JPH0867332A - Collision detecting device - Google Patents

Abstract

PURPOSE: To provide a collision detecting device capable of reporting the collision of a vehicle and the open circuit of tape switches respectively. CONSTITUTION: When an unmanned conveying vehicle 1 collides and both tape switches 10, 11 are brought into contact with each other at the time of the collision detection mode, the second photo-coupler 16b outputs an on-signal to a ground controller 22. The ground controller 22 turns on a collision display section 8. When an operator operates an open circuit detection mode setting switch 7, the open circuit detection mode is set, and an on-vehicle controller 20 turns on both transistors 33, 36. If the tape switches 10, 11 are made the open circuit state at this time, photo-couplers 16a, 16b output off-signals to the ground controller 22, and the ground controller 22 turns on open circuit display sections 9a, 9b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a collision detecting device for a traveling vehicle such as an automatic guided vehicle.

[0002]

2. Description of the Related Art Conventionally, automatic guided vehicles used in factories and the like travel along a track line laid along a traveling path. Further, elastic bumpers are provided on both sides of the automatic guided vehicle in the traveling direction, and the bumper absorbs the impact when the automatic guided vehicle collides with an obstacle, and stops the automatic guided vehicle by detecting it. I am trying to let you.

As shown in FIG. 8, a bumper 71a is provided on the front side (the right side in FIG. 8) of the automatic guided vehicle 70 in the traveling direction. In the bumper 71a, first and second tape switches 72 and 73 extending in a direction orthogonal to the traveling direction are juxtaposed at predetermined intervals. Both tape switches 7
Reference numerals 2 and 73 have elasticity, and when an impact is applied to the bumper 71a, the bumpers 71a elastically deform and come into contact with each other.

One end of the first tape switch 72 is the power source 7
5, the other end of the first tape switch 72 is connected to one end of the second tape switch 73 via the light emitting element of the photocoupler 77. The other end of the second tape switch 73 is grounded. The photo coupler 77
Is connected to an in-vehicle controller 79 for controlling travel of the automatic guided vehicle 70. The photocoupler 77 outputs a detection signal when the light emitting element is in a non-energized state. A communication unit 80 is connected to the vehicle controller 79.

A ground station 82 for operating the automatic guided vehicle 70 is provided outside the automatic guided vehicle 70, and a ground controller 83 is built in the ground station 82. A communication unit 86 that can communicate with the communication unit 80 is connected to the ground controller 83, and both communication units 80,
Both controllers 79 and 83 are connected by 86. A display unit 84 is connected to the ground controller 83.

When the automatic guided vehicle 70 collides with an obstacle or the like, the bumper 71a is elastically deformed so that the first tape switch 72 and the second tape switch 73 come into contact with each other, and the current is the first tape switch. It directly flows from 72 to the second tape switch 73. As a result, the light emitting element of the photocoupler 77 is turned off, and the photocoupler 77 outputs a detection signal to the vehicle controller 79 and the ground controller 83. Then, the in-vehicle controller 79 stops the traveling of the automated guided vehicle 70 based on the detection signal from the photocoupler 77. Further, the ground controller 83 turns on the display portion 84 based on the detection signal from the photocoupler 77.

When the automatic guided vehicle 70 repeatedly collides with an obstacle or the like, the elastic deformation of the first and second tape switches 72 and 73 is repeated, so that the first and second tape switches 72 and 73 operate. May break. In this case as well, the light emitting element of the photocoupler 77 is in a non-energized state, so the photocoupler 77 outputs a detection signal to the vehicle-mounted controller 79 and the ground controller 83. Then, the in-vehicle controller 79 stops the traveling of the automatic guided vehicle 70 based on the detection signal from the photocoupler 77, and the ground controller 8
3 turns on the display portion 84 based on the detection signal from the photocoupler 77.

Therefore, the operator can know that the automatic guided vehicle 70 has collided and that both the tape switches 72 and 73 have been broken by looking at the lighting of the display section 84.

[0009]

However, the display section 84 lights up both when the automatic guided vehicle 70 collides and when the first and second tape switches 72 and 73 are broken. Therefore, the operator could not determine whether the automated guided vehicle 70 collided or both tape switches 72 and 73 were broken based on the lighting of the display unit 84.

The present invention has been made to solve the above problems, and a first object of the present invention is to provide a collision detection device capable of informing of a vehicle collision and a tape switch disconnection, respectively. is there.

The second object of the present invention is to provide the first and second objects.
It is an object of the present invention to provide a collision detection device capable of notifying which one of the tape switches has a broken wire. Further, a third object of the present invention is to provide a collision detection device which can always inform the disconnection of the tape switch without setting the disconnection detection mode for checking the disconnection of the tape switch.

[0012]

In order to solve the above-mentioned problems, in the invention described in claim 1, the vehicles are arranged in parallel so as to contact each other when a vehicle collides, and are connected in parallel to a power source. First and second tape switches, first energization detecting means for detecting energization / de-energization between the first tape switch and the power supply, and energization / disconnection between the second tape switch and the power supply. Second energization detecting means for detecting non-energization, switch means for energizing or deenergizing the second tape switch, and disconnection detection mode for detecting disconnection of the first and second tape switches. The disconnection detection mode setting means for setting, and when the disconnection detection mode is not set by the disconnection detection mode setting means, the second tape switch is de-energized by the switch means and the vehicle collides. When the disconnection detection mode is set by the disconnection detection mode setting means in a state where the disconnection detection mode setting means is not set, the switch control means sets the second tape switch to the energized state by the switch means, and the disconnection detection mode is set by the disconnection detection mode setting means. Is not set, a collision detection means for detecting a vehicle collision based on a detection signal from the second energization detection means, and a collision display for displaying the collision when the collision means detects a vehicle collision. Disconnection detecting means for disconnecting the first and second tape switches based on the detection signals from the first and second energization detecting means when the disconnection detection mode is set by the disconnection detection mode setting means. Detection means,
When the disconnection detection means detects disconnection of the first tape switch, the disconnection detection means displays the disconnection, and when the disconnection detection means detects disconnection of the second tape switch, the disconnection is detected. A second disconnection display means for displaying is provided.

According to the second aspect of the present invention, the first and second tape switches are arranged in parallel so as to come into contact with each other when a vehicle collides with each other, and are connected in parallel to the power source, respectively, and the first tape. Energizing between the switch and the power supply
First energization detecting means for detecting non-energization, second energization detecting means for detecting energization / non-energization between the second tape switch and the power source, and the first tape switch in the energized state or The first switch means for turning off the power, the second switch means for turning on or off the second tape switch, and the first tape switch alternately turned on and off. While controlling the first switch means so that the second tape switch
A vehicle based on a switch control means for controlling the second switch means so as to be alternately energized and non-energized with the first tape switch, and a detection signal from the first and second energization detection means. Disconnection detecting means for detecting the collision and the disconnection of both tape switches, a collision display means for displaying the collision when the collision disconnection detecting means detects the collision of the vehicle, and the collision disconnection detecting means for the both tape switches. And a disconnection display means for displaying the disconnection when the disconnection is detected.

According to the invention of claim 3, claim 1 or 2
In the collision detection device described above, the switch means is a transistor.

[0015]

Therefore, according to the first aspect of the present invention, when the disconnection detection mode is not set by the disconnection detection mode setting means, the switch control means causes the switch means to turn off the second tape switch. When the vehicle collides and the first and second tape switches come into contact with each other, a current flows from the power supply to the first tape switch via the second tape switch, and the second tape switch is turned on. At this time, the second energization detection means detects energization between the second tape switch and the power source, and the collision detection means detects a vehicle collision based on the detection signal from the second energization detection means. Further, the collision display means displays the collision when the collision detection means detects the collision of the vehicle. Next, the disconnection detection mode is set by the disconnection detection mode setting means. Then, when the disconnection detection mode is set, the switch control means causes the switch means to turn on the second tape switch. At this time, if the first tape switch is broken, the first tape switch is in the non-energized state, and the first energization detecting means detects the non-energization between the first tape switch and the power source. The disconnection detecting means detects the disconnection of the first tape switch based on the detection signal from the first energization detecting means. Further, the first disconnection display means displays the disconnection when the disconnection detection means detects the disconnection of the first tape switch. On the other hand, when the disconnection detection mode is set and the second tape switch is disconnected, the second tape switch is de-energized, and the second energization detecting means is provided between the second tape switch and the power supply. Detects non-energization of. The disconnection detecting means detects the disconnection of the second tape switch based on the detection signal from the second energization detecting means. Further, the second disconnection display means displays the disconnection when the disconnection detection means detects the disconnection of the second tape switch.

According to the second aspect of the invention, the switch control means controls the first tape switch so that the first tape switch is alternately turned on and off.
Also, the switch control means controls the second switch means so that the second tape switch is alternately energized and de-energized with the first tape switch. Then, when the vehicle collides and the first and second tape switches come into contact with each other, both the first tape switch and the second tape switch are energized. At this time, the first and second
The energization detection means detects the energization between the first and second tape switches and the power supply, respectively. Then, the collision disconnection detecting means detects the collision of the vehicle based on the detection signals from the both energization detecting means. Further, the collision display means displays the collision when the collision disconnection detection means detects the collision of the vehicle. On the other hand, when one of the tape switches is disconnected, the tape switch is in a non-energized state. As a result, the first
Both the tape switch and the second tape switch may be in the non-energized state. In this case, the first and second energization detecting means detect non-energization between the first and second tape switches and the power source, respectively. Then, the collision disconnection detecting means detects the disconnection of the tape switch based on the detection signals from both the energization detecting means. Further, the disconnection display means displays the disconnection when the collision disconnection detection means detects the disconnection of the tape switch.

According to the invention of claim 3, claim 1 or 2
In addition to the operation of the invention described above, since the switch means is a transistor, the switching piece is not worn unlike the contact type switch.

[0018]

【Example】

(First Embodiment) A first embodiment in which the present invention is embodied in an automated guided vehicle will be described below with reference to FIGS.

As shown in FIG. 2, an automated guided vehicle 1 as a vehicle is provided on a track line 2 laid in an elliptical shape on the floor of a factory or the like. In the automated guided vehicle 1, a pair of drive wheels 3a and 3b are provided on both left and right sides of the track line 2. The drive wheels 3a and 3b are a pair of electric motors 4a and 4b provided in the automated guided vehicle 1. Are connected to each. The drive wheels 3a and 3b are driven by the electric motors 4a and 4b.
The automatic guided vehicle 1 is moved along the track line 2 by driving.

Further, bumpers 5a and 5b are provided on both front and rear sides of the automated guided vehicle 1 in the traveling direction so as to extend in a direction orthogonal to the traveling direction of the automated guided vehicle 1, respectively. The bumpers 5a and 5b have elasticity, and when the automatic guided vehicle 1 collides with an obstacle or the like, the bumpers 5a and 5b are elastically deformed to absorb the impact at the time of collision. On the other hand, a ground station 6 for an operator to operate the automatic guided vehicle 1 is provided at a position apart from the automatic guided vehicle 1. The ground station 6 is provided with a disconnection detection mode setting switch 7 (hereinafter referred to as a mode setting switch) as disconnection detection mode setting means. Further, the ground station 6 has a collision display unit 8 as a collision display unit, a first disconnection display unit 9a as a first disconnection display unit, and a second disconnection display unit 9b as a second disconnection display unit. Each is provided.

As shown in FIG. 1, the bumper 5a on the front side (right side in FIG. 1) of the automatic guided vehicle 1 in the traveling direction is the bumper 5
First and second tape switches 1 extending in the same direction as a
0 and 11 are arranged in parallel at a predetermined interval. Both tape switches 10 and 11 have elasticity, and when impact is applied to the bumper 5a to elastically deform the both tape switches 10 and 11,
The members 11 are also elastically deformed along with the bumper 5a and come into contact with each other. The bumper 5b on the rear side (left side in FIG. 1) in the traveling direction of the automated guided vehicle 1 has the same configuration as the bumper 5a, and therefore the description thereof is omitted, and only the bumper 5a will be described below.

One end of the first tape switch 10 has a first
Is connected to the power supply 14a through the light emitting element of the first photocoupler 16a as the energization detecting means and the resistor 13a. The other end of the first tape switch 10 is grounded via a first transistor 33 serving as a first switch means. Also, one end of the second tape switch 11 is
It is connected to the power supply 14b through the light emitting element of the photocoupler 16b as the second energization detecting means and the resistor 13b. The other end of the second tape switch 11 is grounded via the second transistor 36 as the second switch means. The tape switches 10 and 11, the photocouplers 16a and 16b, and the transistors 33 and 36 are connected using a general-purpose input / output circuit on the microcomputer board.

The photocouplers 16a and 16b are connected to an on-vehicle controller 20 as switch control means for controlling the traveling of the automatic guided vehicle 1. Both photocouplers 16a and 16b output an ON signal to the vehicle-mounted controller 20 when the light emitting element thereof is in a conductive state, and an OFF signal when the light emitting element is in a non-conductive state.
It is designed to output to 0. Further, the in-vehicle controller 20 is connected with first and second transistors 33 and 36. The in-vehicle controller 20 always turns on the first transistor 33 and turns off the second transistor 36 (hereinafter, this state is referred to as a collision detection mode). Further, the communication unit 21 and the electric motors 4a and 4b are connected to the vehicle controller 20.

On the other hand, the ground station 6 is provided with a collision detecting means, a disconnection detecting means and a ground controller 22 as a collision disconnection detecting means, and a communication unit 23 capable of communicating with the communication unit 21 is connected to the ground controller 22. Has been done. That is, the ground controller 22 is connected to the in-vehicle controller 20 via both communication units 21 and 23. Therefore, the ground controller 22 inputs the ON signal and the OFF signal from the photocouplers 16a and 16b.

The mode setting switch 7 is connected to the ground controller 22.
Thus, the disconnection detection mode for detecting the disconnection of the first and second tape switches 10 and 11 is set by the operator. When the disconnection detection mode is set by the mode setting switch 7, the in-vehicle controller 20 causes the first and second transistors 33, 3 to
Both 6 are turned on. Further, the ground controller 22 includes a collision display section 8 and a first and second collision display section 8.
Are connected to the disconnection display portions 9a and 9b. The collision display unit 8 lights up the collision of the automatic guided vehicle 1, and displays the first and second collisions.
The disconnection display portions 9a and 9b are configured to light up and display the disconnection of the first and second tape switches 10 and 11, respectively.

Then, in the collision detection mode, when the on-vehicle controller 20 inputs the ON signal from the second photo coupler 16b, the on-vehicle controller 20 causes the two electric motors 4 to operate.
Stop a and 4b. The ground controller 22 lights the collision display unit 8 when an ON signal from the second photocoupler 16b is input via the vehicle controller 20.

When the disconnection detection mode is set by the mode setting switch 7 and the vehicle controller 20 inputs an OFF signal from the first and second photocouplers 16a and 16b, the vehicle controller 20 causes both electric motors to operate. 4a and 4b are stopped. When the ground controller 22 inputs an OFF signal from the photocoupler 16a via the vehicle-mounted controller 20, the ground controller 22 turns on the first disconnection display portion 9a. When the ground controller 22 receives an off signal from the photocoupler 16b through the vehicle controller 20, the ground controller 22 lights the second disconnection display portion 9b.

Next, the operation of the collision detecting device constructed as described above will be described. In the state of the collision detection mode, the vehicle controller 20 turns on only the first transistor 33 so that the current flows only through the first tape switch 10. Therefore, the light emitting element of the first photocoupler 16a is energized and the light emitting element of the second photocoupler 16b is deenergized. As a result, as shown by the solid line in FIG. 3, the first photocoupler 16a outputs an ON signal and the second photocoupler 16b outputs an OFF signal.

When the automated guided vehicle 1 collides with an obstacle or the like and the bumper 5a is elastically deformed, the first deformation is caused by the deformation.
Also, the second tape switches 10 and 11 are elastically deformed and come into contact with each other. This contact causes the second power supply 14b to
A current flows to the first tape switch 10 via the light emitting element of the photo coupler 16b and the second tape switch 11. As a result, the light emitting element of the second photocoupler 16b is turned on, and the second photocoupler 16b outputs an on signal to the vehicle-mounted controller 20 as indicated by the chain double-dashed line in FIG. The second photocoupler 16b outputs an ON signal to the ground controller 22 via the vehicle-mounted controller 20 and the communication units 21 and 23.

The on-vehicle controller 20 controls the electric motors 4a, 4a based on the ON signal from the second photo coupler 16b.
4b is stopped and the automatic guided vehicle 1 is stopped. Further, the ground controller 22 lights up the collision display section 8 based on the ON signal from the second photo coupler 16b to notify that the automatic guided vehicle 1 has collided.

Next, when the operator operates the mode setting switch 7 while the automatic guided vehicle 1 is not colliding with an obstacle or the like, the mode setting switch 7 is operated via the ground controller 22 and the communication units 21 and 23. The start signal is output to the in-vehicle controller 20. In-vehicle controller 20
And the ground controller 22 enters the disconnection detection mode based on the start signal from the mode setting switch 7, and the on-vehicle controller 20 sets the first and second transistors 33, 3
Turn 6 on.

At this time, when the second tape switch 11 is broken, current flows only in the light emitting element of the first photo coupler 16a. As a result, as shown in FIG. 4A, the first photocoupler 16a outputs an ON signal to the in-vehicle controller 20, and also an ON signal to the ground controller 22 via the in-vehicle controller 20 and the communication units 21 and 23. Output. Further, the second photocoupler 16b outputs an off signal to the vehicle-mounted controller 20, and at the same time, the vehicle-mounted controller 20, the communication units 21, 2
An off signal is output to the ground controller 22 via the signal 3.

Then, the in-vehicle controller 20 stops the electric motors 4a and 4b based on the off signal from the second photocoupler 16b, and stops the automatic guided vehicle 1.
In addition, the ground controller 22 uses the second photo coupler 16
Based on the off signal from b, the second disconnection display portion 9b is turned on to notify that the second tape switch 11 has disconnected.

When the disconnection detection mode is set and the first tape switch 10 is disconnected, current flows only in the light emitting element of the second photocoupler 16b. As a result, as shown in (b) of FIG.
The a outputs an off signal to the vehicle controller 20, and also outputs an off signal to the ground controller 22 via the vehicle controller 20 and the communication units 21 and 23.
In addition, the second photo coupler 16b is the on-vehicle controller 20.
Outputs an ON signal to the in-vehicle controller 2
0, and outputs an ON signal to the ground controller 22 via the communication units 21 and 23.

Then, the vehicle controller 20 stops the electric motors 4a and 4b based on the OFF signal from the first photocoupler 16a, and stops the automatic guided vehicle 1.
In addition, the ground controller 22 uses the first photo coupler 16
Based on the OFF signal from a, the first disconnection display portion 9a is turned on to notify that the first tape switch 10 has disconnected.

When the disconnection detection mode is set and both the first and second tape switches 10 and 11 are disconnected, a current flows through the light emitting elements of the first and second photocouplers 16a and 16b. Not flowing. As a result, as shown in FIG. 4C, the photocouplers 16a and 16b output an off signal to the in-vehicle controller 20, and also to the ground controller 22 via the in-vehicle controller 20 and the communication units 21 and 23. Is output.

Then, the in-vehicle controller 20 stops the electric motors 4a and 4b based on the off signals from both photocouplers 16a and 16b, and stops the automatic guided vehicle 1. In addition, the ground controller 22 includes both photo couplers 16
Based on the OFF signal from a and 16b, the first and second disconnection display portions 9a and 9b are turned on to notify that both of the first and second tape switches 10 and 11 are disconnected.

As described above in detail, in the present embodiment, in the collision detection mode, the collision display section 8 is turned on to notify the collision of the automatic guided vehicle 1. When the disconnection detection mode is set by the mode setting switch 7, the disconnection of the first and second tape switches 10 and 11 is notified by lighting the first and second disconnection display portions 9a and 9b. Therefore, by operating the mode setting switch 7, the automatic guided vehicle 1
And the disconnection of the first and second tape switches 10 and 11 can be notified.

Further, in this embodiment, the first and second disconnection display portions 9a and 9b are turned on in response to the disconnection of the first and second tape switches 10 and 11, respectively. Therefore, it is possible to inform which of the tape switches 10 and 11 is broken.

Further, in this embodiment, the light emitting elements of the first and second photocouplers 16a and 16b are turned on or off by turning on or off the first and second transistors 33 and 36. I made it to the state. Therefore, unlike the contact type switch, the switching piece is not worn, and the switch replacement work due to wear can be omitted.

(Second Embodiment) Next, a second embodiment of the present invention will be described with reference to FIGS. In the present embodiment, the processing for determining the collision of the automatic guided vehicle 1 and the disconnection of both tape switches 10 and 11 is different from that of the first embodiment.
The same parts as those in the first embodiment are designated by the same reference numerals as those in the first embodiment and detailed description thereof will be omitted.

The in-vehicle controller 20 of this embodiment is the first
And the second transistors 33 and 36 are alternately turned on and off. Therefore, the first and second photocouplers 16
Currents alternately flow through the light emitting elements a and 16b at predetermined intervals. As a result, the first and second photocouplers 16a and 16b alternately output on-signals or off-signals to the vehicle controller 20 and the ground controller 22 as shown in FIG.

Next, the operation of the collision detection device of this embodiment will be described. When the automatic guided vehicle 1 collides with an obstacle or the like, the first and second tape switches 10 and 11 contact each other. At this time, when the first transistor 33 is in the off state, the second tape switch 1 is connected from the power supply 14b through the light emitting element of the second photocoupler 16b.
A current flows through 1. Further, from the power supply 14a to the light emitting element of the first photocoupler 16a and the first tape switch 10
A current flows through the second tape switch 11 via the.
When the first transistor 33 is turned on, the second transistor 36 is turned off, and a current flows from the power supply 14a to the first tape switch 10 via the light emitting element of the first photocoupler 16a. Further, a current flows from the power supply 14b to the first tape switch 10 via the light emitting element of the second photocoupler 16b and the second tape switch 11. As a result, the first and second phototransistors 33 and 36 output an ON signal to both controllers 20 and 22, as shown in FIG.

Then, the on-vehicle controller 20 stops the electric motors 4a and 4b based on the ON signals from both photocouplers 16a and 16b, and stops the automatic guided vehicle 1. In addition, the ground controller 22 includes both photo couplers 16
The collision display section 8 is turned on based on the ON signals from the a and 16b to notify that the automatic guided vehicle 1 has collided.

Next, when the second tape switch 11 is broken, for example, no current flows in the light emitting element of the second photocoupler 16b. As a result, the second photo coupler 16
b continuously outputs an off signal to both controllers 20 and 22 as shown in (e) of FIG. The first photocoupler 16a alternately outputs an ON signal and an OFF signal to both controllers 20 and 22. Therefore, there is a case where both photocouplers 16a and 16b simultaneously output an off signal to both controllers 20 and 22.

Then, the in-vehicle controller 20 stops the electric motors 4a and 4b based on the OFF signals from both photocouplers 16a and 16b, and stops the automatic guided vehicle 1. In addition, the ground controller 22 includes both photo couplers 16
Based on the off signal from a and 16b, the second disconnection display portion 9b is turned on to notify that the second tape switch 11 is disconnected. Even when the first tape switch 10 is disconnected, the first disconnection display portion 9a is turned on similarly to the above, and it is notified that the first tape switch 10 is disconnected.

As described above in detail, in the present embodiment, in addition to the effect of the first embodiment, the disconnection of both tape switches 10 and 11 can be checked without setting the disconnection detection mode. It is possible to inform the operator whether or not the switches 10 and 11 are broken.

Further, in this embodiment, the first and second transistors 33 and 36 are turned on or off so that the first and second photocouplers 16a and 16b are turned on or off. I chose Therefore, unlike the contact type switch, the switching piece is not worn, and the switch replacement work due to wear can be omitted.

The present invention is not limited to the above-mentioned embodiments, but may be embodied with the following modifications. (1) In each of the above embodiments, the present invention is applied to the guided vehicle guided vehicle 1. However, the present invention is carried out to other vehicles such as an unmanned guided vehicle guided by a guide line or a guided vehicle guided vehicle. Good.

(2) In each of the above-mentioned embodiments, the display portions 8, 9a, 9b for informing the operator of the collision of the automatic guided vehicle 1 and the disconnection of the tape switches 10, 11 by turning on the lights.
However, the present invention is not limited to this. That is, the sound of the buzzer or the like causes a collision of the automatic guided vehicle 1 and the tape switch
0 and 11 may be notified to the work.

(3) In the first and second embodiments, the transistors 33 and 36 are exemplified as the switch means.
Instead of this, an electromagnetic switch that opens and closes the switching piece by electromagnetic force may be used.

(4) In the first embodiment, in the collision detection mode, the first transistor 33 is turned on and the second transistor 36 is turned off. Further, when the disconnection detection mode is set, the first and second transistors 36 are turned on. That is, since the first transistor 33 is always on, the circuit may be simplified by omitting the first transistor 33.

(5) In the first embodiment, in the collision detection mode, the first transistor 33 is turned on and the second transistor 36 is turned off, but the present invention is not limited to this. That is, in the collision detection mode,
The first transistor 33 is turned off and the second transistor
The transistor 36 may be turned on and the collision and disconnection may be notified based on the detection signal from the first photocoupler 16a. In this case, the second transistor 36 may be omitted as described above.

(6) In the first embodiment, the ground station 6 switches the detection mode and performs various displays. However, the automatic guided vehicle 1 itself has the detection mode switching function and various display functions. Good.

Next, technical ideas other than the claims which can be understood from the above-described embodiments will be described below along with their effects. The collision detection device according to claim 1, wherein
When the disconnection detection mode is not set by the disconnection detection mode setting means, the first tape switch is deenergized by the switch means and the vehicle is collided. When the disconnection detection mode is set by the disconnection detection mode setting means in a state where the disconnection detection mode is not set, the disconnection detection mode is set by the switch control means for setting the second tape switch to the energized state by the switch means. When not set, a collision detection means for detecting a vehicle collision based on a detection signal from the first energization detection means is provided. Even with such a configuration, it is possible to notify a vehicle collision and a tape switch disconnection, respectively.

[0056]

As described above in detail, according to the first aspect of the present invention, it is possible to notify a collision of a vehicle and a disconnection of the tape switch, and which of the first and second tape switches is used. You can tell if you are disconnected.

According to the second aspect of the invention, it is not necessary to set the disconnection detection mode in order to check the disconnection of the tape switch, and the disconnection of the tape switch can be always notified.

According to the third aspect of the invention, since the switch means is a transistor, the switch replacement work can be omitted.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a collision detection device of a first embodiment.

FIG. 2 is a plan view showing an automated guided vehicle and track lines of the first embodiment.

FIG. 3 is an explanatory diagram showing a detection signal of a photocoupler in a collision detection mode in the first embodiment.

FIG. 4 is an explanatory diagram showing a detection signal of the photocoupler when the disconnection detection mode is set in the first embodiment.

FIG. 5 is an explanatory diagram showing a detection signal of a photocoupler at a normal time in the second embodiment.

FIG. 6 is an explanatory diagram showing a detection signal of a photocoupler at the time of collision of an automatic guided vehicle in the second embodiment.

FIG. 7 is an explanatory diagram showing a detection signal of the photocoupler when the tape switch is broken in the second embodiment.

FIG. 8 is a configuration diagram showing a conventional collision detection device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Unmanned guided vehicle as a vehicle, 7 ... Disconnection detection mode setting switch as disconnection detection mode setting means, 8 ... Collision display section as collision display means, 9a ... First disconnection display as first disconnection display means , 9b ... Second disconnection display section as second disconnection display means, 10 ... First tape switch, 11 ... Second tape switch, 14a, 14b ... Power supply, 16a ... As first energization detecting means First photocoupler, 16b ... Second photocoupler as second energization detecting means, 20 ... In-vehicle controller as switch controlling means, 22 ... Collision detecting means, disconnection detecting means and ground as collision disconnection detecting means Controller, 33 ... First transistor as first switch means, 36 ... Second
Second transistor as a switch means of the.

Claims (3)

[Claims] 1. A first tape switch and a second tape switch, which are arranged in parallel so as to come into contact with each other when a vehicle collides with each other and are connected in parallel to a power supply respectively, and between the first tape switch and the power supply. A first energization detecting means for detecting energization / de-energization of the second tape switch, a second energization detecting means for detecting energization / de-energization between the second tape switch and a power source, and the second tape switch. Switch means for energizing or non-energizing state, disconnection detection mode setting means for setting disconnection detection mode for detecting disconnection of the first and second tape switches, disconnection detection mode setting means for disconnection When the detection mode is not set, the second tape switch is de-energized by the switch means, and the wire break detection mode setting means sets the wire break detection mode when the vehicle is not colliding. When the disconnection detection mode is not set by the disconnection detection mode setting means, the switch control means for energizing the second tape switch by the switch means is detected when the disconnection detection mode is set. A collision detection means for detecting a collision of the vehicle based on the above, a collision display means for displaying the collision when the collision means detects a collision of the vehicle, and a disconnection detection mode is set by the disconnection detection mode setting means. Disconnection detecting means for detecting disconnection of the first and second tape switches based on the detection signals from the first and second energization detecting means, and the disconnection detecting means for disconnecting the first tape switch. First disconnection display means for displaying the disconnection when detected, and second disconnection display means for displaying the disconnection when the disconnection detection means detects disconnection of the second tape switch And a collision detection device. 2. A first tape switch and a second tape switch, which are arranged in parallel so as to come into contact with each other when a vehicle collides with each other and are connected in parallel to a power supply respectively, and between the first tape switch and the power supply. A first energization detecting means for detecting energization / de-energization of the second tape switch, a second energization detecting means for detecting energization / de-energization between the second tape switch and a power source, and the first tape switch. A first switch means for turning on or off a current, a second switch means for turning on or off the second tape switch, and a first switch for turning on and off alternately The first switch means is controlled so as to be in an energized state, and the second switch means is so arranged that the second tape switch is alternately energized and de-energized with the first tape switch. Switch control means, a collision disconnection detecting means for detecting a collision of the vehicle and disconnection of both tape switches based on the detection signals from the first and second energization detecting means, and the collision disconnection detecting means for the vehicle. A collision detection device having a collision display means for displaying the collision when the collision is detected, and a disconnection display means for displaying the disconnection when the collision disconnection detecting means detects the disconnection of both tape switches. 3. The collision detection device according to claim 1, wherein the switch means is a transistor.