JP3030308B2 - Travel control system for automatic guided vehicles - Google Patents
Travel control system for automatic guided vehiclesInfo
- Publication number
- JP3030308B2 JP3030308B2 JP5079070A JP7907093A JP3030308B2 JP 3030308 B2 JP3030308 B2 JP 3030308B2 JP 5079070 A JP5079070 A JP 5079070A JP 7907093 A JP7907093 A JP 7907093A JP 3030308 B2 JP3030308 B2 JP 3030308B2
- Authority
- JP
- Japan
- Prior art keywords
- automatic guided
- guided vehicle
- antenna
- ground control
- coil
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000005540 biological transmission Effects 0.000 claims description 33
- 238000004891 communication Methods 0.000 description 17
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000004804 winding Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000005684 electric field Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000003566 sealing material Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、地上制御手段と無人搬
送車との間で情報通信を行って地上制御手段により無人
搬送車の走行／停止動作を制御する無人搬送車の走行制
御方式に係り、特に、この両者の情報通信を確実に安定
して行うための技術に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control system for an automatic guided vehicle in which information communication is performed between the ground control means and the automatic guided vehicle and the traveling / stopping operation of the automatic guided vehicle is controlled by the ground control means. In particular, the present invention relates to a technique for reliably and stably performing information communication between the two.
【０００２】[0002]
【従来の技術】従来から、無人搬送車の走行／停止動作
を制御する方式としては、下記の３種類の方式がある。
第１の方式は光を用いたポイント通信方式であって、工
場内において無人搬送車が走行する経路に沿う各ポイン
トにそれぞれ光電管を設け、地上制御盤から光電管に走
行制御信号を送信し、この走行制御信号を光電管におい
て光信号に変換して発光させ、無人搬送車が光電管の正
面に来たときにこの光信号を受光して、その信号に対応
する走行／停止動作を行うものである。第２の方式は、
無人搬送車を無線誘導するためのガイド用線が埋設され
た溝と平行に走行床面上に、絶縁された専用の２本の伝
送線を設け、地上制御盤からこの伝送線に走行制御信号
が送信され、この信号を無人搬送車が受信して、走行／
停止動作を行うといった方式である。第３の方式は、ガ
イド用線が埋設された溝に、地上制御盤から無人搬送車
に走行制御信号を送信するための伝送線も一緒に埋設し
て、上記第２の方式と同様に、無人搬送車の走行／停止
動作を制御する方式である。2. Description of the Related Art Conventionally, there are the following three types of systems for controlling the traveling / stopping operation of an automatic guided vehicle.
The first method is a point communication method using light, in which a photoelectric tube is provided at each point along a route along which an automatic guided vehicle travels in a factory, and a traveling control signal is transmitted from the ground control panel to the photoelectric tube. The traveling control signal is converted into an optical signal in the photoelectric tube to emit light, and when the automatic guided vehicle comes to the front of the photoelectric tube, the optical signal is received and the traveling / stop operation corresponding to the signal is performed. The second scheme is
Two dedicated and insulated transmission lines are provided on the traveling floor parallel to the groove in which the guide line for guiding the automatic guided vehicle by radio is embedded, and traveling control signals are sent from the ground control panel to these transmission lines. Is transmitted, and the automatic guided vehicle receives this signal,
The stop operation is performed. In the third method, a transmission line for transmitting a traveling control signal from the ground control panel to the automatic guided vehicle is also buried in the groove in which the guide line is buried, and similarly to the second method, This is a method for controlling the traveling / stopping operation of the automatic guided vehicle.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、上記第
１の方式では、各通信ポイント毎に光電管を配置しなけ
ればならないので、通信ポイントが多数あると、地上制
御盤から光電管への配線、配管工事が大掛かりとなり、
コスト高となり、さらには、多数の光電管を動作させる
ために電力も多く必要となる。また、上記第２の方式で
は、伝送線が床上に配線されるので、施工工事が大掛か
りとなり、また、人やフォークリフト車が通行するとき
に邪魔になるばかりか、工場内の伝送線のレイアウトに
制約を受け易い。上記第３の方式では、上記のような問
題はないが、ガイド用線と伝送線とが同一の溝に埋設さ
れているため、両者間に干渉が起こって定在波が生じ、
この定在波により電界に強弱が生じて、ポイントによっ
ては通信が不可能になる場合がある。また、ノイズも受
け易く、無人搬送車の誤動作の原因となる。However, in the above-mentioned first method, a phototube must be arranged for each communication point. Therefore, if there are a large number of communication points, wiring and piping work from the ground control panel to the phototube are required. Becomes a large scale,
The cost is high, and more power is required to operate a large number of phototubes. In addition, in the second method, since the transmission line is laid on the floor, the construction work becomes large and not only hinders the passage of people and forklift vehicles, but also the layout of the transmission line in the factory. It is easy to be restricted. In the third method, there is no problem as described above, but since the guide line and the transmission line are buried in the same groove, interference occurs between the two, and a standing wave is generated.
The strength of the electric field is generated by the standing wave, and communication may become impossible at some points. In addition, the automatic guided vehicle is susceptible to noise, which causes a malfunction of the automatic guided vehicle.
【０００４】本発明は、上述した問題点を解決するもの
で、密着した平行線（ＡＣコードに代表される）が周囲
の影響（ノイズ・干渉）を受けないことに着目し、この
ように密着した平行線を用いながら信号の授受を可能と
すべく工夫を施したことにより、施工工事が簡単かつ低
コストで済み、無人搬送車と地上制御手段との通信を安
定かつ確実に行うことが可能な無人搬送車の走行制御方
式を提供することを目的とする。The present invention solves the above-mentioned problems, and focuses on the fact that closely-connected parallel lines (typified by an AC code) are not affected by surroundings (noise and interference). The device has been devised to enable the transmission and reception of signals while using parallel lines, which makes construction work simple and low-cost, and enables stable and reliable communication between the automatic guided vehicle and ground control means. It is an object of the present invention to provide a traveling control system for an automatic guided vehicle.
【０００５】[0005]
【課題を解決するための手段】上記目的を達成するため
に本発明は、路面に設けられた溝に、無人搬送車を無線
誘導するためのガイド用線と、地上制御手段から上記無
人搬送車に走行制御信号を送信するための平行な２本の
伝送線とを埋設し、かつ、上記溝の中で上記無人搬送車
が上記地上制御手段と交信する場所には不平衡コイルで
なるアンテナを設け、上記地上制御手段から上記伝送線
を通して上記アンテナに走行制御信号を送信するように
した方式である。SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a guide line for wirelessly guiding an automatic guided vehicle into a groove provided on a road surface; An antenna consisting of an unbalanced coil is embedded in a place where the automatic guided vehicle communicates with the ground control means in the groove in which two parallel transmission lines for transmitting a travel control signal are buried. And a traveling control signal is transmitted from the ground control means to the antenna through the transmission line.
【０００６】[0006]
【作用】上記の構成によれば、地上制御手段から走行制
御信号が２本の伝送線を通って不平衡コイルでなるアン
テナに送信され、これによってアンテナを動作させて、
無人搬送車に走行制御信号を与えることができ、無人搬
送車の走行／停止動作を制御することができる。アンテ
ナは無人搬送車が地上制御手段と交信する場所にのみ設
ければよく、アンテナのある場所では、走行制御信号が
打ち消し合うことなく地上制御手段と無人搬送車との間
で信号授受が行われる。また、アンテナのない場所で
は、２本の伝送線が平行関係にあって各伝送線を流れる
信号を逆方向にすることにより、２本の伝送線を流れる
信号が互いに打ち消しあうので、ガイド用線の埋設され
ている溝に２本の伝送線が一緒に埋設されていても、伝
送線とガイド用線とが互いに干渉することはない。According to the above arrangement, the traveling control signal is transmitted from the ground control means to the antenna formed of the unbalanced coil through the two transmission lines, thereby operating the antenna.
The traveling control signal can be given to the automatic guided vehicle, and the traveling / stopping operation of the automatic guided vehicle can be controlled. The antenna may be provided only in a place where the automatic guided vehicle communicates with the ground control means, and in a place where the antenna is provided, signal transmission and reception are performed between the ground control means and the automatic guided vehicle without canceling the traveling control signal. . Also, in a place without an antenna, the two transmission lines are in a parallel relationship and the signals flowing through the respective transmission lines are reversed so that the signals flowing through the two transmission lines cancel each other out. Even if two transmission lines are buried together in the buried groove, the transmission line and the guide line do not interfere with each other.
【０００７】[0007]
【実施例】以下、本発明を具体化した一実施例について
図面を参照して説明する。図１（ａ）は工場内の床にガ
イド用線と伝送線とが埋設された状態を模式的に示し、
図１（ｂ）はその要部構成を示す。工場内の床にはカッ
テング溝（以下、溝という）が設けられていて、ガイド
用線１と伝送線２はこの溝に一緒に埋設されている。ガ
イド用線１と伝送線２は、無人搬送車（以下、ＡＧＶ
（Automatic GuidedVehicle）という）３の走行を制御
するための信号を発信する地上制御盤４と接続されてい
る。作業者は地上制御盤４によってＡＧＶ３の走行／停
止動作を設定制御する。ガイド用線１はＡＧＶ３を無線
誘導するためのもので、ＡＧＶ３はガイド用線１に沿っ
て走行する。伝送線２は、地上制御盤４からＡＧＶ３に
走行制御信号を送信するための線であって、ガイド用線
１と平行に、往復あたかも２本の線になるように設けら
れている。また、伝送線２の各通信ポイントには不平衡
コイル１１ａでなるアンテナ１１が埋設されている。各
通信ポイントにおいて、このアンテナ１１とＡＧＶ３に
搭載されている送受信用コイルアンテナ３ａとを介して
地上制御盤４とＡＧＶ３とは信号の授受を行う。なお、
ガイド用線１には５〜１０ｋＨｚ、伝送線２には２００
ｋＨｚの周波数の電流が流れている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1A schematically shows a state in which a guide line and a transmission line are buried on a floor in a factory,
FIG. 1B shows the configuration of the main part. A cutting groove (hereinafter referred to as a groove) is provided on the floor in the factory, and the guide line 1 and the transmission line 2 are buried together in this groove. The guide line 1 and the transmission line 2 are connected to an automated guided vehicle (hereinafter referred to as AGV).
(Referred to as Automatic Guided Vehicle) 3 is connected to a ground control panel 4 for transmitting a signal for controlling traveling. The operator sets and controls the running / stopping operation of the AGV 3 by the ground control panel 4. The guide line 1 is for guiding the AGV 3 by radio, and the AGV 3 runs along the guide line 1. The transmission line 2 is a line for transmitting a traveling control signal from the ground control panel 4 to the AGV 3, and is provided in parallel with the guide line 1 so as to make two round trips. At each communication point of the transmission line 2, an antenna 11 composed of an unbalanced coil 11a is embedded. At each communication point, the ground control panel 4 and the AGV 3 exchange signals via the antenna 11 and the transmitting / receiving coil antenna 3a mounted on the AGV 3. In addition,
5 to 10 kHz for the guide line 1 and 200 for the transmission line 2
A current having a frequency of kHz flows.
【０００８】次に、上記アンテナの構造について図２乃
至図７を参照して詳細に説明する。アンテナ１１は、地
上制御盤４から伝送線２を通してＡＧＶ３に信号を送信
するためのものであって、図２にアンテナ１１を構成す
る不平衡コイル１１ａの接続構成を示し、図３にボビン
１２に巻かれたコイル１１ａの形態を示す。図示のよう
に、２つのコイルの巻き方向を互いに逆にすることによ
り電磁的に不平衡としている。図中、矢印は信号の進む
方向を示す。このように、巻き方向を逆方向にすること
により、不平衡コイル１１ａにおいて信号が打ち消し合
うことがなくなり、地上制御盤４は不平衡コイル１１ａ
を介してＡＧＶ３と交信できるようになる。コイル１１
ａの口出線，，，はそれぞれ異なる色に着色さ
れており、一対の伝送線２に図示のごとく接続され、伝
送線２の途中に介在されることになる。図４及び図５
は、コイル本体を巻くための巻枠であるボビン１２の形
状を示す。このボビン１２の寸法は、縦７ｍｍ、横２０
０ｍｍ、高さ３０ｍｍ位程度でよい。アンテナ１１は、
図６に示すように、熱収縮チューブ１３で覆われてお
り、同チューブ１３の両端開口部の口出線の導出部には
密閉のためにシール材１４を充填している。Next, the structure of the antenna will be described in detail with reference to FIGS. The antenna 11 is for transmitting a signal from the ground control panel 4 to the AGV 3 through the transmission line 2. FIG. 2 shows a connection configuration of an unbalanced coil 11 a constituting the antenna 11, and FIG. 3 shows a form of a wound coil 11a. As shown in the figure, the winding directions of the two coils are made opposite to each other so as to be electromagnetically unbalanced. In the figure, the arrow indicates the direction in which the signal travels. In this way, by reversing the winding direction, the signals do not cancel each other out in the unbalanced coil 11a, and the ground control panel 4 makes the unbalanced coil 11a
Can communicate with the AGV 3 via the. Coil 11
The lead wires a are colored differently from each other, are connected to the pair of transmission lines 2 as shown in the figure, and are interposed in the middle of the transmission line 2. 4 and 5
Shows the shape of the bobbin 12 which is a winding frame for winding the coil body. The dimensions of the bobbin 12 are 7 mm long and 20 mm wide.
It may be about 0 mm and about 30 mm in height. The antenna 11 is
As shown in FIG. 6, the tube 13 is covered with a heat-shrinkable tube 13, and a lead-out portion of a lead wire at both ends of the tube 13 is filled with a sealing material 14 for sealing.
【０００９】図７は、ＡＧＶ３と地上制御盤４とが信号
の授受を行う各通信ポイントの路面の断面を示す。溝１
５内には、伝送線２及びガイド用線１が埋設され、これ
らの下部に、アンテナ１１が埋設されている。このアン
テナ１１が電磁的に平衡でなく不平衡であることによ
り、走行制御信号が打ち消されずにＡＧＶ３と地上制御
盤４との情報通信が正確に行われる。なお、各ポイント
の間の溝１５には、伝送線２及びガイド用線１のみが埋
設されている。FIG. 7 shows a cross section of the road surface at each communication point where the AGV 3 and the ground control panel 4 exchange signals. Groove 1
5, a transmission line 2 and a guide line 1 are buried, and an antenna 11 is buried below these. Since the antenna 11 is not electromagnetically balanced but unbalanced, the information communication between the AGV 3 and the ground control panel 4 is accurately performed without canceling the traveling control signal. Note that only the transmission line 2 and the guide line 1 are buried in the groove 15 between the points.
【００１０】一対の伝送線２は密着した平行線であっ
て、このような線（例えば、ＡＣコードに代表される）
は周囲の影響を受けない性質を持っている。また、この
２本の伝送線２は信号の流れる方向が逆であり信号同士
が打ち消し合うので、ガイド用線１に影響を与えること
がない。従って、伝送線２とガイド用線１とを同一の溝
に埋設しても問題はない。なお、本発明は上記実施例に
限られず、種々の変形が可能である。例えば、アンテナ
を構成する不平衡コイルの構造は、コイルの巻く方向を
逆にするだけでなく、コイルが電磁的に不平衡になるな
らば他の構造であってもよい。[0010] The pair of transmission lines 2 are closely connected parallel lines, and such lines (for example, represented by an AC code).
Has the property of being unaffected by the surroundings. In addition, the two transmission lines 2 have opposite directions in which the signal flows, and the signals cancel each other, so that the guide line 1 is not affected. Therefore, there is no problem even if the transmission line 2 and the guide line 1 are buried in the same groove. The present invention is not limited to the above embodiment, and various modifications are possible. For example, the structure of the unbalanced coil forming the antenna may be not only the direction in which the coil is wound but also other structures as long as the coil becomes electromagnetically unbalanced.
【００１１】[0011]
【発明の効果】以上のように本発明によれば、各通信ポ
イントに不平衡コイルでなるアンテナを設け、これを平
行線でなる伝送線で接続しているので、アンテナを無人
搬送車誘導のためのガイド用線と一緒に路面に設けた溝
内に敷設しても両者が互いに干渉したりノイズの影響を
受けることが少なくなる。従って、配線工事が簡単で通
信ポイントが多くても安価に施工できる。また、不平衡
コイルのアンテナを用いているので、誘導無線周波数信
号が平衡供給されるので、定在波を生じることがなく、
従って、各通信ポイントにおいて無人搬送車と地上制御
手段との情報通信を正確に行うことができ、無人搬送車
の走行制御を安定かつ確実に行うことができ、しかも、
通信不可となるポイントが生じるようなことがなくな
る。As described above, according to the present invention, since an antenna composed of an unbalanced coil is provided at each communication point and connected by a transmission line composed of parallel lines, the antenna is guided by an automatic guided vehicle. Even if they are laid in a groove provided on a road surface together with a guide wire for the purpose, they are less likely to interfere with each other and to be affected by noise. Therefore, even if the wiring work is simple and there are many communication points, the work can be performed at low cost. In addition, since an unbalanced coil antenna is used, an inductive radio frequency signal is supplied in a balanced manner, so that no standing wave is generated.
Therefore, information communication between the automatic guided vehicle and the ground control means can be accurately performed at each communication point, and the traveling control of the automatic guided vehicle can be performed stably and reliably.
This eliminates the point where communication becomes impossible.
【図１】（ａ）は本発明の一実施例による無人搬送車の
走行システムの概略構成図、（ｂ）はその要部構成図で
ある。FIG. 1A is a schematic configuration diagram of a traveling system of an automatic guided vehicle according to an embodiment of the present invention, and FIG. 1B is a configuration diagram of main parts thereof.
【図２】アンテナを構成する不平衡コイルの接続状態を
示す回路図である。FIG. 2 is a circuit diagram showing a connection state of unbalanced coils constituting an antenna.
【図３】ボビンに巻かれたコイルの形態を示す図であ
る。FIG. 3 is a diagram showing a form of a coil wound on a bobbin.
【図４】コイルが巻かれるボビンの側面図である。FIG. 4 is a side view of a bobbin around which a coil is wound.
【図５】コイルが巻かれるボビンの正面図である。FIG. 5 is a front view of a bobbin around which a coil is wound.
【図６】アンテナの側面図である。FIG. 6 is a side view of the antenna.
【図７】各通信ポイントにおける路面の断面図である。FIG. 7 is a sectional view of a road surface at each communication point.
１ ガイド用線 ２ 伝送線 ３ 無人搬送車（ＡＧＶ） ４ 地上制御盤 １１ アンテナ １１ａ 不平衡コイル １５ カッテング溝 DESCRIPTION OF SYMBOLS 1 Guide wire 2 Transmission line 3 Automatic guided vehicle (AGV) 4 Ground control panel 11 Antenna 11a Unbalanced coil 15 Cutting groove
Claims (1)
線誘導するためのガイド用線と、地上制御手段から上記
無人搬送車に走行制御信号を送信するための平行な２本
の伝送線とを埋設し、かつ、上記溝の中で上記無人搬送
車が上記地上制御手段と交信する場所には不平衡コイル
でなるアンテナを設け、上記地上制御手段から上記伝送
線を通して上記アンテナに走行制御信号を送信するよう
にしたことを特徴とする無人搬送車の走行制御方式。1. A guide line for wirelessly guiding an automatic guided vehicle in a groove provided on a road surface, and two parallel transmission lines for transmitting a travel control signal from the ground control means to the automatic guided vehicle. An antenna consisting of an unbalanced coil is provided at a place where the automatic guided vehicle communicates with the ground control means in the groove, and travels from the ground control means to the antenna through the transmission line. A traveling control system for an automatic guided vehicle, wherein a control signal is transmitted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5079070A JP3030308B2 (en) | 1993-03-12 | 1993-03-12 | Travel control system for automatic guided vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5079070A JP3030308B2 (en) | 1993-03-12 | 1993-03-12 | Travel control system for automatic guided vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06266431A JPH06266431A (en) | 1994-09-22 |
| JP3030308B2 true JP3030308B2 (en) | 2000-04-10 |
Family
ID=13679629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5079070A Expired - Lifetime JP3030308B2 (en) | 1993-03-12 | 1993-03-12 | Travel control system for automatic guided vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3030308B2 (en) |
-
1993
- 1993-03-12 JP JP5079070A patent/JP3030308B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH06266431A (en) | 1994-09-22 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 19990831 |