Control method for an automatic transporter

Abstract

To provide a method of controlling automatic carriers allowing for controlling the traveling of a plurality of automatic carriers successively arranged on a continuing-process route with a previously-required cost reduced.SOLUTION: A method of controlling automatic carriers, for controlling automatic carriers 22 which are successively arranged on a continuing-process route 21 and each mounted with a carriage 23, includes: taking a picture of one or whole part of the continuing-process route 21 on which a plurality of automatic carriers 22 is arranged with a sky camera 11; recognizing a shape of a frame part 231 of the carriage 23 mounted on the automatic carrier 22; identifying a reference point 232 for the carriage 23 from the shape of the recognized frame part 231; detecting a position of the reference point 232 on a map; and controlling the travelling of the plurality of automatic carriers 22 based on the position of the reference point 232 detected.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a method for controlling an automatic transporter, and particularly to a method for controlling an automatic transporter in a vehicle production line.

Background Art

[0002] There is a technology for controlling the running of an automatic transporter. The automatic transporter runs along, for example, a magnetic tape installed on the floor surface under the running control of a control device. The automatic transporter, for example, tow or carry a cart loaded with goods and transport them to a predetermined transport destination.

[0003] Such automatic transporters are also used in vehicle production lines. In a vehicle production line, by collectively controlling the running of a plurality of automatic transporters loaded with carts, it is possible to perform operations of a plurality of consecutive processes. Specifically, a conveyed object is placed on a cart mounted on each automatic transporter. When an operator finishes an operation of one process on the conveyed object, each automatic transporter is moved to another operator and used to move to the operation of the next process.

[0004] Patent Document 1 discloses the following technology regarding a method for controlling an automatic transporter. A photographing unit arranged to correspond to the operation area of the automatic transporter photographs a cart that moves along with the automatic transporter, and obtains the state of the cart based on the photographed image. Then, the obtained state of the cart is determined, and the running of the automatic transporter is controlled based on the result of the determination.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, since the control method of the automatic transporter according to Patent Document 1 performs shape recognition only at the starting point and the passing point of the automatic transporter, the positional relationship of a plurality of automatic transporters cannot be grasped. Here, in a vehicle production line, since a plurality of automatic transporters travel on the route, it is necessary to grasp the mutual positional relationship of each automatic transporter. Therefore, such a control method of the automatic transporter is not suitable as a control method of the automatic transporter in a vehicle production line.

[0007] Therefore, an object of the present disclosure is to provide a control method of an automatic transporter that reduces the cost required in advance and controls the travel of a plurality of automatic transporters continuously arranged in a continuous process route.

Means for Solving the Problems

[0008] The control method of the automatic transporter according to the present disclosure is a control method of a plurality of automatic transporters that are continuously arranged in a continuous process route and each has a carriage mounted thereon. An overhead camera photographs part or all of the continuous process route where the plurality of automatic transporters are arranged, recognizes the shape of the frame portion of the carriage mounted on the automatic transporter, specifies the reference point of the carriage from the recognized shape of the frame portion, detects the position of the reference point on the map, and controls the travel of the plurality of automatic transporters based on the detected position of the reference point.

[0009] Here, the reference point of the carriage may be the center point of the carriage, the position of the center point on the map may be detected, and the travel of the plurality of automatic transporters may be controlled based on the detected position of the center point.

[0010] Further, the carriage may have the frame portion colored along the outer edge, photograph the frame portion by the overhead camera, recognize the shape of the frame portion based on the photographed image, create a virtual shape of the frame portion from the recognized shape of the frame portion, and calculate the reference point based on the created virtual shape of the frame portion.

[0011] Further, a virtual area including the carriage may be created based on the reference point, and when a plurality of the virtual areas overlap during the travel of the plurality of automatic guided vehicles, the travel of the plurality of automatic guided vehicles may be stopped.

[0012] Further, the overhead camera may be composed of a plurality of cameras, and a part of the shooting ranges of the plurality of cameras may overlap with each other in a direction along the continuous process path.

Advantages of the Invention

[0013] According to the present disclosure, it is possible to provide a method for controlling an automatic guided vehicle that reduces the cost required in advance and controls the travel of a plurality of automatic guided vehicles continuously arranged in a continuous process path.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Mode for Carrying Out the Invention

[0015] Although not publicly disclosed, as a related art filed by the applicant of the present application, there is a technique of arranging markers capable of position detection on a carriage, a conveyed object, and an automatic transporter, and controlling the running of the automatic transporter by performing position detection by the markers. However, in order to control the running of a plurality of automatic transporters, it is necessary to arrange markers on each carriage, conveyed object, and automatic transporter, which requires man-hours for arranging the markers and the cost of the parts of the markers themselves. Therefore, the inventor has come up with the technique of the present disclosure.

[0016] Embodiment 1 Hereinafter, Embodiment 1 will be described with reference to the drawings. FIGS. 1 and 2 are explanatory views conceptually showing the configuration of the control system 1 of the automatic transporter according to Embodiment 1. In FIG. 1, a plan view of a part of the vehicle production line is shown, and the configuration of the control system 1 of the automatic transporter is shown as a block diagram. FIG. 2 shows a view of a part of the vehicle production line as seen from the side, and shows the configuration of the control system 1 of the automatic transporter as a block diagram. As shown in FIGS. 1 and 2, the control system 1 of the automatic transporter (hereinafter referred to as the control system 1) includes an overhead camera 11, a control device 12, a travel control panel 13, and a wireless transceiver 14. Further, the vehicle production line includes a continuous process path 21, a plurality of automatic transporters 22, and a plurality of carriages 23. In the present embodiment, as shown in FIG. 3, the continuous process path 21 is actually designed as a one-round path including a straight part and a curved part in a plan view. In FIGS. 1 and 2, a part of the vehicle production line is shown, and the imaging range of the overhead camera 11 and the arrangement of the plurality of automatic transporters 22 and the like are replaced with a linear arrangement for explanation.

[0017] First, the configuration of the vehicle production line will be described. The continuous process path 21 is a path designed to perform continuous work processes in the vehicle production line. The continuous process path 21 constitutes the travel path of the automatic transporter 22. The continuous process path 21 is, for example, a magnetic tape provided on the floor surface. The continuous process path 21 is appropriately designed according to circumstances such as the work content in the continuous work process and the scale of the work area. As shown in FIG. 3, the continuous process path 21 is designed, for example, as a one-loop path including a straight portion and a curved portion in plan view.

[0018] The automatic transporter 22 incorporates a wireless transceiver and receives commands from the travel control panel 13 via the wireless transceiver 14. The automatic transporter 22 performs operations such as traveling, stopping, and pausing on the continuous process path 21 based on the received commands. Each automatic transporter 22 is assigned, for example, a different identification number from other individuals and is configured to be able to receive commands from the travel control panel 13 individually. As shown in FIG. 3, six automatic transporters 22 are arranged on the continuous process path 21, for example. In FIG. 3, the six automatic transporters 22 are shown as 22a to 22f. Note that in FIG. 1, three automatic transporters 22a, 22b, and 22c are shown, and in FIG. 2, two automatic transporters 22a and 22b are shown.

[0019] The carriage 23 is configured to be able to carry a conveyed object. The carriage 23 is mounted on each automatic transporter 22. Here, the carriage 23 is connected to each automatic transporter 22. The carriage 23 carries a conveyed object (not shown) and moves on the continuous process path 21 as the automatic transporter 22 travels. The carriage 23 has a frame portion 231 provided along the outer edge and colored so as to be recognizable by the overhead camera 11 and the control device 12. The carriage 23 is formed, for example, in a rectangular shape in plan view. In FIG. 3, the carriages 23 mounted on each automatic transporter 22 are shown as 23a to 23f. In FIG. 1, the carriages 23a, 23b, and 23c mounted on the automatic transporters 22a, 22b, and 22c are shown, and in FIG. 2, the carriages 23a and 23b mounted on the automatic transporters 22a and 22b are shown. Also, the frame portions 231 corresponding to the carriages 23a, 23b, and 23c are shown as 231a, 231b, and 231c, respectively. In FIG. 3, the description of the frame portion 231 is omitted.

[0020] Next, each component of the control system 1 will be described with reference to FIGS. 1 to 4. FIG. 3 is a plan view of the vehicle production line and shows an example of control by the control system 1. FIG. 4 is a plan view of one automatic transporter 22 and a cart 23 and shows an example of control by the control system 1.

[0021] The overhead camera 11 photographs part or all of the continuous process path 21. The overhead camera 11 photographs the continuous process path 21 and a plurality of automatic transporters 22 or a plurality of carts 23 arranged on the continuous process path 21 from above. The overhead camera 11 is installed, for example, on a ceiling, a pillar, or the like. The overhead camera 11 outputs the photographed image to the control device 12.

[0022] The overhead camera 11 is composed of, for example, a plurality of cameras. The plurality of cameras are arranged such that their respective photographing ranges partially overlap in the direction along the continuous process path 21. As a specific example, as shown in FIG. 3, the overhead camera 11 is composed of a first camera 111, a second camera 112, a third camera 113, and a fourth camera 114. The photographing ranges of the first camera 111, the second camera 112, the third camera 113, and the fourth camera 114 are denoted as a first photographing range 111a, a second photographing range 112a, a third photographing range 113a, and a fourth photographing range 114a, respectively, by attaching symbols to the broken lines in FIG. 3. As shown by the broken lines in FIG. 3, the photographing ranges 111a to 114a partially overlap with each other in the direction along the continuous process path 21. As shown in FIG. 3, the cameras 111 to 114 are arranged, for example, adjacent to two different cameras from each other. The photographing ranges 111a to 114a partially overlap with each other in the direction along the continuous process path 21 at each position of the straight portion and the curved portion of at least one round of the continuous process path 21.

[0023] The control device 12 includes a map construction unit 121, an operation setting unit 122, a frame part recognition unit 123, a reference point detection unit 124, a virtual area creation unit 125, a memory unit 126, and an operation control unit 127. The control device 12 is configured to be able to acquire and output various information related to the travel control of a plurality of automatic carriers 22.

[0024] The map construction unit 121 constructs a map of the continuous process. The map is a virtual map created in a plan view showing an area that is a continuous process in the vehicle production line. The map shows the entire area where the automatic carrier 22 travels and the operator works. The map includes part or all of the continuous process path 21. In the first embodiment, the map construction unit 121 creates a map including all of the continuous process path 21 for one round. The area shown in the map is set as a section for controlling the travel of a plurality of automatic carriers 22 in the continuous process path 21. The map construction unit 121 acquires the image captured by the overhead camera 11 and constructs a map based on the acquired image. When the overhead camera 11 is composed of a plurality of cameras, the map construction unit 121 acquires and synthesizes a plurality of images captured by the plurality of cameras to construct one map.

[0025] The operation setting unit 122 performs line operation settings for the safety distance and the abnormal distance. For example, the operation setting unit 122 sets the travel and temporary stop distances of a plurality of automatic carriers 22 based on the travel distance required for one process in the vehicle production line and the size of the carriage 23.

[0026] The frame part recognition unit 123 recognizes the shape of the frame part 231 of the carriage 23. The frame part recognition unit 123 performs image processing, for example, to extract the frame part 231 of each carriage 23 from the image captured by the overhead camera 11. The frame part recognition unit 123 creates a two-dimensional virtual shape of the frame part 231 on the control device based on the extracted image of the frame part 231. The frame part recognition unit 123 creates, for example, a virtual rectangle corresponding to the shape of the frame part 231 of the carriage 23.

[0027] The reference point detection unit 124 specifies the reference point 232 of the carriage 23 based on the frame shape of the carriage 23 recognized by the frame part recognition unit 123. Further, the reference point detection unit 124 detects the position of the reference point 232 on the map. The reference point detection unit 124 specifies the reference point 232 of the carriage 23, for example, by reading the shape of the virtual frame part 231 created by the frame part recognition unit 123 and calculating one point of the shape. As shown in FIGS. 1 and 2, the reference point detection unit 124 detects, for example, the center point of the virtual rectangle created by the frame part recognition unit 123 as the reference point 232. That is, in the present embodiment, the reference point 232 of the carriage 23 is the center point of the carriage 23. Note that the reference points 232 corresponding to the carriages 23a to 23f are denoted as 232a to 232f, respectively. In FIGS. 1 and 2, the reference points 232 corresponding to the carriages 23a, 23b, and 23c are denoted as 232a, 232b, and 232c, respectively.

[0028] The virtual region creation unit 125 creates a virtual region 233 that includes the carriage 23. The virtual region 233 is, for example, a virtual region set to ensure the safety around the automatic transporter 22 on which the carriage 23 is mounted. The size of the virtual region 233 is appropriately determined according to circumstances such as the safety of workers entering the continuous process path 21 and the distance to be ensured between a plurality of carriages 23. The virtual region creation unit 125 creates a virtual region 233 having a predetermined size larger than the frame shape of the frame part 231 created by the frame part recognition unit 123, for example, based on the reference point 232 of the carriage 23 detected by the reference point detection unit 124. The virtual region creation unit 125 creates the virtual region 233, for example, with a predetermined size larger than the frame part 231 in both the short side direction and the long side direction with the reference point 232 as the center. Note that in FIG. 3, the virtual regions 233 corresponding to the carriages 23a to 23f are denoted as 233a to 233f, respectively.

[0029] The storage unit 126 stores various types of information used for controlling a plurality of automatic transporters 22. The storage unit 126 stores, for example, the information on the line operation setting by the operation setting unit 122.

[0030] The operation control unit 127 controls the operations of a plurality of automatic guided vehicles 22 existing in the map constructed by the map construction unit 121. The operation control unit 127 associates the carriage 23 that has detected the reference point 232 or created the virtual area 233 with the automatic guided vehicle 22 carrying the carriage 23, and stores it in the storage unit 126. Based on various information such as line operation settings stored in the storage unit 126, the operation control unit 127 controls the traveling and stopping of each automatic guided vehicle 22.

[0031] Also, the operation control unit 127 manages the distances between the carriages 23 based on the information of the reference points 232 of the carriages 23. By managing the distances between the carriages 23, the operation control unit 127 ensures the work process range. As a specific example, as shown by the arrows in FIG. 1, the operation control unit 127 controls the operations of the automatic guided vehicles 22 via the travel control panel 13 so that the distance between the reference point 232 of one carriage 23 and the reference point 232 of the adjacent other carriage 23 is always a constant distance on the continuous process path 21. Further, when one virtual area 233 created by the virtual area creation unit 125 overlaps with another virtual area 233, the operation control unit 127 controls to stop the operations of all the automatic guided vehicles 22 via the travel control panel 13.

[0032] Based on the control by the operation control unit 127, the travel control panel 13 outputs commands for traveling or stopping to each automatic guided vehicle 22. The travel control panel 13 transmits commands for traveling or stopping to the wireless transceiver 14. The travel control panel 13 outputs individual commands corresponding to the individual identification numbers assigned to the automatic guided vehicles 22.

[0033] The wireless transceiver 14 transmits and receives wireless signals to and from the automatic guided vehicle 22. The wireless transceiver 14 transmits the commands received from the travel control panel 13 to the automatic guided vehicles 22. Note that the wireless transceiver 14 may be configured to be built into the travel control panel 13.

[0034] Next, with reference to FIGS. 3 to 8, a specific control method for a plurality of automatic conveyors 22 by the control system 1 will be described. First, with reference to FIGS. 3 to 5, the flow from the stage of constructing the map of the continuous process to the stage before the operation of the automatic conveyor 22 will be described. FIG. 5 is a flowchart showing an example of control by the control system 1.

[0035] First, based on the image acquired by the overhead camera 11, the control device 12 constructs a map of the continuous process by the map construction unit 121 (step S301). As an example, as shown in FIGS. 3, 6, and 7, four images are acquired by cameras 111 to 114 (not shown), and the largest area formed by synthesizing the four images is constructed as the map. Next, the control device 12 executes line operation settings in the constructed map (step S302).

[0036] Next, the control device 12 recognizes the shapes of the frame portions 231a to 231f of the carts 23a to 23f from the images acquired by the cameras 111 to 114 by the frame portion recognition unit 123 (step S303). Further, the control device 12 creates the shapes of the two-dimensional virtual frame portions 231a to 231f respectively. Next, the control device 12 reads the shapes of the created frame portions 231a to 231f by the reference point detection unit 124, and detects the reference points 232a to 232f of the carts 23a to 23f respectively (step S304).

[0037] Next, the control device 12 creates virtual regions 233a to 233f each including the carts 23a to 23f by the virtual region creation unit 125 (step S305). Next, the control device 12 associates the carts 23a to 23f with the information of the automatic conveyors 22a to 22f corresponding to the carts 23a to 23f respectively (step S306), and ends the processing as the stage before the operation of the automatic conveyor 22.

[0038] Next, with reference to FIGS. 6 to 8, the flow of operation control of a plurality of automatic carriers 22 by the control system 1 will be described. FIGS. 6 and 7 are views showing a plan view of a vehicle production line and illustrate an example of control by the control system 1. FIG. 8 is a flowchart showing an example of control by the control system 1.

[0039] First, the control device 12 determines whether an operation permission command has been output by the operation control unit 127 (step S311). If the operation permission command has not been output (NO in step S311), it waits for the output of the operation permission command. When the operation permission command is output (YES in step S311), the process proceeds to the next step. Next, the travel control panel 13 performs a process of transmitting an operation instruction by the control device 12 via the wireless transceiver 14 and operates the automatic carrier 22 (step S312). Here, the plurality of automatic carriers 22 perform operations such as forward movement and temporary stop indicated by the arrows in FIG. 6 for the plurality of automatic carriers 22 based on the operation settings stored in the storage unit 126.

[0040] Next, the control device 12 determines whether a plurality of virtual regions 233 overlap (step S313). As shown in FIG. 7, when it is determined that a plurality of virtual regions 233 overlap (YES in step S313), the travel control panel 13 transmits a stop instruction by the control device 12 via the wireless transceiver 14 (step S314), stops the plurality of automatic carriers 22 (step S315), and ends the process. When the control device 12 determines that the plurality of virtual regions 233 do not overlap (NO in step S313), it returns to step S311 and continues to determine the output of the operation permission command.

[0041] As described above, the control system 1 recognizes the shape of the frame portion 231 of each carriage 23 and creates a virtual frame shape based on the recognized shape of the frame portion 231. Further, the control system 1 detects the reference points 232 of each carriage 23 from the created virtual frame shape. Then, the control system 1 controls the travel of the corresponding plurality of automatic conveyors 22 based on the relationship of the detected reference points 232 of each carriage 23. Therefore, the control system 1 can control the travel of the plurality of automatic conveyors 22 continuously arranged in the vehicle production line without the cost of arranging markers on the carriages 23 and the conveyed objects in advance. According to such a control system 1, the cost required in advance can be reduced, and the travel of the plurality of automatic conveyors 22 continuously arranged in the continuous process path can be controlled.

[0042] Further, since the control system 1 detects the center point of each carriage as the reference point 232 of each carriage 23, the control device 12 constantly monitors the reference point 232 of each carriage 23, and can control the travel of the automatic conveyor 22 so that the plurality of carriages 23 maintain a safe distance. That is, the control system 1 can suitably manage the distance between each carriage 23 in the continuous operation process.

[0043] Further, the control system 1 photographs the frame portion 231 colored along the outer edge of the carriage 23, and recognizes the shape of the frame portion 231 based on the photographed image. Thereby, the control system 1 can recognize the shape of the frame portion 231 without being obstructed by the conveyed object even when the conveyed object is placed on the carriage 23.

[0044] Further, the control system 1 creates virtual regions 233 each including a respective carriage 23 based on the detected reference points 232. Then, when the plurality of virtual regions 233 overlap during the travel of the plurality of automatic guided vehicles 22, the control system 1 stops the travel of the plurality of automatic guided vehicles 22. Thereby, the control system 1 can prevent excessive approach of the plurality of carriages 23 and operate the automatic guided vehicles 22 while ensuring the safety of the operator. Further, the created virtual regions 233 can also be used for control for other purposes, such as automatically stopping the travel of the corresponding automatic guided vehicle 22 when the virtual region 233 enters a preset region.

[0045] Further, the control system 1 comprises an overhead camera 11 constituted by a plurality of cameras 111 to 114. Also, the plurality of cameras 111 to 114 partially overlap in the direction along the continuous process path 21 in their imaging ranges 111a to 114a. Thereby, the overhead camera 11 can supplement the imaging of the carriage 23 at a position where it is difficult to be captured by one camera due to, for example, an obstruction, by another camera. That is, the overhead camera 11 can continuously capture the plurality of carriages 23 moving along the continuous process path 21 while avoiding the influence of obstructions and the like. Therefore, the control system 1 can improve the accuracy of detecting the position of the carriage 23.

[0046] Embodiment 2 Hereinafter, the control system 1A of the automatic transporter according to Embodiment 2 will be described with reference to the drawings. Note that components equivalent to those of the control system 1 according to Embodiment 1 are denoted by the same reference numerals, and detailed descriptions thereof are omitted. FIG. 9 is a plan view of a part of a vehicle production line, and shows an example of control by the control system 1A of the automatic transporter. The control system 1A of the automatic transporter (hereinafter referred to as the control system 1A) includes an overhead camera 11, a control device 12, a travel control panel 13, and a wireless transceiver 14. The vehicle production line further includes a continuous process path 21 having a starting point 21a, a plurality of automatic transporters 22, and a plurality of carts 23. That is, the control system 1A is different from the control system 1 in that the starting point 21a is provided on the continuous process path 21 and the control method by the control device 12 differs with the setting of the starting point 21a.

[0047] The starting point 21a is a point on the continuous process path 21 at which the control of the automatic transporter 22 by the control device 12 is started in order to perform a continuous work process. As shown in FIG. 9, the starting point 21a is provided at an arbitrary position on the continuous process path 21 where the control of the travel of a plurality of automatic transporters 22 is desired to start. The starting point 21a is, for example, a mark detectable by the control device 12. The starting point 21a is provided within the imaging range of the overhead camera 11. The starting point 21a is provided, for example, at a position included in the imaging range of a first camera 111 which is one of a plurality of cameras constituting the overhead camera 11.

[0048] A specific control method for a plurality of automatic transporters 22 by the control system 1A will be described with reference to FIGS. 9 to 11. First, the processing before the automatic transporter 22 passes through the starting point 21a will be described with reference to FIGS. 9 and 10. FIG. 10 is a flowchart showing an example of control by the control system 1A, and shows the processing before the automatic transporter 22 passes through the starting point 21a.

[0049] First, based on the image acquired by the overhead camera 11, the control device 12 constructs a map of the continuous process by the map construction unit 121 (step S321). As an example, as shown in FIG. 9, two images are acquired by a first camera 111 and a second camera 112 (not shown), and the largest area formed by synthesizing the two images is constructed as the map. Next, the control device 12 executes line operation setting in the constructed map (step S322), and ends the process as a pre-stage before the automatic transporter 22 passes through the starting point 21a.

[0050] Subsequently, with reference to FIGS. 9 and 11, the process after the automatic transporter 22 enters the starting point 21a will be described. FIG. 11 is a flowchart showing an example of control by the control system 1A, and shows the process after the automatic transporter 22 passes through the starting point 21a.

[0051] First, the control device 12 determines whether the carriage 23 mounted on the automatic transporter 22 has passed through the starting point 21a (step S331). If the control device 12 determines that the carriage 23 has not passed through the starting point 21a (NO in step S331), it waits for the carriage 23 to pass through the starting point 21a. If the control device 12 determines that the carriage 23 has passed through the starting point 21a (YES in step S331), the process proceeds to the next step.

[0052] Next, the control device 12 recognizes the shape of the frame portion 231 of the carriage 23 that has passed through the starting point 21a from the image acquired by the first camera 111 by the frame portion recognition unit 123 (step S332). Further, the control device 12 creates a shape of a two-dimensional virtual frame portion 231. Next, the control device 12 reads the shape of the created frame portion 231 by the reference point detection unit 124 and detects the reference point 232 of the carriage 23 (step S333).

[0053] Next, the control device 12 creates a virtual area 233 that includes the carriage 23 by the virtual area creation unit 125 (step S334). Next, the control device 12 associates the carriage 23 with the information of the automatic transporter 22 corresponding to the carriage 23 (step S335). Note that the series of processes shown in steps S332 to S335 are executed for each carriage 23 every time the carriage 23 passes through the starting point 21a. For example, as shown in FIG. 9, after a series of processes shown in steps S332 to S335 are executed for the carriage 23b, if a new carriage 23a passes through the starting point 21a, a series of processes shown in steps S332 to S335 are executed for the carriage 23a. Then, the carriages 23a and 23b are the targets for the execution of the following processes by the control device 12.

[0054] Next, the control device 12 operates the single or multiple automatic transporters 22 to perform operations such as forward movement and temporary stop indicated by the arrows in FIG. 9 based on the operation command by the operation control unit 127 and the operation settings stored in the storage unit 126 (step S336). Here, the multiple automatic transporters 22 are individually controlled by the operation control unit 127 so that the distance between the reference point 232 of one carriage 23 and the reference point 232 of another adjacent carriage 23 is always a safe distance on the continuous process path 21.

[0055] Next, the control device 12 determines whether a plurality of virtual areas 233 overlap (step S337). When it is determined that a plurality of virtual areas 233 overlap (YES in step S337), the travel control panel 13 performs a process of transmitting a stop instruction by the control device 12 via the wireless transceiver 14, stops the plurality of automatic transporters (step S338), and ends the process. When the control device 12 determines that the plurality of virtual areas 233 do not overlap (NO in step S337), it returns to step S336 and continues the operation of the automatic transporter 22.

[0056] As described above, the control system 1A recognizes the shape of the frame portion 231 of each carriage 23 that has passed through the starting point 21a, and creates a virtual frame shape based on the recognized shape of the frame portion 231. Further, the control system 1A detects the reference points 232 of each carriage 23 from the created virtual frame shape. Then, the control system 1 controls the travel of the corresponding plurality of automatic guided vehicles 22 based on the relationship of the detected reference points 232 of each carriage 23. Therefore, the control system 1A can control the travel of a plurality of continuous automatic guided vehicles 22 in the vehicle production line without the cost of pre-arranging markers on the carriages 23 or the conveyed objects. According to such a control system 1A, the cost required in advance can be reduced, and the travel of a plurality of automatic guided vehicles 22 continuously arranged in the continuous process path can be controlled.

[0057] That is, the control system 1A controls the travel of a plurality of automatic guided vehicles 22 continuously arranged in a partial section of the continuous process path 21, and exhibits the same effect as the control system 1 described in the first embodiment. The control system 1A can be applied to any section where the control of the travel of a plurality of automatic guided vehicles 22 continuously arranged to perform a continuous work process is desired in the vehicle production line.

[0058] Note that the present invention is not limited to the above-described embodiments, and can be appropriately modified without departing from the gist. For example, in the above-described embodiments, an example in which the map construction unit 121 constructs the maximum area photographed by the overhead camera 11 as a map has been described, but a part of the photographed area may be constructed as a map. The map is constructed as an area that requires control of the automatic guided vehicle 22 in the continuous work process, and its range can be set as appropriate. That is, the map constructed by the map construction unit 121 is appropriately set according to circumstances such as the design of the continuous process path, the photographing range of the overhead camera 11, and the section where control of the automatic guided vehicle 22 is desired. As an example, in the first embodiment, the entire continuous process path 21 for one round is targeted for map construction, but only a part of the continuous process path 21 for one round may be targeted for map construction.

[0059] In addition, although an example in which the overhead camera 11 is composed of a plurality of cameras 111 to 114 has been described, the present invention is not limited thereto. The number of cameras constituting the overhead camera 11 and the shooting range can be appropriately set as long as a plurality of carts 23 can be photographed in a section where the control of the automatic transporter 22 is desired. However, in order to avoid the influence of obstacles and the like and continuously capture the cart 23, the overhead camera 11 is preferably composed of a plurality of cameras with partially overlapping shooting ranges.

[0060] In addition, as an example of a method for recognizing the shape of the cart 23, an example of recognizing the shape of the colored frame portion 231 has been described, but the present invention is not limited thereto. The method for recognizing the shape of the cart 23 can be appropriately changed as long as the shape of the cart 23 can be recognized in a state where the conveyed object is placed thereon and the reference point 232 can be detected based on the recognized shape of the cart 23. However, according to the method described above, the shape of the cart 23 can be recognized with a simple configuration, and the cost required in advance can be reduced.

[0061] In addition, although an example in which the center point of the cart 23 is used as the reference point 232 has been described, the present invention is not limited thereto. The reference point 232 only needs to be able to specify the positional relationship of a plurality of carts 23 by the control device 12 and function as a reference for creating the virtual area 233, and any point on the recognized shape of the cart 23 may be used. For example, one corner of the cart 23 may be used as the reference point.

[0062] In addition, in the above-described embodiment, an example in which the control system 1 or the control system 1A is applied in a vehicle production line has been described, but the present invention is not limited thereto. The control systems 1 and 1A can also be used when producing products other than vehicles. That is, the control systems 1 and 1A can be arbitrarily applied in an environment that requires control of the running of a plurality of continuous automatic transporters 22 equipped with carts 23.

[0063] Each configuration in the above-described embodiment is constituted by hardware or software, or both, and may be constituted by one piece of hardware or software, or may be constituted by a plurality of pieces of hardware or software. The functions (processes) of each device may be realized by a computer having a CPU (Central Processing Unit), a memory, and the like. For example, a program for performing the method (e.g., control method) in the embodiment may be stored in a storage device, and each function may be realized by executing the program stored in the storage device with the CPU.

[0064] These programs can be stored using various types of non-transitory computer readable media and supplied to a computer. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R, CD-R / W, semiconductor memories (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)). Also, the programs may be supplied to a computer by various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. Transitory computer readable media can supply the programs to a computer via wired communication paths such as electric wires and optical fibers, or wireless communication paths.

Explanation of Reference Numerals

[0065] 1, 1A Control System 11 Aerial Camera 12 Control Device 13 Travel control panel 14 Wireless transceiver 21 Continuous process path 21a Starting point 22 Automatic transporter 23 Cart 111 First camera 111a First shooting range 112 Second camera 112a Second shooting range 113 Third camera 113a Third shooting range 114 Fourth camera 114a Fourth shooting range 121 Map construction unit 122 Operation setting unit 123 Frame part recognition unit 124 Reference point detection unit 125 Virtual area creation unit 126 Memory unit 127 Operation control unit 231 Frame part 232 Reference point 233 Virtual area

Claims

1. A method for controlling a plurality of automatic conveyors that are continuously arranged in a continuous process path and each equipped with a carriage, photographing part or all of the continuous process path where the plurality of automatic conveyors are arranged by an overhead camera, recognizing the shape of the frame part of the carriage mounted on the automatic conveyor, specifying the reference point of the carriage from the recognized shape of the frame part, detecting the position of the reference point on the map, controlling the running of the plurality of automatic conveyors based on the detected position of the reference point, A method for controlling an automatic conveyor.

2. The reference point of the carriage is the center point of the carriage, detecting the position of the center point on the map, controlling the running of the plurality of automatic conveyors based on the detected position of the center point, The method for controlling an automatic conveyor according to claim 1.

3. The carriage has the frame part colored along the outer edge, photographing the frame part by the overhead camera, recognizing the shape of the frame part based on the photographed image, creating a virtual shape of the frame part from the recognized shape of the frame part, calculating the reference point based on the created virtual shape of the frame part, The method for controlling an automatic conveyor according to claim 1 or 2.

4. creating a virtual area including the carriage based on the reference point, when a plurality of the virtual areas overlap during the running of the plurality of automatic conveyors, stopping the running of the plurality of automatic conveyors, The method for controlling an automatic conveyor according to any one of claims 1 to 3.

5. The overhead camera is composed of a plurality of cameras, The shooting ranges of the plurality of cameras partially overlap with each other in the direction along the continuous process path. The method for controlling an automatic transporter according to any one of claims 1 to 4.

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