JPH1165656A - Method for controlling traveling of unmanned vehicle and device thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate the need for inputting a mark number at the time of moving an unmanned vehicle beyond a mark in a semi-automatic mode, and restoring it to an automatic mode on a prescribed traveling course. SOLUTION: When a mark is detected, whether or not the advancing direction of a fork lift matches teaching data is judged in a step S2. When the step S2 is 'yes', this process advances to a step S3, and whether or not the detected mark matches a mark which should be passes next to the latest mark detected before the detection of the mark is determined. When the step 3 is yes, a mark number is updated in a step S4. When the advancing direction matches the teaching data in the step S2, this process advances to a step S5, and whether or not the detected mark matches the latest mark detected before the detection of the mark is determined. When the step S5 is yes, this process advances to a step S6, and the mark number is returned. When the step S3 and S5 is 'no', this process advances to a step S7, and an abnormality processing is operated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects a position of a guide line laid on a travel path by a guide line detecting means, travels along the guide line, and marks provided on a travel route (travel course). The present invention relates to a traveling control method and a traveling control device for an unmanned vehicle, in which the traveling position is confirmed based on the detection data by detecting the traveling speed by mark detection means.

[0002]

2. Description of the Related Art Conventionally, there is an unmanned transport system in which a guide line is laid on a traveling path and a load is transferred by an unmanned vehicle moving along the guide line. As shown in FIG. 6, in this system, an unmanned vehicle 50 is a detector (pickup coil) not shown.
Moves along the guide line while detecting the guide line 51.
Also, a large number (only four are shown) of marks 52L and 52R are arranged on the left and right sides of the guideway 51 with the guide line 51 interposed therebetween. The mark 52L indicates the normal traveling direction of the unmanned vehicle 50 (FIG. 6).
The mark 52R is disposed on the right side of the left side (right direction of FIG. 3), and both marks 52L and 52R are located on the guide line 51.
Are alternately arranged along.

An unmanned vehicle 50 has marks 52L, 5 on both left and right sides.
The vehicle is provided with sensors 53L and 53R for detecting 2R, respectively. The sensors 53L and 53R detect the marks 52L and 52R, and run while counting the number of detected marks. The traveling position is confirmed based on the count number ( Judgment)
It is supposed to. And unmanned vehicles 5
When 0 moves to the right side in FIG.
Each time R detects the mark 52L, 52R, the counter is incremented.
The counter is decremented each time L and 53R detect the marks 52L and 52R.

[0004] It is rare that the traveling route of the unmanned vehicle 50 is completely independent, and the traveling route of the unmanned vehicle 50 often intersects the path of a worker or another carrier. The unmanned vehicle 50 is generally provided with an obstacle sensor, and the operation of the obstacle sensor may cause the unmanned vehicle 50 to stop on the path of a worker or another transport vehicle. In this state, when it is necessary to move the unmanned vehicle 50 from the passage at an early stage, conventionally, the control mode of the unmanned vehicle 50 is switched to a semi-automatic mode and moved to a predetermined position.

In the semi-automatic mode, the unmanned vehicle 50
1 and move forward and backward according to the instructions of the worker. In the semi-automatic mode, the operation of reading the marks 52L and 52R by the sensors 53L and 53R in the unmanned vehicle 50 is invalidated.

[0006]

As described above, the unmanned vehicle 5
0 confirms the traveling position based on the read data of the marks 52L and 52R. Therefore, the marks 52L, 52R
When the unmanned vehicle 50 is moved to a position passing the marks 52L and 52R in a state where the reading operation of the unmanned vehicle 50 is invalidated, and the operation is restarted in the automatic mode from that state, an error occurs in the determination of the traveling position of the unmanned vehicle 50. Therefore, conventionally, when the vehicle is moved beyond the marks 52L and 52R in the semi-automatic mode, the memory of the unmanned vehicle 50 must be erased and a correct mark number must be input using a keyboard.

However, the mark 52 provided on the traveling path
There are many cases where the number of L and 52R is large and cannot be distinguished by the appearance of the mark. Therefore, there is a problem in that a layout diagram is prepared in which the traveling road and the marks 52L and 52R are made to correspond to each other and a correct mark number is input while looking at the layout diagram.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and has as its object to automatically move an unmanned vehicle on a predetermined traveling course even when the unmanned vehicle is moved over a mark in a semi-automatic mode. It is an object of the present invention to provide a driving control method and a driving control device for an unmanned vehicle that do not need to input a mark number when returning to a mode.

[0009]

In order to achieve the above object, according to the first aspect of the present invention, the position of a guide line laid on a traveling path is detected by guide line detecting means, and the position of the guide line is detected along the guide line. While traveling, in a traveling control method of an unmanned vehicle in which a mark provided on the traveling path is detected by a mark detecting means and a traveling position is confirmed based on the detection data and the teaching data, in a traveling state in a semi-automatic mode, Also in the automatic mode, a mark detection process based on the detection signal of the mark detection means is performed.

According to the second aspect of the present invention, even in the traveling control state of the semi-automatic mode, the mark detection processing based on the detection signal of the mark detecting means is performed similarly to the automatic mode, and when returning from the semi-automatic mode to the automatic mode. ,
When the position of the unmanned vehicle is on a traveling course different from the traveling course of the unmanned vehicle before being switched to the semi-automatic mode, the return to the automatic mode is prohibited.

According to a third aspect of the present invention, in the second aspect of the invention, in a state in which the return to the automatic mode is prohibited, mark data that matches teaching data held by the unmanned vehicle is input. When the password is input, the prohibition of return to the automatic mode is released.

According to the fourth aspect of the present invention, in an unmanned vehicle traveling along the guide line by detecting the position of the guide line laid on the travel path by the guide line detecting means, based on the operation information input in advance. An automatic mode in which the vehicle automatically travels along the guidance line, and a semi-automatic mode in which only the steering is automatically controlled along the guidance line and the traveling direction, speed, etc. travel according to a command from a manual operation control unit. Switchable mode switching means, control means for controlling traveling of the unmanned vehicle in a set mode, mark detection means for detecting a mark provided on the travel path along the guide line, and The detected mark is read from the storage means storing the teaching data for identifying the position of each mark, and from the detection signal of the mark detection means and the traveling direction of the unmanned vehicle. A mark position recognizing means for recognizing where the mark is located on the road, and a judgment for judging whether or not the mark is a mark to be detected every time a mark detection signal is inputted from the mark detecting means. And mark data processing means for updating the mark detection data when the determination means determines that the data is correct, and outputting an abnormality notification command when determining that the data is not correct.

Therefore, according to the first aspect of the present invention, the unmanned vehicle travels along the guide line by detecting the position of the guide line laid on the traveling path by the guide line detecting means. The unmanned vehicle detects a mark provided on the traveling path by a mark detecting means, and confirms a traveling position based on the detection data and the teaching data. Even if the control mode of the unmanned vehicle is changed from the automatic mode to the semi-automatic mode, the mark detection processing based on the detection signal of the mark detection means is performed similarly to the automatic mode.

According to the second aspect of the invention, the same operation as that of the first aspect is performed in the automatic mode and the semi-automatic mode. Furthermore, when returning from the semi-automatic mode to the automatic mode, if the position of the unmanned vehicle is on a traveling course different from the traveling course of the unmanned vehicle before switching to the semi-automatic mode, the return to the automatic mode is prohibited.

According to a third aspect of the present invention, in the second aspect of the invention, in a state in which the return to the automatic mode is prohibited, mark data matching the teaching data of the unmanned vehicle is input. , It is possible to return to the automatic mode.

According to the fourth aspect of the present invention, the unmanned vehicle travels along the guide line by detecting the position of the guide line laid on the traveling path by the guide line detecting means. The control mode of the unmanned vehicle is controlled by the mode switching means, based on the operation information input in advance, in an automatic mode in which the vehicle automatically travels along the guidance line, and only the steering is automatically controlled along the guidance line while the vehicle travels. The direction, speed, and the like can be switched to a semi-automatic mode in which the vehicle travels according to a command from the manual operation control unit.
The control means controls the traveling of the unmanned vehicle in the set control mode. The mark detecting means detects a mark provided on the traveling path along the guide line. The mark position recognizing means recognizes where the detected mark is located on the traveling path from the detection signal of the mark detecting means and the traveling direction of the unmanned vehicle. Each time a mark detection signal is input from the mark detection means, the determination means determines whether or not the mark is a mark to be detected based on the teaching data. The mark data processing means updates the mark detection data when the determination means determines that the mark data is correct, and outputs an abnormality notification command when the mark detection data is determined to be incorrect.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is embodied in a reach type unmanned forklift as an unmanned vehicle will be described below with reference to FIGS. As shown in FIGS. 2 and 3, a reach type unmanned forklift (hereinafter simply referred to as a forklift) 1 travels along a guide line L (shown in FIG. 2) laid on the floor. The forklift 1 is provided with a pair of left and right legs 2 on the front side thereof, and a pair of left and right masts 3 that can be moved in the front-rear direction by a reach cylinder (not shown) between the two legs 2. A lift bracket (not shown) movable vertically along the mast 3 is provided between the masts 3, and a pair of left and right forks 4 supported by the lift bracket are moved up and down together with the lift bracket by the operation of the lift cylinder 5. Is done.

A driven wheel 6 is provided at the end of each leg 2. A drive wheel 7 is provided at the center of the rear part of the forklift 1. The drive wheels 7 are driven by a traveling motor 8 (shown in FIG. 4). The drive wheel 7 is mounted on a bracket (not shown) arranged to be rotatable in the horizontal direction, and is steered by a steering motor 9 (shown in FIG. 4).
That is, the drive wheels 7 also function as steering wheels.

On the underside of the body 1a of the forklift 1,
The guidance sensor 10 is provided as guidance line detecting means. The induction sensor 10 includes a pair of left and right pickup coils 1.
The two pickup coils 11 are arranged symmetrically with respect to the center axis of the vehicle body 1a. Both pickup coils 11 detect a weak current flowing through the induction wire L laid on the floor. The inductive sensor 10 amplifies the output of both pickup coils 11 with a differential amplifier,
It outputs a signal indicating how much the position where the induction sensor 10 is arranged is displaced to which pickup coil 11 with respect to the induction line L and how much.

As shown in FIG. 2, a large number of marks ML and MR are arranged on the left and right sides of the guide line L on the traveling path.
The marks ML and MR are arranged so as to be alternately located along the guide line L. Each mark ML, MR is formed of a magnet having the same shape. On the lower surface of the vehicle body 1a, two mark detectors 12L and 12R are provided as mark detecting means. The mark detector 12L detects the mark ML located on the left side (upper side in FIG. 2) of the guide line L, and the mark detector 12R detects the mark MR located on the right side of the guide line L.
Is detected. Magnetic sensors are used for the mark detectors 12L and 12R.

As shown in FIG. 3, an operation panel 13 is provided above the vehicle body 1a. The operation panel 13 is provided with a liquid crystal display 14 as a display device, a keyboard 15 as input means, a power switch 16, and an automatic / manual switch 17 constituting mode switching means. Various messages are displayed on the liquid crystal display 14 such as a mode, whether the vehicle is traveling forward or backward, a route number (running course number), and the like.

A start switch 18 is provided on the side of the vehicle body 1a.
And an emergency stop switch 19. A rear door 20 is provided at the rear of the vehicle body, and an optical sensor 21 as an obstacle sensor is attached to the rear door 20.
A remote control box 22 (shown in FIG. 5) as a manual operation control unit is accommodated inside the vehicle body 1a covered by the rear door 20.

The remote control box 22 is forklift 1
For manual or semi-automatic operation. As shown in FIG. 5, the remote control box 22 includes a manual / semi-automatic changeover switch 23, a forward / reverse changeover switch 24, a lift switch 2
5, a tilt switch 26, a reach switch 27, a manual cargo handling operation switch 28, a steering control knob 29, a branch changeover switch 30, and the like. The remote control box 22 can be operated with the automatic / manual changeover switch 17 of the operation panel 13 operated to the manual position. The forward / reverse switch 24 is a three-stage switch of forward, stop, and reverse. The manual / semi-automatic switch 23 switches between manual traveling and semi-automatic traveling. During semi-automatic driving, the operator does not operate the steering wheel and the forklift 1
Is guided along the guide line L. During manual traveling, an operator operates the steering control knob 29 to perform a steering operation. At the time of the cargo handling operation, the desired cargo handling operation is performed by simultaneously operating the manual cargo handling operation switch 28 and the switch of the target cargo handling operation.

Next, the electrical configuration of the forklift 1 configured as described above will be described with reference to FIG. A microcomputer 32 constituting a traveling controller (hereinafter, simply referred to as a controller) 31 as a control device includes a central processing unit (CPU) 33 as a control unit, a mark position recognition unit, a determination unit, and a mark data processing unit, and a storage unit. A program memory 34 and a working memory 35. The program memory 34 is a read-only memory (ROM), and stores various control programs and data necessary for control. As one of the control programs, a mark reading processing program in the semi-automatic mode shown in FIG. 1 is stored. The working memory 35 is a readable and rewritable memory (RAM), and temporarily stores the results of arithmetic processing by the CPU 33 and the like.

The CPU 33 operates based on a control program stored in the program memory 34. CPU33
Are connected to a steering angle sensor 37, an induction sensor 10, and a steering control knob 29 via an input interface 36 and an A / D converter (not shown), respectively. The CPU 33 controls the mark detectors 12L and 12R, the keyboard 15, the power switch 16, the automatic / manual changeover switch 17, the start switch 18, the emergency stop switch 19, the optical sensor 21, the manual / semi-automatic changeover switch 23, and the front and rear through the input interface 36. Forward switch 24,
It is connected to a lift switch 25, a tilt switch 26, a reach switch 27, a manual cargo handling operation switch 28, and a branch changeover switch 30. The CPU 33 is connected to the liquid crystal display 14 via the output interface 38. The CPU 33 is connected to the traveling motor 8 and the steering motor 9 via an output interface 38 and a driving circuit (not shown).

The CPU 33 receives the detection signal from the steering angle sensor 37 and calculates the steering angle of the driving wheel 7 at that time.
The CPU 33 calculates the output of the induction sensor 10 from the output of the induction sensor 10.
Is calculated with respect to the guide line L at the position where is disposed. Then, the CPU 33 outputs to the steering motor 9 a command signal for steering the drive wheels 7 so that the displacement amount becomes zero. The CPU 33 outputs a command signal for traveling at a speed corresponding to a predetermined traveling condition to the traveling motor 8.
Output to

The CPU 33 incorporates a counter 39, and increments or decrements the counter 39 based on the detection signals of the mark detectors 12L and 12R.
The position of the forklift 1 is recognized from the count value of nine. When the forklift 1 moves backward (moves rightward in FIG. 2), the CPU 33 adds (increments) the count value of the counter 39 by 1 every time the detection signals of the marks ML and MR from the mark detectors 12L and 12R are input. . Further, when moving forward (moving leftward in FIG. 2), the count value of the counter 39 is decremented by 1 (decrement) every time the detection signals of the marks ML and MR from the mark detectors 12L and 12R are input.

The traveling controller 31 has teaching means for storing teaching data for recognizing a position on the traveling course by identifying marks ML and MR provided on the traveling course of the forklift 1 by numbers.
A ROM 40 is provided. The numbers of the marks ML and MR are set so as to be sequentially increased by one in the backward direction of the forklift 1 from those arranged at the reference position.

The CPU 33 determines from the count value of the counter 39 the latest marks ML and MR that the forklift 1 has passed.
Of the forklift 1 based on the value and the teaching data stored in the EEPROM 40.
Recognize the current location of. In the teaching data, the numbers of the marks ML and MR are stored for each traveling course of the forklift 1. The forklift 1 travels along the guide line L, stops at a predetermined position, and performs a cargo handling operation. CPU
33 is operation information of the forklift 1 instructed, that is,
The execution timing (execution position) of the high-speed traveling along the guidance line L, the low-speed traveling along the guidance line L, the stop at a predetermined position, the direction change, and the like is determined based on the current position.

When the CPU 33 receives an obstacle detection signal from the optical sensor 21 in the automatic mode, the forklift 1 stops running. In the manual and semi-automatic modes, the detection signal of the optical sensor 21 is invalidated.

Next, the operation of the device configured as described above will be described. The forklift 1 runs in the automatic mode in a state where the automatic / manual changeover switch 17 is operated to the “automatic” position. In automatic mode, CPU3
Numeral 3 detects the marks ML and MR by the mark detectors 12L and 12R, and increments the count value of the counter 39 by one each time a detection signal is input. Then, the traveling position is confirmed based on the detection data and the teaching data, and the designated forklift 1 is designated.
The travel control corresponding to the operation information is performed.

When the forklift 1 is operated in the semi-automatic mode after the optical sensor 21 detects an obstacle and the forklift 1 stops at an unexpected position, first, the automatic / manual changeover switch 17 is set to "manual". Switch. Next, the rear door 20 is opened, the remote control box 22 is taken out, and the manual / semi-automatic switch 23 of the remote control box 22 is operated to the “semi-automatic” position. In this state, the forklift 1 operates in the semi-automatic mode. Then, the operator operates the forward / reverse switch 24 and the branch switch 30 to move the forklift 1 to a desired position.

When the mode is switched to the semi-automatic mode, the CPU
33 performs mark data processing according to the flowchart of FIG. In the following processing, steps S2, S3, and S5 constitute mark position recognition means, and steps S2 and S3 constitute determination means. Steps S4, S6, and S7 constitute mark data processing means.

When the CPU 33 receives a detection signal from the mark detectors 12L and 12R in step S1, the CPU 33 executes step S1.
Proceeding to 2, it is determined whether or not the traveling direction of the forklift 1 matches the teaching data. The traveling direction of the forklift 1 is determined based on, for example, the rotation direction of the traveling motor 8. If the traveling direction coincides with the teaching data in step S2, the CPU 33 proceeds to step S3, where the detected mark ML, MR is the mark to be passed next to the latest mark ML, MR detected before the detection of the mark. It is determined whether or not they match. Since the marks ML and MR are alternately arranged, if the latest mark detected before detection is the mark ML, the mark to be passed is the mark MR.
And the latest mark detected before detection is the mark MR.
In this case, the mark to be passed is the mark ML. If the detected mark matches the mark to be passed, the process proceeds to step S4, where the count value of the counter 39 is incremented by one (increment). That is, the mark number representing the current position of the forklift 1 is incremented by 1, and the mark number at the current position is updated to a state where it matches the correct position in the teaching data. Then, the CPU 33 returns to step S1.

If the traveling direction does not match the teaching data in step S2, the CPU 33 proceeds to step S5, where the detected mark ML, MR matches the latest mark ML, MR detected before the mark was detected. It is determined whether or not. If the marks ML and MR match, the process proceeds to step S6, where the count value of the counter 39 is decremented by one (decrement). That is, the mark number representing the current position of the forklift 1 is decreased by 1, and the mark number at the current position is returned to a state where it matches the correct position in the teaching data. Then, the CPU 33 proceeds to step S
Return to 1.

If the detected marks ML and MR do not match the next mark to be detected in step S3, the CPU 33 proceeds to step S7. The fact that the marks ML and MR do not match the marks to be detected next despite that the traveling direction of the forklift 1 matches the teaching data means that the forklift 1 has entered another traveling course different from the correct traveling course. Means that. Therefore, since it is meaningless to change the count value of the counter 39 based on the detection signal for the mark, the CPU 33 does not change the count value of the counter 39 and performs an abnormal process in step S7. As an abnormality process, the CPU 33 outputs an abnormality notification command. After outputting the abnormality notification command, the CPU 3
No. 3 does not start the control in the automatic mode even if the automatic / manual changeover switch 17 is switched to “automatic”, unless the mark number present in the teaching data currently used is inputted by the keyboard 15. In addition, based on the abnormality notification command, the display 14 indicates that it is impossible to return to the automatic mode unless the mark number is input with the keyboard 15.

In step S5, if the detected marks ML and MR do not match the latest marks detected before the detection of the marks, that is, the currently recognized marks, the CPU 33 proceeds to step S7. . The fact that the marks ML and MR do not match when the traveling direction of the forklift 1 does not match the teaching data means that
This means that the forklift 1 has entered another traveling course different from the correct traveling course. Therefore, the process of step S7 is executed as described above.

When the control of the forklift 1 is returned to the automatic mode after the forklift 1 is moved to a desired position, the operator stores the remote control box 22 in the storage section and closes the rear door 20. In this state, after the automatic / manual changeover switch 17 is switched to “automatic”, the start switch 18 is turned on. Even after moving in semi-automatic mode, if the forklift 1 is on the correct course,
With the above operation, the forklift 1 can immediately start traveling in the automatic mode. Then, the CPU 33 sets the counter 39
The current position is recognized from the count value of, and the traveling control corresponding to the operation information is restarted.

When the forklift 1 is moved in the semi-automatic mode, and the forklift 1 enters another traveling course branched from the correct traveling course, the automatic operation can be performed simply by switching the automatic / manual switch 17 to "automatic". Cannot return to mode. Usually, when switching from the semi-automatic mode to the automatic mode, the operator sees the liquid crystal display 14 and notices an abnormal display. And the keyboard 15
Then, the start switch 18 is turned on after the mark number is input, so that the automatic mode can be returned. If the operator turns on the start switch 18 only by switching the automatic / manual changeover switch 17 to “automatic” without noticing the abnormality, the forklift 1 does not start traveling, so the operator notices the abnormality, By turning on the start switch 18 after inputting the mark number with the keyboard 15, the forklift 1 can be returned to the automatic mode.

This embodiment has the following effects. (A) Even if the control mode of the forklift 1 (unmanned vehicle) is changed from the automatic mode to the semi-automatic mode, the mark detection processing based on the detection signals of the mark detectors 12L and 12R is performed as in the automatic mode. Therefore, when the forklift 1 is moved in the semi-automatic mode, the marks ML, MR
Unlike the prior art, the automatic / manual changeover switch 1 does not deviate from the correct running course even if it is moved beyond
It is possible to return to the automatic mode only by switching operation 7 and turning on the start switch 18.

(B) Forklift 1 in semi-automatic mode
When the forklift 1 is moved from the correct traveling course to another traveling course when the forklift is moved, the return to the automatic mode is prohibited. Accordingly, it is possible to prevent the forklift 1 from performing a cargo handling operation on an incorrect traveling course.

(C) In a state in which the return to the automatic mode is prohibited, the forklift 1
A mark number (mark data) that matches the teaching data (stored in the ROM 40)
When input is made with (input means), the prohibition of return to the automatic mode is released. Therefore, it is possible to easily return to the automatic mode while recognizing that the vehicle has started traveling from the wrong traveling course.

(D) The present invention can be implemented only by changing the control program without providing a new device. (E) The condition for canceling the prohibition of returning to the automatic mode is not limited to the correct mark number corresponding to the stop position of the forklift 1, but a mark number matching the teaching data of the forklift 1 may be input. For the time being, it becomes easy to return the forklift 1 to the automatic mode. However, when a number other than the correct mark number corresponding to the stop position is input, it is necessary to input the correct mark number when an error occurs.

(F) The same mark ML, MR is used, and the mark ML, M
Since R is distinguished, even if the number of marks is large, it can be easily distinguished by the difference in the count number. Therefore, as compared with a case where the shape is changed or a plurality of marks are distinguished from each other, not only the manufacturing cost of the mark is reduced, but also the configuration of the mark detector is simplified.

(G) Since the marks ML and MR are alternately arranged on both sides of the guide line L, if the marks on the same side are continuously detected while the forklift 1 is traveling, it can be immediately determined that an abnormality has occurred.

The embodiment is not limited to the above, and may be embodied as follows, for example. The marks ML and MR are not necessarily the same, and identifiable marks may be used. It is preferable that not all marks be different marks, but identifiable marks be provided in some places including the vicinity of the branch portion. In this case, even if the forklift is moved in the semi-automatic mode and enters another course, the forklift 1 is moved to the position of the identifiable mark, so that the mark number for the correct position can be easily confirmed.

Instead of alternately arranging the marks on the left and right sides with the guide line L interposed therebetween, even if the marks are arranged on only one side of the guide line L or arranged on both the left and right sides, a predetermined number of them are continuously arranged on one side. It may be arranged. When the marks are continuously arranged on one side, at least three consecutive marks use individually identifiable marks. As a result, it is possible to determine whether or not the forklift 1 is moving on a correct traveling course based on the teaching data, the traveling direction, and the type of the detection mark.

When a magnetic sensor is used as the mark detectors 12L and 12R, a metal plate such as an iron plate may be used instead of a magnet as a mark. Mark detector 12L,
A reflective optical sensor may be used for 12R, and a reflective plate may be used as a mark.

In order to release the prohibition of return to the automatic mode, it is necessary to input a correct mark number corresponding to the stop position of the forklift 1. However, switching to the automatic mode needs to be performed at a position corresponding to the identifiable mark. In this case, there is no need to perform error processing immediately after returning to the automatic mode.

As one of the abnormal processes, an operation signal of an alarm device (for example, a warning light or a buzzer) is output. The abnormality processing is performed in the semi-automatic mode when the forklift 1 moves to another course branched from the correct course. Therefore, if the alarm device is activated, the worker can recognize early that another course has been entered, and can quickly take measures such as returning to the original course.

The vehicle may be used as an unmanned vehicle other than the forklift 1. Further, the present invention is not limited to an unmanned vehicle having a configuration in which the steered wheels and the drive wheels are separately provided, and may be applied not only to a three-wheeled vehicle but also to a four-wheeled vehicle or an unmanned vehicle having a larger number of wheels.

The technical ideas (inventions) other than those described in the claims, which can be understood from the above embodiments, will be described below together with their effects. (1) In the invention according to any one of claims 1 to 3, the marks are the same, and the control means of the unmanned vehicle determines the number of marks based on a mark detection signal of the mark detection means. Count and identify the mark based on the count. In this case, the manufacturing cost of the mark is reduced, and the configuration of the mark detection sensor is simplified.

(2) In the invention according to claim 2,
In the state where the return to the automatic mode is prohibited, when correct mark data corresponding to the position of the unmanned vehicle is input by the input means, the return to the automatic mode is prohibited. In this case, there is no need to perform error processing immediately after returning to the automatic mode.

The "teaching data" in this specification is data indicating the relationship between the marks provided on the traveling course of the unmanned vehicle and the positions thereof. The mark detection order is shown. Therefore, if the traveling course and the traveling direction are determined, the correct position can be confirmed by recognizing the mark when the mark is detected.

[0055]

As described in detail above, claims 1 to 4 are provided.
According to the invention described in (1), even when the unmanned vehicle is moved over the mark in the semi-automatic mode, it is not necessary to input the mark number when the unmanned vehicle returns to the automatic mode on a predetermined traveling course.

According to the second aspect of the present invention, it is possible to prevent an unmanned vehicle from performing an operation on an incorrect traveling course. According to the third aspect of the invention, it is possible to easily return to the automatic mode while recognizing that the vehicle has started traveling from the wrong traveling course.

According to the fourth aspect of the present invention, when the unmanned vehicle is moving in the semi-automatic mode and enters the different course from the correct traveling course, the abnormality is notified.

[Brief description of the drawings]

FIG. 1 is a flowchart illustrating a mark detection processing procedure in a semi-automatic mode.

FIG. 2 is a schematic plan view of an unmanned vehicle.

FIG. 3 is a schematic perspective view of a forklift.

FIG. 4 is a block diagram showing an electrical configuration.

FIG. 5 is a plan view of a remote control box.

FIG. 6 is a schematic plan view showing a conventional technique.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Forklift as unmanned vehicle, 10 ... Induction sensor as guidance line detection means, 11 ... Pickup coil which comprises guidance line detection means, 12L, 12R ... Mark detector as mark detection means, 17 ... Mode switching means. Automatic / manual changeover switch, 23 ... manual / semi-automatic changeover switch, 22 ... remote control box as manual operation control unit, 31 ... running controller as control device, 33 ... judgment means, mark position recognition means, mark data processing CPU as means and control means, 40... EEPROM as storage means, ML, MR... Mark, L.

Claims (4)

[Claims] 1. A guide line laid on a travel path is detected by a guide line detecting means to travel along the guide line, and a mark provided on the travel path is detected by a mark detecting means. In a traveling control method of an unmanned vehicle for confirming a traveling position based on detection data and teaching data, an unmanned vehicle that performs a mark detection process based on a detection signal of the mark detection unit in a traveling state in a semi-automatic mode as in the automatic mode. Car driving control method. 2. A guide line laid on a travel path is detected by a guide line detecting means to travel along the guide line, and a mark provided on the travel path is detected by a mark detecting means. In a traveling control method for an unmanned vehicle that confirms a traveling position based on detection data and teaching data, a mark detection process based on a detection signal of the mark detection unit is performed in a traveling control state in a semi-automatic mode as in the automatic mode. Also, when returning from the semi-automatic mode to the automatic mode, if the position of the unmanned vehicle is on a different driving course from the driving course of the unmanned vehicle before switching to the semi-automatic mode, the return to the automatic mode is prohibited. Car driving control method. 3. When mark data that matches teaching data held by an unmanned vehicle is input by input means in a state in which return to the automatic mode is prohibited,
The driving control method for an unmanned vehicle according to claim 2, wherein the prohibition of returning to the automatic mode is released. 4. An unmanned vehicle that travels along a guide line by detecting the position of a guide line laid on a traveling path by a guide line detecting means, and along the guide line based on operation information input in advance. Mode switching means capable of switching between an automatic mode for performing automatic traveling and a semi-automatic mode in which only steering is automatically controlled along the guide line and the traveling direction, speed, and the like travel according to a command from a manual operation control unit. Control means for controlling the traveling of the unmanned vehicle in a set mode; mark detecting means for detecting a mark provided on the traveling path along the guide line; and identifying a position of each mark on the traveling path. Storage means for storing teaching data for, and from the detection signal of the mark detection means and the traveling direction of the unmanned vehicle, where the detected mark is located on the traveling path A mark position recognizing means for recognizing whether or not the mark is a mark to be detected each time a mark detection signal is input from the mark detecting means; and A travel control device for an unmanned vehicle, comprising: mark data processing means for updating mark detection data when determined to be correct, and outputting an abnormality notification command when determined to be incorrect.