11 over almost the entire length of the curved traveling path 11. . . Set An.
The address along the curved road 11 can be a virtual address or a real address (reference example) .
When the virtual address is used, the position detection sensor 5 mounted on the automatic guided vehicle reaches the position of the position display member 7 and when the position display member 7 confirms the position of the automatic guided vehicle, the automatic transfer is started. An odometer 8 mounted on the vehicle, for example, an encoder, accumulates the mileage, and addresses A1, A2, A3,..., An are set and detected based on the mileage. In this case, the addresses A1, A2, A3,..., An cannot be visually recognized, but the automatic guided vehicle can be detected by the odometer 8.
On the other hand, when the actual address is used, the addresses A1, A2, A3,... Are used by using position display members such as magnets that can be detected by the position detection sensor 5 at predetermined intervals over almost the entire length of the curved road 11. , An are set (installed).
[0016]
Next, the operation of the traveling control method in this automatic guided vehicle will be described with reference to the explanatory diagram shown in FIG.
When the automated guided vehicle 2 travels on the straight traveling path 10 and approaches the curved traveling path 11, for example, when using a virtual address (substantially the same when using a real address), it is installed in the automated guided vehicle. When the position detection member 5 is detected by the position detection sensor 5, the automatic guided vehicle 2 that travels along the curved travel path 11 using the travel pulse value for the travel distance from the position display member 7 by the operation of the odometer (encoder). The current position of the address A1, A2, A3,.
In this case, based on the detection signals of the addresses A1, A2, A3,..., An, the position of the reflector 6 provided on the rear end side of the preceding automatic guided vehicle 2A or the curved travel path via the switch. The preceding vehicle detection sensors 31, 32, 33, 41, 42, and 43 attached to the preceding automatic guided unmanned guided vehicle are sequentially switched according to the direction of the curve of 11, the magnitude of the curvature, etc. Of 32, 33, 41, 42, and 43, the vehicle is switched to a preceding vehicle detection sensor that is most suitable for detecting the preceding automatic guided vehicle A2 on the curved traveling path 11.
[0017]
As a result, the detection blind spot of the preceding automatic guided vehicle 2A is eliminated as in the prior art. For example, several automatic guided vehicles are moved closer to each other on the same curved traveling path 11 without colliding with each other. Therefore, the conveyance efficiency can be improved.
[0018]
【The invention's effect】
According to the traveling control method of the automatic guided vehicle of the present invention, when the automatic guided vehicle traveling along the traveling path reaches the curved traveling path of the traveling path, it is virtually set at a predetermined interval along the curved traveling path. The address is sequentially detected, and the traveling position of the automatic guided vehicle is detected by the address detection signal.
And, according to the traveling position of this automatic guided vehicle, among the multiple preceding vehicle detection sensors attached to the following automatic guided vehicle, the preceding vehicle detection sensor most suitable for detecting the preceding automatic guided vehicle on the curved traveling road Since the switching is performed sequentially, it is possible to detect the preceding vehicle reliably and accurately in a preset short distance range regardless of the curvature radius of the curved road and the difference in curvature radius. Even if a plurality of transport vehicles are run on the road, there is no collision and the transport efficiency can be improved.
[0019]
In addition, by arranging a plurality of types of preceding vehicle detection sensors for the left curve and the right curve, the automatic guided vehicle also precedes when traveling in the direction of the left curve and the right curve of the curved traveling path. The automatic guided vehicle can be detected accurately.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram of an embodiment of a traveling control method for an automatic guided vehicle according to the present invention.
FIG. 2 is an explanatory view showing a detection angle of a preceding vehicle detection sensor installed in the automatic guided vehicle.
FIG. 3 is a plan view of the automatic guided vehicle.
4A and 4B are explanatory diagrams of the automatic guided vehicle, in which FIG. 4A is a front view, FIG. 4B is a front view, and FIG. 4C is a rear view.
FIG. 5 is an explanatory diagram of a conventional traveling control method.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Traveling path 11 Straight traveling path 12 Curved traveling path 13 Straight traveling path 2 Automatic guided vehicle 2A Prior automatic guided vehicle 31, 32, 33 The preceding vehicle detection sensor 41, 42, 43 for the left curve The preceding vehicle detection for the right curve Sensor 5 Address detection sensor 6 Reflector 7 Position display member 8 Odometer (encoder)
A1, A2, A3, ..., An Address display member

Claims (2)

Predetermined travel path fitted with reflectors on the rear end side of the automatic guided vehicle to travel along the Rutotomoni, mounting a plurality preceding vehicle detection sensor on the front side, and receives a reflected signal from the reflector In the traveling control method of the automatic guided vehicle for preventing the collision, the position detection member provided in the vicinity of the connecting portion between the straight traveling path and the curved traveling path is detected by the position detection sensor provided on the transportation vehicle side. When it is detected that the transport vehicle has reached the position of the position display member, a plurality of addresses are virtually set at predetermined intervals along the curved travel path, and based on the travel distance from the position display member by the travel distance meter identify the virtual address of the current position of the AGV Te, the leading AGV in the curve travel path sequentially switching the preceding vehicle detection sensor attached to the AGV in this address detection signal Travel control method of the automatic guided vehicle, characterized in that to prevent a collision out.   2. The traveling control method for an automatic guided vehicle according to claim 1, wherein a plurality of types of preceding vehicle detection sensors for the left curve and the right curve are provided.

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