JPS61161522A - Controller of unmanned carrier - Google Patents
Controller of unmanned carrierInfo
- Publication number
- JPS61161522A JPS61161522A JP60002231A JP223185A JPS61161522A JP S61161522 A JPS61161522 A JP S61161522A JP 60002231 A JP60002231 A JP 60002231A JP 223185 A JP223185 A JP 223185A JP S61161522 A JPS61161522 A JP S61161522A
- Authority
- JP
- Japan
- Prior art keywords
- emergency stop
- guided vehicle
- unmanned carrier
- light emitting
- emitting device
- 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
- 230000003287 optical effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Steering Controls (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は遠隔の受光・発光装置を備えた無人搬送車の
制御装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a control device for an automatic guided vehicle equipped with a remote light receiving/emitting device.
従来の無人搬送車の制御！１ｆｉｌけ第４図に示されて
おシ、従来の無人搬送車は第５図に示ζｎている。これ
らの図において、（１）は無人搬送ｉ１．（１ａ）け無
人搬送Ｍ（１）のコンソールパネル、（１ｂ）は緊急停
止釦、（２）は無人搬送車（１）の移載機、（３）は無
人搬送ｌｔ （ｌｒに通信するための通信回路（３ａ）
を備えたステーション、（４）は各ステーション（３）
を管理している管理ステーション、（５）は無人搬送車
（ＩＩの走行路である。Conventional automatic guided vehicle control! 1fil is shown in FIG. 4, and a conventional automatic guided vehicle is shown in FIG. In these figures, (1) represents unmanned transport i1. (1a) Console panel of automated guided vehicle M (1), (1b) emergency stop button, (2) transfer machine of automated guided vehicle (1), (3) automated guided vehicle lt (for communicating with lr) Communication circuit (3a)
(4) for each station (3)
The management station (5) is the route for the automatic guided vehicle (II).
次に、動作について説明する。Next, the operation will be explained.
管理ステーション（４）からの指令をステーション（３
）を通して無人搬送車（υに送ると、無人搬送Ｊ［（１
７は指令内容を分析した後、走行路（５）に沿ってステ
ーション（３）間を行き来するようになる。１つの管理
ステーション（４）は、複数の無人搬送車（１）に対し
指令を出している。ある無人搬送車（１）を緊急に停止
ζせたい場合、管理ステーション（４）よシ無人搬送車
（１）への指令はステーション（３）内でのみ通信可能
であるから、無人搬送！（υがステーション（３）より
離ｎているときにはステーション（３）からの停止指令
で無人搬送車（１）を停止させることができなくなる、
〔発明が解決しようとする問題点〕
従来の無人搬送車の制御装置は、前述のＬうに無人搬送
車（１３がステーション（３）より離れているとき、ス
ーｒ−ジョン（３）からの停止指令で無人搬送車（１）
を停止式せることかできないので、ステーション（３）
よシ離几て走行している無人搬送車（１）を緊急に停止
させたい場合には無人搬送車（１）の緊急停止′釦を押
すことが必要で、遠隔からの緊急停止動作を行なえない
という問題点を有していた。The commands from the management station (4) are sent to the station (3).
) to the automated guided vehicle (υ), the automated guided vehicle J[(1
After analyzing the contents of the command, the robot 7 starts moving back and forth between the stations (3) along the travel path (5). One management station (4) issues commands to a plurality of automatic guided vehicles (1). If you want to stop a certain automatic guided vehicle (1) in an emergency, commands to the automatic guided vehicle (1) can only be communicated from the management station (4) within the station (3). (When υ is far from station (3), it becomes impossible to stop the automatic guided vehicle (1) with a stop command from station (3). [Problems to be solved by the invention] Conventional automatic guided vehicle When the above-mentioned automatic guided vehicle (13) is far from the station (3), the vehicle control device automatically stops the automatic guided vehicle (1) in response to a stop command from the station (3).
Since it is not possible to stop the station (3)
If you want to urgently stop the automatic guided vehicle (1) that is traveling at a distance, it is necessary to press the emergency stop button on the automatic guided vehicle (1), and the emergency stop operation cannot be performed remotely. The problem was that there was no
この発明は前述のような問題点を解決す為次めになジれ
たもので、ステーションを離れて走行している無人搬送
車を遠隔Ｌシ緊急停止することのできる無人搬送車の制
御装置を得ることを目的とするものである。This invention was developed in order to solve the above-mentioned problems, and is an automated guided vehicle control device that can remotely emergency stop an automated guided vehicle that is traveling away from a station. The purpose is to obtain.
〔問題点を解決する九めの手段］
この発明に係る無人搬送車の制御装置は、緊急停止指令
を出す遠隔発光装置を無人搬送車と別置にし、遠隔発光
装置からの緊急停止指令を受光装置で検出し、受光装置
からの信号を制御装置で分析して１人搬送逼を緊急停止
させるものである。[Ninth Means for Solving the Problem] The automatic guided vehicle control device according to the present invention has a remote light emitting device that issues an emergency stop command placed separately from the automatic guided vehicle, and receives the emergency stop command from the remote light emitting device. The device detects this, and the control device analyzes the signal from the light receiving device to make an emergency stop to transport one person.
この発明においては、ステーションを離れて走行してい
る無人搬送車が遠隔発光装置からの緊急停止指令を受光
装置で検出すると、緊急停止するようになる。In this invention, when an automatic guided vehicle traveling away from a station detects an emergency stop command from a remote light emitting device with a light receiving device, it comes to an emergency stop.
以下、この発明の実施例を図面に基づいて説明する、
第１（￥ｌｌにおいて、（６）はＬＥＤを使用し友遠隔
発光装置で、天井（図示せず）に取付けられ無人搬送車
重と別置になっており、光シャワーを放出する。（７）
は遠隔発光装置（６）からの光を受ける受光装置で、無
人搬送Ｎ（１）の上に取付けられている。Hereinafter, embodiments of the present invention will be explained based on the drawings. It is placed separately and emits a light shower. (7)
is a light receiving device that receives light from a remote light emitting device (6), and is installed on the unmanned transport N (1).
第２図は制御装置の内部を示しておシ、（８）は受光装
置（７）又は通信回路（３ａ）からの部分を分析する搬
送車管理部、（９）は車輪を制御する操舵制御部、αＧ
は操舵制御部（９）からの情報をパルスに変換するモー
タ駆動制御部、α刀は車輪を回転ζせるモータ駆動回路
、ｏ２＃′ｉ走行路（５）を検出する走行路検出部、口
は無人搬送車の動力源であるバッテリによる電源部であ
る、
したがって、第２凶に示す制御装置は受光装置（７）か
らの信号を分析して無人搬送車を緊急停止させるように
なる、
仄に動作について説明する。Figure 2 shows the inside of the control device, (8) is the conveyance vehicle management section that analyzes the part from the light receiving device (7) or the communication circuit (3a), and (9) is the steering control that controls the wheels. part, αG
is a motor drive control unit that converts information from the steering control unit (9) into pulses, α is a motor drive circuit that rotates the wheels, a travel path detection unit that detects the o2#'i travel path (5), and is a battery-based power source that is the power source of the automatic guided vehicle. Therefore, the control device shown in the second example analyzes the signal from the light receiving device (7) and makes an emergency stop of the automatic guided vehicle. The operation will be explained below.
ステーション（３）を離れて走行している無人搬送３Ｋ
（１）を緊急停止させ次い場合、遠隔発光装置（６）
より緊急停止指令を出すと、この指令を受光装置（７）
が検出し、＠３図のステップｂがスタートシ、その後ス
テップＣにより、その指令を分析し無人搬送車番号を検
出し、スティ゛プｄにより指定ブれた無人搬送車（１）
はステラ１ｅで緊急停止する工うになる６緊急停止を解
除し几い場合にはステップａがスタートし、緊急停止釦
（１ｂ）を解除すると、無人搬送車（１）は手動動作が
可能になる（ステップｆ）。手動で無人搬送車（１）を
もとのステージ曹ンにもってゆくと、自動運転が可能に
なる。Unmanned transport 3K running away from station (3)
If (1) is brought to an emergency stop, the remote light emitting device (6)
When an emergency stop command is issued, this command is sent to the light receiving device (7).
is detected, step b in Figure 3 is the start position, and then in step C, the command is analyzed and the automatic guided vehicle number is detected, and the specified automatic guided vehicle (1) is detected by step d.
If the emergency stop button (1b) is released, the automatic guided vehicle (1) can be operated manually. (Step f). If you manually bring the automated guided vehicle (1) back to the stage, it will become possible to drive automatically.
なお、上記実施例におφて遠隔発光装置（６）はレーザ
を使用したものであっても工い。In the above embodiment, the remote light emitting device (6) may be one using a laser.
以上のようにこの発明は、緊急停止指令を出す走めに、
無人搬送車と別置になった遠隔発光装置と、この遠隔発
光装置がちの緊急停止指令を検出する受光装置と、この
受光装置がちの信号を分析し、無人搬送車を緊急停止さ
せる制御装置とを備えているから、ステーションを離１
−て走行している無人搬送車を遠隔よシ緊急停止ζせる
ことかできるようになる。As described above, this invention is useful for issuing emergency stop commands.
A remote light emitting device placed separately from the automated guided vehicle, a light receiving device that detects an emergency stop command from this remote light emitting device, and a control device that analyzes the signal from this light receiving device and makes an emergency stop of the automated guided vehicle. Because it is equipped with
- It will be possible to remotely bring an automated guided vehicle to an emergency stop.
第１図〜第３′図はこの発明の実施例を示しており、１
４１図は無人搬送車の制御装置を示す説明図、第２図は
制御装置の内部を示す制御ブロック図、第３図は走行中
の無人搬送車を緊急停止メせる場合の手順を示すフロー
チャートである。第４因は従来の無人搬送車の制御装置
を示す説明図、第５因は従来′の無人搬送車を示−「説
明図である。
（１し・無人搬送車、（６）・・・遠隔発光装置、（７
）・・・受光装置、（８）・・・搬送上管理部、（９）
・・・操舵制御部、ｑｏ・・・モータ駆動制御部、αｐ
・・・モータ駆動回路、（６）・・・走行路検出部。
図中、同一符号は同−又は相当部分を示す。Figures 1 to 3' show embodiments of this invention.
Fig. 41 is an explanatory diagram showing the control device of the automated guided vehicle, Fig. 2 is a control block diagram showing the inside of the control device, and Fig. 3 is a flowchart showing the procedure for emergency stop of a running automated guided vehicle. be. The fourth factor is an explanatory diagram showing a conventional automatic guided vehicle control device, and the fifth factor is an explanatory diagram showing a conventional automatic guided vehicle. (1) Automatic guided vehicle, (6)... Remote light emitting device, (7
)...Light receiving device, (8)...Transportation management section, (9)
... Steering control section, qo... Motor drive control section, αp
. . . Motor drive circuit, (6) . . . Running path detection unit. In the figures, the same reference numerals indicate the same or corresponding parts.
Claims (1)
遠隔発生装置と、この遠隔発生装置からの緊急停止指令
を検出する受光装置と、この受光装置からの信号を分析
し、無人搬送車を緊急停止させる制御装置とを備えたと
とを特徴とする無人搬送車の制御装置。In order to issue an emergency stop command, a remote generator is installed separately from the automatic guided vehicle, a light receiving device detects the emergency stop command from the remote generator, and a signal from this light receiving device is analyzed. 1. A control device for an automated guided vehicle, comprising: a control device for making an emergency stop of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60002231A JPS61161522A (en) | 1985-01-11 | 1985-01-11 | Controller of unmanned carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60002231A JPS61161522A (en) | 1985-01-11 | 1985-01-11 | Controller of unmanned carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61161522A true JPS61161522A (en) | 1986-07-22 |
Family
ID=11523576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60002231A Pending JPS61161522A (en) | 1985-01-11 | 1985-01-11 | Controller of unmanned carrier |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61161522A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005103690A (en) * | 2003-09-30 | 2005-04-21 | Yaskawa Electric Corp | Industrial control controller |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58144218A (en) * | 1982-02-22 | 1983-08-27 | Hitachi Kiden Kogyo Ltd | Information transmitting device for ground moving material |
-
1985
- 1985-01-11 JP JP60002231A patent/JPS61161522A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58144218A (en) * | 1982-02-22 | 1983-08-27 | Hitachi Kiden Kogyo Ltd | Information transmitting device for ground moving material |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005103690A (en) * | 2003-09-30 | 2005-04-21 | Yaskawa Electric Corp | Industrial control controller |
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