JP5346480B2 - Driving mode switching control device and switching control method for automatic guided vehicle - Google Patents

Description

  The present invention relates to an apparatus and a method for controlling switching of a traveling mode of an automatic guided vehicle.

Conventionally, various self-propelled automated guided vehicles (AGV) have been proposed for the purpose of automating logistics in factories and the like. For example, Patent Document 1 discloses a tracked automatic guided vehicle that follows a route combining a straight line and a curve while moving forward.
Japanese Examined Patent Publication No. 4-59643

  By the way, in a tracked automatic guided vehicle having a transverse mode, in order to switch the traveling mode from the straight traveling mode to the transverse mode, the drive unit must be turned (rotated) in an arbitrary direction. Therefore, conventionally, the direction of the drive unit has been controlled by providing a sensing device such as a rotary encoder on the rotation center shaft. However, such a sensing device is expensive, and the manufacturing cost of the automatic guided vehicle increases.

  The present invention has been made paying attention to such a conventional problem, and an object of the present invention is to provide a traveling mode switching control device for an automatic guided vehicle capable of keeping the manufacturing cost low.

  The present invention solves the above problems by the following means. In addition, in order to make an understanding easy, although the code | symbol corresponding to embodiment of this invention is attached | subjected, it is not limited to this.

The present invention detects a track (20) laid on a floor surface by a track detection sensor (11b) provided in a drive unit (11) which is arranged at the lower part of a vehicle body and can turn around a support shaft and change direction. The driving mode switching control device for the automatic guided vehicle (1) that travels while the driving unit (11) starts to change direction when there is a switching command for the driving mode that commands switching from the straight traveling mode to the transverse mode. Direction change means for determining the completion of the direction change of the drive unit (11) by the change of the direction of the drive unit and the orbit detection sensor (11b) from the non-orbit detection state to the orbit detection state as the drive unit changes direction. Completion determination means (steps S21 and S22) and the direction change of the drive unit is stopped when the completion of the direction change is determined, and the track laid on the floor by the track detection sensor And having a, a travel control means running in transverse mode after the switching while detecting the.

  According to the present invention, the completion of the direction change of the drive unit is determined by the fact that the track detection sensor has changed from the track non-detection state to the track detection state, and the direction change of the drive unit is stopped. Expensive sensing equipment is unnecessary, and the manufacturing cost of the automatic guided vehicle can be reduced.

Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings.
(First embodiment)

  FIG. 1 is a diagram showing an example of an automatic guided vehicle to which a traveling mode switching control device according to the present invention is applied. FIG. 1 (A) is a side view, and FIG. 1 (B) is a plan view of a drive unit seen through from above. It is.

  Two drive units 11 and four casters 12 are arranged in the lower part of the vehicle body 10.

  The drive unit 11 includes a drive wheel 11a, a trajectory detection sensor 11b, and a marker detection sensor 11c.

  An individual drive motor is connected to each drive wheel 11a. If the left and right drive wheels 11a rotate in the same direction, the vehicle moves forward or backward. If the rotational speed is given a phase difference, it is possible to travel on a curve. If the two drive wheels 11a are differentially rotated in opposite directions, they can turn around the support shaft 11d and change direction.

  The track detection sensor 11b detects a track laid on the floor surface. The trajectory detection sensor 11b is, for example, a magnetic sensor. In the present embodiment, three track detection sensors 11 b are arranged on the front side and the rear side of the drive unit 11. The drive unit 11 travels so that the trajectory detection sensor 11b always detects the trajectory.

  The marker detection sensor 11c detects a marker laid near the track. The marker detection sensor 11c is a magnetic sensor, for example. In the present embodiment, the marker detection sensor 11c is disposed on the front side or the rear side of the drive unit 11 and outside the trajectory detection sensor 11b.

  The caster 12 supports the weight of the vehicle and changes its direction following the moving direction of the vehicle.

  2A and 2B are diagrams showing the state of the drive unit when the automatic guided vehicle travels. FIG. 2A shows a state during front-rear travel, and FIG. 2B shows a state during lateral travel.

  When traveling forward and backward, the drive wheels 11 a of the drive unit 11 are parallel to the vehicle body 10. During front / rear travel, the front / rear drive units 11 travel along one track 20. The track detection sensor 11b in the forward direction detects the track 20 laid on the floor surface. In FIG. 2, the sensor in operation is painted black.

  During lateral travel (transverse), the drive wheels 11 a of the drive unit 11 are orthogonal to the vehicle body 10. During lateral travel (transverse), the front and rear drive units 11 travel along different tracks 20, respectively. That is, during lateral travel (transverse), the front and rear drive units 11 travel along the two tracks 20. The track detection sensor 11b in the forward direction detects the track 20 laid on the floor surface.

  Here, the points of the invention will be described so that the present invention can be easily understood. In the conventional apparatus, when the direction of the drive unit is changed, the rotation angle of the drive unit is detected by a rotary encoder, and it is determined that the direction change is completed when the direction changes by a predetermined angle. However, such a method is costly because a rotary encoder is required. Therefore, the present inventors have conceived of using a trajectory detection sensor provided in the drive unit in order to detect a trajectory laid on the floor surface. Hereinafter, a specific apparatus / method for realizing such a technical idea will be described.

  FIG. 3 is a main flowchart of the travel mode switching control device according to the present invention.

  When the controller receives the driving mode switching command, it starts the direction change of the drive unit by differentially rotating the drive wheels of the drive unit in opposite directions, and repeats the following processing every minute time (for example, 10 milliseconds). Run. The initial values of the following flags are zero.

  In step S1, the controller determines whether or not a predetermined time has elapsed since the start of the direction change of the drive unit. If it has not elapsed, the process proceeds to step S21, and if it has elapsed, the process proceeds to step S5.

  In step S21, the controller determines whether or not the direction change of the first drive unit is completed. Specific contents will be described later.

  In step S22, the controller determines whether or not the direction change of the second drive unit has been completed.

  In step S3, the controller determines whether or not the direction change completion flag Fum of all the drive units is 1 (that is, whether or not the direction change of all the drive units is completed). Until the direction change completion flag Fum of all the drive units becomes 1 (that is, until the direction change of all the drive units is completed), the process is temporarily exited and the direction change completion flag Fum of all the drive units is set to 1. If it becomes (that is, when the direction change of all the drive units is completed), the process proceeds to step S4.

  In step S4, the controller sets 1 to a travel mode switching completion flag Fmode. In response to this flag Fmode, the drive unit ends the direction change and travels in the transverse mode.

  In step S5, the controller determines abnormality. In response to this, the automatic guided vehicle 1 executes an abnormal process such as blinking a warning lamp.

  FIG. 4 is a flowchart showing a drive unit direction change completion determination routine according to the present invention. This routine corresponds to, for example, the direction change completion determination of the first drive unit in step S21 and the direction change completion determination of the second drive unit in step S22.

  In step S201, the controller executes completion determination of the first sensor of the m-th drive unit (or the first drive unit if it is step S21). Specific contents will be described later.

  In step S202, the controller executes completion determination of the second sensor of the m-th drive unit (or the first drive unit if it is step S21). Then, completion determination is sequentially executed up to the final sensor (Nth sensor).

  In step S211, the controller determines whether or not the completion flag Fsmn of all the sensors of the m-th drive unit (or the first drive unit in step S21) is 1. The process is temporarily exited until all are 1, and when all are 1, the process proceeds to step S212.

  In step S212, the controller sets 1 to the m-th drive unit direction change completion flag Fum.

  FIG. 5 is a flowchart showing a sensor completion determination routine of the drive unit according to the present invention. This routine corresponds to, for example, the first sensor completion determination of the m-th drive unit in step S201 and the second sensor completion determination in step S202.

  In step S2001, the controller determines whether or not the n-th sensor of the m-th drive unit (the first sensor of the m-th drive unit in step S201) was previously turned off. If it was previously turned off, the process proceeds to step S2002. If not (that is, if it was previously turned on), the process is temporarily exited.

  In step S2002, the controller determines whether or not the n-th sensor of the m-th drive unit (the first sensor of the m-th drive unit in step S201) is currently turned on. The process is temporarily exited until it is turned on this time, and when it is turned on this time, the process proceeds to step S2003.

  In step S2003, the controller sets 1 to the m-th drive unit n-th sensor completion flag Fsmn.

  FIG. 6 is a diagram for explaining the traveling state of the automatic guided vehicle (drive unit) when the traveling mode switching control device according to the present invention is executed.

  As shown in FIG. 6A, the automatic guided vehicle 1 moves forward while always detecting the track 20 by the track detection sensor 11 b of the drive unit 11.

  As shown in FIG. 6 (B), when the marker detection sensor 11c detects a stop marker 21 laid near the track, the controller receives a drive mode switching command and differentially rotates the drive wheels of the drive unit in opposite directions. Thus, the direction change of the drive unit is started (FIG. 6C).

  In FIG. 6 (C), all the trajectory detection sensors 11b are in the off state, but in FIG. 6 (D), the trajectory detection sensor 11b at the front end in the rotational direction detects the traversing trajectory 20 and is in the on state. As described above, when the sensor is turned on from the previous time off, the sensor completion flag is set to 1 (step S2003).

  As shown in FIG. 6E, when all the sensors of the first drive unit 11-1 are turned on (Yes in step S211), the first drive unit direction change completion flag Fu1 is set to 1 (step S212). ). When all the sensors of the second drive unit 11-2 are turned on (Yes in step S211), the second drive unit direction change completion flag Fu2 is set to 1 (step S212). When the direction change completion flag of all the drive units becomes 1, 1 is set to the travel mode switching completion flag Fmode (step S4), the drive unit finishes the direction change and travels in the transverse mode (FIG. 6F). ).

  According to the present embodiment, the direction change of the drive unit is terminated depending on the state of the track detection sensor provided in the drive unit in order to detect the track laid on the floor surface. A rotary encoder becomes unnecessary, and the cost can be reduced.

  In the present invention, since the marker detection sensor 11c detects the stop marker 21 as described above, the direction of the drive unit starts to change. Therefore, the stop marker 21 has an orbital intersection at the center of rotation of the drive unit 11. It is laid at a position detected by the marker detection sensor 11c when it becomes the center.

(Second Embodiment)
FIG. 7 is a diagram for explaining a second embodiment of the traveling state of the automatic guided vehicle (drive unit) when the traveling mode switching control device according to the present invention is executed.

  In the following description, parts having the same functions as those described above are denoted by the same reference numerals, and redundant description is omitted as appropriate.

  In the first embodiment, when the marker detection sensor 11c detects the marker 21 laid near the track, the controller receives a travel mode switching command and starts changing the direction of the drive unit. In the second embodiment, the controller starts changing the direction of the drive unit when the automatic guided vehicle 1 is transported and set on a traverse track and a traverse restart command is issued by a button switch or the like.

  Also in this case, the control flowchart is the same as that of the first embodiment.

  As shown in FIG. 7A, when the drive unit 11 is centered (drive unit is lifted) and the rotation center (support shaft) of the drive unit is set on the traverse track and a traverse restart command is issued. The controller lowers the drive unit (FIG. 7B) and starts turning after grounding. At this time, all the trajectory detection sensors 11b are off (FIG. 7C).

  Then, as the drive unit rotates, the orbit detection sensor 11b on the front end side in the rotation direction is turned on (FIG. 7D). As described above, when the sensor is turned on from the previous time off, the sensor completion flag is set to 1 (step S2003).

  As shown in FIG. 7E, when all the sensors of the first drive unit 11-1 are turned on (Yes in step S211), the first drive unit direction change completion flag Fu1 is set to 1 (step S212). ). When all the sensors of the second drive unit 11-2 are turned on (Yes in step S211), the second drive unit direction change completion flag Fu2 is set to 1 (step S212). When the direction change completion flag of all the drive units becomes 1, 1 is set to the travel mode switching completion flag Fmode (step S4), the drive unit ends the direction change and travels in the transverse mode.

  As described above, according to the present invention, the present invention can be applied to transverse restart without using a rotary encoder.

  Without being limited to the embodiments described above, various modifications and changes are possible within the scope of the technical idea, and it is obvious that these are also included in the technical scope of the present invention.

  For example, in the above embodiment, when all the sensors of the drive unit 11 are turned on, it is determined that the direction change of the drive unit is completed. However, in a simple manner, the completion of the direction change of the drive unit is determined when the track detection sensor 11b at the rear end of the direction change direction of the drive unit is turned on (from the track non-detection state to the track detection state). Also good.

  Moreover, although the said embodiment demonstrated and demonstrated the case where the track detection sensor 11b was three, it may be more or less than it. The sensor completion determination may be repeated in the drive unit direction change completion determination routine by that number.

  Further, in the above-described embodiment, the example in which the two driving wheels are differentially rotated in opposite directions to change the direction has been described, but the present invention is not limited to this, and the two driving wheels are differentially rotated by the difference in rotational speed. Then, the direction may be changed.

  Furthermore, although the case where there are two drive units 11 has been described as an example in the above embodiment, the number may be more or less. The drive unit direction change completion determination may be repeated by that number.

It is a figure which shows an example of the automatic guided vehicle to which the driving mode switching control apparatus by this invention is applied. It is a figure which shows the state of a drive unit when an automatic guided vehicle drive | works. It is a main flowchart of the traveling mode switching control apparatus by this invention. It is a flowchart which shows the drive unit direction change completion determination routine by this invention. It is a flowchart which shows the sensor completion determination routine of the drive unit by this invention. It is a figure explaining the driving | running | working state of the automatic guided vehicle (drive unit) when the driving mode switching control apparatus by this invention is performed. It is a figure explaining 2nd Embodiment of the driving | running | working state of the automatic guided vehicle (drive unit) when the driving mode switching control apparatus by this invention is performed.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Automatic guided vehicle 10 Car body 11 Drive unit 11b Track detection sensor 11c Marker detection sensor 20 Track 21 Stop marker Steps S20, S21, S22 Direction change completion determination means / direction change completion determination step

Claims (8)

A traveling mode switching control device for an automatic guided vehicle that travels while detecting a track laid on the floor surface by a track detection sensor provided in a drive unit that is disposed at a lower portion of the vehicle body and can turn around a support shaft and change its direction. Because
Unit direction changing means for starting the direction change of the drive unit when there is a switching command of the driving mode for instructing to switch from the straight traveling mode to the transverse mode ;
Direction change completion determination means for determining the direction change completion of the drive unit by changing the track detection sensor from the track non-detection state to the track detection state with the direction change of the drive unit;
Stop turning of the drive unit when it is determined the turning completion, the running control means running in transverse mode after the switching while detecting the laid trajectory on the floor by the track detection sensor,
A driving mode switching control device for an automatic guided vehicle. There are a plurality of orbit detection sensors,
The direction change completion determination means determines the completion of the direction change of the drive unit when all the track detection sensors change from the track non-detection state to the track detection state.
The traveling mode switching control device for an automatic guided vehicle according to claim 1. There are a plurality of orbit detection sensors,
The direction change completion determination means determines the completion of the direction change of the drive unit when the trajectory detection sensor at the rear end with respect to the direction change direction of the drive unit changes from the track non-detection state to the track detection state.
The traveling mode switching control device for an automatic guided vehicle according to claim 1. Even if a predetermined time has elapsed since the drive unit started to change direction, when it is not possible to determine the completion of the change of direction of the drive unit, it further includes an abnormality determination means for determining abnormality.
The travel mode switching control device for an automatic guided vehicle according to any one of claims 1 to 3, wherein The travel mode switching command is output when the marker detection sensor detects a stop marker laid near the track.
The travel mode switching control device for an automatic guided vehicle according to any one of claims 1 to 4, wherein The marker detection sensor detects a stop marker laid at a position detected when the rotation center of the drive unit is substantially the center of a trajectory intersection;
The travel mode switching control device for an automatic guided vehicle according to claim 5. The travel mode switching command is output when a restart is commanded after the traverse track is set.
The travel mode switching control device for an automatic guided vehicle according to any one of claims 1 to 4, wherein A traveling mode switching control method for an automatic guided vehicle that travels while detecting a track laid on the floor surface by a track detection sensor provided in a drive unit that is disposed at a lower portion of a vehicle body and can turn around a support shaft and change its direction. Because
A unit direction changing step for starting the direction change of the drive unit when there is a switching command of the driving mode for instructing to switch from the straight traveling mode to the transverse mode ;
A direction change completion determination step for determining completion of the direction change of the drive unit by changing the track detection sensor from the track non-detection state to the track detection state with the direction change of the drive unit,
Stop turning of the drive unit when it is determined the turning completion, a travel control step of running in transverse mode after the switching while detecting the laid trajectory on the floor by the track detection sensor,
A driving mode switching control method for an automatic guided vehicle characterized by comprising:

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