JPH10143242A - Traveling device for unmanned vehicle - Google Patents
Traveling device for unmanned vehicleInfo
- Publication number
- JPH10143242A JPH10143242A JP8301403A JP30140396A JPH10143242A JP H10143242 A JPH10143242 A JP H10143242A JP 8301403 A JP8301403 A JP 8301403A JP 30140396 A JP30140396 A JP 30140396A JP H10143242 A JPH10143242 A JP H10143242A
- Authority
- JP
- Japan
- Prior art keywords
- unmanned vehicle
- traveling route
- tag
- unloading
- route
- 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.)
- Pending
Links
- 238000004891 communication Methods 0.000 abstract description 20
- 230000003287 optical effect Effects 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【0001】[0001]
【発明の属する技術分野】この発明は、無人車の走行装
置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling device for an unmanned vehicle.
【0002】[0002]
【従来の技術】無人搬送システムにおいて、無人車への
ルート指示は、従来次のように行われていた。即ち、ま
ず光通信を用いたものであり、地上に設置された光通信
機から無人車に取り付けられた光通信機に対して光通信
によりルート指示を与えるものである。又、地上に設置
された無線機から無人車に取り付けられた無線機に対し
て無線通信によりルート指示を行っていた。さらに、手
動即ち作業者によりルートナンバーを指示することによ
り行っていた。2. Description of the Related Art In an unmanned transport system, a route instruction to an unmanned vehicle has conventionally been performed as follows. That is, first, optical communication is used, and a route instruction is given by optical communication from an optical communication device installed on the ground to an optical communication device mounted on an unmanned vehicle. In addition, a route is instructed from a wireless device installed on the ground to a wireless device mounted on an unmanned vehicle by wireless communication. Further, it is performed manually, that is, by instructing a route number by an operator.
【0003】[0003]
【発明が解決しようとする課題】しかしながら、上記し
た従来の無人車へのルート指示においては、光通信の場
合には地上に光通信機を制御する制御盤(シーケンサ
ー、コンピュータ等を搭載)を必要とし、設置スペース
が増大した。又、無人車における制御盤と光通信機の間
の配線を必要とし、構成が複雑になった。又、粉塵等が
多い悪環境化では光通信機の投光部、受光部が汚れ、通
信ができなくなることもあった。However, in the above-described conventional route instruction to an unmanned vehicle, in the case of optical communication, a control panel (equipped with a sequencer, a computer, etc.) for controlling an optical communication device on the ground is required. The installation space has increased. Further, wiring between the control panel and the optical communication device in the unmanned vehicle is required, and the configuration is complicated. Further, in a bad environment with a lot of dust and the like, the light emitting portion and the light receiving portion of the optical communication device may become dirty and communication may not be performed.
【0004】一方、無線通信の場合も、やはり地上側の
制御盤を必要として地上側の設置スペースが増大すると
ともに、無人車制御盤と無線機間の配線を必要として構
成が複雑になり、また同一周波数による混信を起こさな
いように事前調査が必要になった。さらに、作業者によ
る手動指示の場合には、入力ミスによって無人車への誤
指示の可能性があった。[0004] On the other hand, in the case of wireless communication, a ground-side control panel is also required, so that the installation space on the ground side is increased, and wiring between the unmanned vehicle control panel and the radio is required, which complicates the configuration. Preliminary investigation is required to prevent interference by the same frequency. Furthermore, in the case of a manual instruction by an operator, there is a possibility that an erroneous instruction to an unmanned vehicle may occur due to an input error.
【0005】この発明は上記のような課題を解決するた
めに成されたものであり、地上からのルート指示を受け
ることなく自律走行を行うことができ、構成簡単安価で
あり、悪環境や混信を考慮する必要もない無人車の走行
装置を得ることを目的とする。SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and can perform autonomous driving without receiving a route instruction from the ground. It is an object of the present invention to obtain a traveling device of an unmanned vehicle that does not need to consider the following.
【0006】[0006]
【課題を解決するための手段】この発明に係る無人車の
走行装置は、無人車に積卸される搬送物又は搬送物を載
置するものに走行ルートを記憶する記憶部を設けるとと
もに、無人車にこの記憶部の記憶を読み出す読み出し部
を設け、読み出した走行ルートに従って無人車を走行さ
せるようにしたものである。SUMMARY OF THE INVENTION An unmanned vehicle traveling apparatus according to the present invention is provided with a storage section for storing a traveling route on a conveyed article to be unloaded on an unmanned vehicle or on a section on which the conveyed article is placed. The vehicle is provided with a reading unit for reading the storage of the storage unit, and the unmanned vehicle is caused to travel in accordance with the read traveling route.
【0007】[0007]
【発明の実施の形態】以下、この発明の実施の形態を図
面とともに説明する。図1はこの実施形態による無人車
の走行装置の正面図を示し、1は誘導ラインに沿って走
行する無人車であり、モータにより駆動される車輪1a
を有するとともに荷物を積卸する移載機1bを有してい
る。3は搬送物、4は搬送物3を載置するパレットやコ
ンテナ等の載置物であり、載置物4にはIDタグ(又は
コレスポンダ)5が設けられ、IDタグ5は無人車1の
走行ルート及び積卸し場所を記憶する。2は無人車1に
設けられた読み取りアンテナであり、IDタグ5に記憶
された走行ルート及び積卸し場所を電磁的に読み取ると
ともに、無人車1の図示しない制御部と接続されてい
る。IDタグ5はメモリ容量の大きいものを用いれば、
ルートナンバ以外にも積卸し場所も記憶することができ
る。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a front view of a traveling apparatus for an unmanned vehicle according to this embodiment, and 1 is an unmanned vehicle traveling along a guide line, and a wheel 1a driven by a motor.
And a transfer machine 1b for loading and unloading luggage. Reference numeral 3 denotes a load, and 4 denotes a load such as a pallet or a container on which the load 3 is placed. The load 4 is provided with an ID tag (or responder) 5, and the ID tag 5 is used for traveling of the unmanned vehicle 1. The route and the unloading location are stored. Reference numeral 2 denotes a reading antenna provided on the unmanned vehicle 1, which electromagnetically reads a traveling route and a loading / unloading location stored in the ID tag 5, and is connected to a control unit (not shown) of the unmanned vehicle 1. If the ID tag 5 has a large memory capacity,
In addition to the route number, the unloading location can also be stored.
【0008】図2は無人車1の走行ルートNO.1〜N
O.4及び積卸し場所HS,ST1〜ST4を示す説明
図、図3は制御部の動作を示すフローチャートであり、
これらの図を用いて上記構成の動作を説明する。まず、
最初は、無人車1は積卸し場所HSに停車しており、ス
テップS1では積卸し場所HSのコンベヤ6に搬送物3
があるか否かを判定し、搬送物3があればステップS2
で移載機1bにより搬送物3及びその載置物4を無人車
1上に積み込む。載置物4に設けたIDタグ5には走行
ルート例えばNO.1と積卸し場所例えばST1が記憶
されており、ステップS3では読み取りアンテナ2によ
りこの走行ルートNO.1と積卸し場所ST1を読み出
し、ステップS4では無人車1は走行ルートNO.1を
通って積卸し場所ST1まで走行し、ステップS5でコ
ンベヤ6に搬送物3及び載置物4を卸す。FIG. 2 shows a traveling route NO. 1 to N
O. FIG. 4 is an explanatory diagram showing the unloading locations HS and ST1 to ST4. FIG. 3 is a flowchart showing the operation of the control unit.
The operation of the above configuration will be described with reference to these drawings. First,
At first, the unmanned vehicle 1 is stopped at the unloading place HS, and in step S1, the transported goods 3 are transferred to the conveyor 6 of the unloading place HS.
It is determined whether or not there is any, and if there is a conveyed article 3, step S2
Then, the transported object 3 and the object 4 are loaded on the unmanned vehicle 1 by the transfer machine 1b. The ID tag 5 provided on the mounted object 4 has a travel route such as NO. 1 and an unloading location, for example, ST1, are stored. 1 and the loading / unloading place ST1 are read out. 1 and travels to the unloading location ST1. In step S5, the transported object 3 and the mounted object 4 are unloaded to the conveyor 6.
【0009】ステップS6ではNO.1のルートで別の
積卸し場所があるか否かを判定し、なければステップS
7で積卸し場所HSまで戻るが、実際には積卸し場所S
T2があるのでステップS8で積卸し場所ST2まで走
行する。ステップS9では搬送物3があるか否かを判定
し、なければステップS14で積卸し場所HSまで走行
する。搬送物3があればステップS10で搬送物3等を
積込み、ステップS11でルートナンバと積卸し場所を
読み取り、ステップS12では例えば走行ルートNO.
2を通って積卸し場所ST3まで走行する。ステップS
13では搬送物3等を卸し、ステップS14では積卸し
場所HSに戻る。もちろん、記憶されたデータによって
は走行ルートNO.3を通って積卸し場所ST4で卸す
こともできる。又、ステップS5で搬送物3等を卸した
後積卸し場所HSまで戻るようにしてもよい。At step S6, NO. It is determined whether or not there is another unloading place in route 1;
7 returns to the unloading location HS, but actually, the unloading location S
Since there is T2, the vehicle travels to the unloading location ST2 in step S8. In step S9, it is determined whether or not there is a transported object 3, and if not, the vehicle travels to the unloading location HS in step S14. If there is a transported article 3, the transported article 3 is loaded in step S10, the route number and the unloading location are read in step S11, and in step S12, for example, the travel route No.
The vehicle travels through 2 to the unloading location ST3. Step S
At 13, the transported articles 3 and the like are unloaded, and at step S 14, the process returns to the unloading location HS. Of course, depending on the stored data, the traveling route NO. 3 and can be unloaded at the unloading location ST4. Further, after the conveyed articles 3 and the like are unloaded in step S5, the process may return to the unloading location HS.
【0010】上記実施形態においては、地上側からのル
ート指示を受けることなく自律走行することができ、地
上側の制御盤や通信機等が不要となり、構成簡単でコス
トダウンが可能となった。又、光通信や無線通信を用い
ないので、悪環境の影響を受けなくなり、混信の心配も
なくなった。さらに、地上側との通信が不要となり、無
人車のサイクルタイムを短縮することができる。なお、
IDタグ5は搬送物3に設けてもよい。In the above-described embodiment, the vehicle can travel autonomously without receiving a route instruction from the ground side, and a control panel and a communication device on the ground side are not required, so that the configuration is simple and the cost can be reduced. In addition, since optical communication and wireless communication are not used, there is no influence of a bad environment and no fear of interference. Further, communication with the ground side becomes unnecessary, and the cycle time of the unmanned vehicle can be reduced. In addition,
The ID tag 5 may be provided on the article 3.
【0011】[0011]
【発明の効果】以上のようにこの発明によれば、搬送物
又はその載置物に無人車の走行ルートを記憶する記憶部
を設けるとともに、無人車に記憶部の記憶を読み出す読
み出し部を設けたので、地上側からのルート指示を受け
ることなく無人車を自律走行させることができ、地上側
の制御盤及び通信機等が不要となり、構成が簡単でコス
トダウンが可能となった。又、光通信も無線通信も用い
ないので、悪環境や混信を心配する必要がなくなった。As described above, according to the present invention, a storage unit for storing a traveling route of an unmanned vehicle is provided on a conveyed object or a mounted object thereof, and a reading unit for reading out the storage of the storage unit is provided on the unmanned vehicle. Therefore, the unmanned vehicle can autonomously travel without receiving a route instruction from the ground side, and a control panel and a communication device on the ground side are not required, so that the configuration is simple and the cost can be reduced. Further, since neither optical communication nor wireless communication is used, there is no need to worry about a bad environment or interference.
【図1】この発明による無人車の走行装置の正面図であ
る。FIG. 1 is a front view of a traveling apparatus for an unmanned vehicle according to the present invention.
【図2】この発明による無人車の走行ルート及び積卸し
場所を示す説明図である。FIG. 2 is an explanatory diagram showing a traveling route and an unloading place of an unmanned vehicle according to the present invention.
【図3】この発明による無人車の制御部の動作を示すフ
ローチャートである。FIG. 3 is a flowchart showing the operation of the control unit of the unmanned vehicle according to the present invention.
1…無人車 1a…車輪 1b…移載機 2…読み取りアンテナ 3…搬送物 4…載置物 5…IDタグ NO.1〜NO.4…走行ルート HS,ST1〜ST4…積卸し場所 DESCRIPTION OF SYMBOLS 1 ... Unmanned vehicle 1a ... Wheel 1b ... Transfer machine 2 ... Reading antenna 3 ... Conveyed object 4 ... Placed object 5 ... ID tag NO. 1 to NO. 4: Running route HS, ST1 to ST4: Unloading place
Claims (1)
に積卸される搬送物又は搬送物を載置するものに走行ル
ートを記憶する記憶部を設けるとともに、無人車にこの
記憶部の記憶を読み出す読み出し部を設け、無人車が読
み出した走行ルートに従って走行するようにしたことを
特徴とする無人車の走行装置。In an unmanned vehicle capable of automatically traveling, a storage unit for storing a traveling route is provided on a conveyed product to be unloaded on the unmanned vehicle or on a unit on which the conveyed product is placed, and the storage unit is stored in the unmanned vehicle. A driving unit for an unmanned vehicle, characterized in that a reading unit for reading the vehicle is provided, and the unmanned vehicle travels according to the read traveling route.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP8301403A JPH10143242A (en) | 1996-11-13 | 1996-11-13 | Traveling device for unmanned vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP8301403A JPH10143242A (en) | 1996-11-13 | 1996-11-13 | Traveling device for unmanned vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH10143242A true JPH10143242A (en) | 1998-05-29 |
Family
ID=17896459
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP8301403A Pending JPH10143242A (en) | 1996-11-13 | 1996-11-13 | Traveling device for unmanned vehicle |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH10143242A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7778772B2 (en) | 2006-03-27 | 2010-08-17 | Kabushiki Kaisha Toyota Jidoshokki | Travel control system for travel vehicle |
US7778771B2 (en) | 2006-03-27 | 2010-08-17 | Kabushiki Kaisha Toyota Jidoshokki | Travel control system for travel vehicle and travel vehicle |
-
1996
- 1996-11-13 JP JP8301403A patent/JPH10143242A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7778772B2 (en) | 2006-03-27 | 2010-08-17 | Kabushiki Kaisha Toyota Jidoshokki | Travel control system for travel vehicle |
US7778771B2 (en) | 2006-03-27 | 2010-08-17 | Kabushiki Kaisha Toyota Jidoshokki | Travel control system for travel vehicle and travel vehicle |
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