JPH087447Y2 - Automatic guided vehicle collision prevention device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION "Industrial Application Field" The present invention relates to an automated guided vehicle used for moving processing and assembly materials and products in, for example, a factory.

[Prior Art] Conventionally, when a plurality of carrier bodies are run unmanned on the same route, a technology for preventing two or more carrier bodies from colliding at a confluence of three-way or cross-shaped tracks. However, JP-A-56-82910, JP-A-59-80804, JP-A-60-77208,
It is disclosed in each publication of JP-A-61-25217.

"Problems to be solved by the invention" In the conventional technology, one transport vehicle body detects the other transport vehicle body at the joining portion of the track and stops before the joining portion,
This is a priority type collision prevention means that the other transport vehicle starts after passing through the confluence part.However, in this means, since the vehicle body detection for determining the priority order is performed during traveling, it lacks certainty and the priority order There is a high rate of erroneous judgment, the risk of collision cannot be eliminated, and it is necessary to monitor one transport vehicle from entering the junction of the other transport vehicle to passing through it. In addition to the need for multiple sensors on the front side, there is the problem that control is complicated.

[Means for Solving Problems] Therefore, according to the present invention, the confluence portion of the track is formed so that at least two or more carrier bodies are substantially orthogonal to each other, and at the same time the front portion of the self-propelled carrier body is fed. An optical member is provided, and a light receiving member is provided on the opposite side of the light receiving member.When a plurality of transport vehicle bodies reach the merging portion at the same time, the transport vehicle body on the side not receiving the light receiving member always starts with priority. A traveling system of a fixed automatic guided vehicle, wherein the light transmitting member and the light receiving member are arranged obliquely forward at an angle of about 45 degrees with respect to the traveling direction,
In addition, a checkpoint, which is a target for the temporary stop of the transportation vehicle body, is formed in front of the confluence portion of the track, and the light emitted from the light-transmitting member of one transportation vehicle vehicle that is temporarily stopped in front of the same confluence portion is set to be substantially orthogonal to the other. All checkpoints are formed equidistant from the confluence part so that they directly enter the light-receiving member of the transport vehicle, and the transport vehicle on the side where the light-receiving member does not receive light among the transport vehicles temporarily stopped at each checkpoint. Is the vehicle that starts after a predetermined pause time and the vehicle body on the side where the light is received by the light receiving member is the predetermined pause time plus the predetermined time required for the other vehicle body to pass through the confluence. It is designed to start after stopping.

"Action" Therefore, all the transportation vehicles approaching the confluence part of the track are temporarily stopped at the checkpoint before the confluence part, and the vehicle body detection to determine the priority order is reliably performed in the stopped state. It is possible to make a reliable decision, eliminate the risk of erroneous prioritization, and thus eliminate the risk of collisions.Because body detection can only be performed when the vehicle is temporarily stopped at a checkpoint before the confluence of tracks, Only one light-emitting member and one light-receiving member need be provided on the transport vehicle body as sensors for vehicle use. While ensuring the safety of the unmanned transport system, the number of sensors for vehicle body detection is reduced and the control of the unmanned transport system is simplified. Can be easily achieved.

[Example] Hereinafter, an example of the present invention will be described in detail with reference to the drawings. FIG. 1 is a plan view of an essential part, FIG. 2 is a plan view, and FIG. 3 is a cross-sectional side view, in which a cargo box (2) is formed on a top surface of a rectangular box-shaped transport vehicle (1) having an opening on the bottom surface and controlled. An operation console (4) provided with a box (3) and the like is provided on the rear upper surface of the vehicle body (1), and front and rear wheels for driving and steering (5) and a pair of left and right rear wheels (6) and (6) are provided for the vehicle body. The front wheel (5) is axially supported by an axle frame (8) provided in the vehicle body (1) rotatably in a horizontal direction via a fulcrum shaft (7) in preparation for (1), and the front wheel (5) is moved forward. A traveling motor (9) to be rotated is attached to the axle frame (8), and a pulley (1) (1) (1) is attached to a steering motor (10) provided inside the transport vehicle body (1).
2) The fulcrum shaft (7) is connected via the belt (13) and the front wheel (5) is forwardly rotated by the traveling motor (9), while the front wheel (5) is turned by the steering motor (10). Is configured as follows.

Further, a battery case (15) is provided inside the transport vehicle body (1) via a rail (14) so that the battery case (15) can be freely taken out, and a battery (16) as a power source of each of the motors (9) and (10) is provided in the case (15). The battery (16) is put in and out from the door (17) which can be opened and closed on one side of the vehicle body (1), the connecting hook (18) is provided at the center of the rear part of the transport vehicle body (1), and the vehicle body (1). ) While the flexible cushion bumpers (19) are fixed to the front side, respectively, a pair of left and right auxiliary wheels (20) (20) are attached to both front portions of the transport vehicle body (1), and front and rear wheels (5)
The auxiliary wheel (20) whose ground contact position is higher than that of (6).
Are arranged in front of the front wheel (5) and on both sides thereof.

Further, as shown in FIG. 2, a power switch (21), a manual changeover switch (22), left and right turning manual switches (23) and (24), an emergency stop switch (25), and a departure switch. (26) and a keyboard (27) for commanding the destination,
The present position and destination indicators (28) (29) are provided on the upper surface of the operation console (4), and the manual switch (23)
(24) While maneuvering to the destination by operation,
By operating the keyboard (27) and the departure switch (26), the vehicle is automatically moved to the destination by unmanned operation.

On the other hand, as shown in FIGS. 2, 3, 5, and 6, a flexible pipe type collision sensor (20) is provided inside the cushion bumper (19) and electrically conductive when the cushion bumper (19) is deformed by collision. ), An obstacle sensor (31) provided in the center of the front part of the transport vehicle body (1) to detect an obstacle in the traveling direction, and an obstacle sensor (31) provided on the right side of the front part of the transport vehicle body (1) about 45 outwards with respect to the traveling direction. A light transmitter (32) that is a light-transmitting member that sends out a presence signal (light) in a tilted direction, and receives a presence signal from another transport vehicle body (1) provided on the front left side of the transport vehicle body (1). And a transport vehicle sensor (33) which is a photoconductive type light receiving member, and the traveling motor (9) is based on the outputs of the sensors (30) (31) (33).
Is configured to stop.

Further, as shown in FIGS. 1 and 4, a closed loop type track (34) and a checkpoint (35) which are optical type road surface tapes are formed by an aluminum foil or a stainless adhesive tape, and the track (34) is formed. A pair of checkpoints (35) (35) are provided in the center at the symmetrical positions on both sides, and a trifurcated orbit (34) at the junction and the junction
And the checkpoint (35) can be distinguished, and the checkpoint (35) is compared with the width of the track (34).
Is formed to be sufficiently long in the traveling direction so that the time taken for the carrier body (1) to traverse the track (34) and the time required to pass the check point (35) are made different, and a crossroad shape at the junction and the junction is formed. The track (34) and the checkpoint (35) can be distinguished.

Further, the left and right steering sensors (38) (39) which irradiate the light of the lamp (36) on both side edges of the track (34) and receive the reflected light by the photoconductive element (37), and the check point (35). ) Is provided with a pair of left and right front and rear point sensors (42) (42) (43) (43) for receiving the reflected light from the lamp (40) by the photoconductive element (41), and the axle frame Sensor case (44) supported on (8)
Is located in front of the front wheel (5), and the sensors (38) (39) are provided inside the sensor case (44) capable of blocking external light.
(42) (43) is provided, and the steering sensor (38)
The front wheel (5) is supported by displacing the front wheel (5) to the right of the straight running line of the front wheel (5) so that the front wheel (5) moves between the check point (35) and one side outside of the track (34). I am configuring.

Next, as shown in FIG. 7, a memory (45) for storing and inputting a traveling program such as a traveling direction such as a left turn and a right turn and a stop position based on the track (34) pattern of FIG.
And a traveling control circuit (46) for controlling the operation of the traveling motor (9) and the steering motor (10) based on the traveling program.
With a battery (16) via the power switch (21)
Input switch and each switch (22) (23)
(24) (25) (26), each sensor (30) (33) (38)
(39) (42) (43) and the keyboard (27) are connected to the travel control circuit (46).

Further, the traveling control circuit (46) is connected to the traveling motor (9) through a speed change driver (47) for switching the traveling speed between low speed and high speed.
The steering motor (1) via the left and right turning drivers (48) (49) that connect the
0) is connected to a travel control circuit (45), and the travel motor (9) is driven and stopped based on the outputs of the sensors (30) (33) (42) (43) while the sensors are The steering motor (10) is controlled to rotate normally and reversely based on the outputs of (38), (39), (42) and (43), and is moved to the destination along the track (34).

The present invention is configured as described above, and an adhesive tape such as aluminum foil is attached to the floor surface of a factory or the like to form a closed loop type track (34) as shown in FIG. Before the shape and stop (loading and unloading luggage)
Form a checkpoint (35) in position. The steering switches (38) (39) are used to move the transport vehicle body (1) onto the track (34) by operating the manual switches (23) (24).
When the track (34) is detected by, the operation of the manual switch (23) is automatically interrupted. Furthermore, the destination is specified by operating the keyboard (27), and the departure switch (26) is operated to move the vehicle along the track (34) to a desired location by unmanned operation to load and unload cargo.

Further, as shown in the flowchart of FIG. 8, when the turning output is generated from one of the left and right steering sensors (38) and (39) while the transport vehicle body (1) is moving on the track (34). , The steering motor (10) is operated based on the outputs of the sensors (38) and (39), and the front or rear wheel (5) is turned left or right by left or right turning control to correct the traveling direction of the transport vehicle body (1). At the same time, as shown in the flowchart of FIG. 9, the cushion bumper (19) comes into contact with an obstacle and is deformed, whereby the collision sensor (30) is turned on,
Based on the output of the collision sensor (30), the traveling motor (9)
Off control and stop.

In addition, as shown in the flow chart of FIG. 10, the orbit (34)
When the transport vehicle body (1) passes over the intersection of the checkpoint (35) and the checkpoint (35), it is determined whether or not it is the checkpoint (35) based on the output of the point sensors (42) (43). Front and rear point sensors (42) (42)
(43) When all checkpoints (35) are output from (43), the traveling motor (9) is turned off to stop the vehicle, and when the other transport vehicle body (1) is not approaching, it remains constant. When the traveling motor (9) is turned on after the time has elapsed and the vehicle is started, and as shown in FIGS. 5 and 6, when the vehicle is stopped at the checkpoint (35) before this, at the confluence of the track (34), Another transport vehicle from another direction (1)
Is approaching and confirmed by the vehicle sensor (33), the output of the sensor (33) keeps the vehicle stopped, and the output of the sensor (33) is interrupted to start the vehicle after a certain period of time. ) Collisions and rear-end collisions of the transport vehicle body (1) at the merging portion are prevented. At the confluence of the track (34), the light transmitter (32) from the left transport vehicle body (1)
Is detected by the transport vehicle sensor (33) of the right transport vehicle body (1), and the left transport vehicle body (1) is moved with priority. Further, when there is no output of the guided vehicle detection from the guided vehicle sensor (33) or when the output does not exist, the track (34) is passed after the guided vehicle body (1) passes the check point (35).
The vehicle is temporarily stopped at the checkpoint (35) in front of the merging section for a certain time required to escape from the merging section, and the left transporting vehicle (1) passes through the merging section of the track (34). ), For example, when the transport vehicle body (1) passes through the confluence portion of the track (34) and the transport vehicle body (1) arrives in addition to the check point (35) before the confluence portion,
Since the transport vehicle body (1) that arrives later is temporarily stopped, it can be prevented that the transport vehicle body (1) collides with the transport vehicle body (1) that is in the middle of passing, and the transport vehicle body (1) that is in the middle of passing the track (3
4) Safely escape from the confluence.

On the other hand, as shown in the flow chart of FIG. 11, the carrier body (1) reaches the checkpoint (35), and all the point sensors (42) (42) (43) (43) detect the checkpoint (35). When an output is generated, a traveling program is input from the memory (45). When the check point (35) is at the stop position for loading and unloading the luggage, the traveling motor (9) is controlled to be turned off. (1) is stopped, and when the check point (35) is at the left turn position, the steering motor (10) is controlled to turn to the left to turn left at the next track (34) branch point, and vice versa. (3
When 5) is in the right turn position, the steering motor (10) is controlled to turn right to turn right at the branch point of the next track (34), and when the check point (35) is at the traveling speed change position and the speed is increased, The traveling motor (9) is operated at a high speed, and when the check point (35) is not accelerated at the traveling speed changing position, the traveling motor (9) is operated at a low speed, and the track (34) is operated unmanned in one direction. It is to move and carry luggage.

[Advantages of the Invention] As is apparent from the above embodiments, the present invention forms the confluence portion of the track (34) so that at least two or more carrier bodies (1) ... A light transmitting member (32) is provided on one side of the front portion of the transport vehicle body (1) and a light receiving member (33) is provided on the opposite side thereof, and when a plurality of transport vehicle bodies (1) reach the merging portion at the same time, the light receiving member is provided. A traveling system of an unmanned guided vehicle having a fixed priority, in which the guided vehicle body (1) on the side not receiving light to (33) always starts with priority, and the light transmitting member (32) and the light receiving member (33) ) Is placed at an angle of about 45 degrees to the direction of travel and is directed diagonally forward, and the track (34)
A checkpoint (35), which is a target for the temporary stop of the transport vehicle (1), is formed in front of the confluence part, and the light is transmitted from one transport vehicle (1) which is temporarily stopped in the front of the same confluence point so as to be substantially orthogonal. All check points (35) are formed at positions equidistant from the merging portion so that the light emitted from the member (32) directly enters the light receiving member (33) of the other transport vehicle body (1). Of the transport vehicle body (1) temporarily stopped at the point (35), the transport vehicle body (1) on the side where the light receiving member (33) does not receive light starts after a predetermined pause time, and the light receiving member (33) receives light. The transport vehicle body (1) on the servicing side is configured to start after stopping for a predetermined pause time plus the predetermined time required for the other transport vehicle body (1) to pass through the confluence. , The transport body (1) approaching the confluence of the track (34) It stops at the checkpoint (35) in front of the merging section, and the vehicle body (1) that determines the priority order is reliably detected while the vehicle is stopped. Therefore, this priority order can be reliably determined. It is possible to eliminate erroneous judgment of the order, thus eliminating the risk of collision, and the detection of the vehicle body (1) is performed only when the vehicle is temporarily stopped at the checkpoint (35) before the confluence of the track (34). Therefore, only one light emitting member (32) and one light receiving member (33) need to be provided on the transport vehicle body (1) as sensors for detecting the vehicle body (1), and the safety of the unmanned transport system is sufficiently secured. However, the remarkable effect that the number of sensors for detecting the vehicle body (1) and the simplification of the control of the unmanned transportation system can be easily achieved is achieved.

[Brief description of drawings]

FIG. 1 is a front view of essential parts showing an embodiment of the present invention, FIG. 2 is a plan view, FIG. 3 is a sectional side view, and FIG.
5 and 6 are plan explanatory views of the orbital merging portion, FIG. 7 is a main part control circuit diagram, and FIGS. 8 to 11 are flowcharts thereof. (1) …… Transport vehicle (32) …… Transmitter (transmission member) (33) …… Transport vehicle sensor (light receiving member) (34) …… Track (35) …… Checkpoint

Claims (1)

[Scope of utility model registration request] 1. A merging portion of a track (34) is formed so that at least two or more carrier bodies (1) ... Are substantially orthogonal to each other, and light is transmitted to one side of a front portion of a self-propelled carrier body (1). Material (32)
And a light receiving member (33) is provided on the opposite side, and when a plurality of transport vehicle bodies (1) reach the merging portion at the same time, the transport vehicle body (1) on the side not receiving light by the light receiving member (33) It is a traveling system of an unmanned guided vehicle whose priority is fixed and always starts with priority. The light transmitting member (32) and the light receiving member (33) are directed obliquely forward at an angle of about 45 degrees with respect to the traveling direction. The checkpoint (35), which is the temporary stop target of the carrier body (1), is formed in front of the confluence of the track (34), and is temporarily stopped in the vicinity of the same confluence so as to be substantially orthogonal. All the check points (35) are from the confluence part so that the light emitted from the light transmitting member (32) of one transport vehicle body (1) directly enters the light receiving member (33) of the other transport vehicle body (1). Transport vehicle bodies (1) that are formed at equidistant positions and are temporarily stopped at each check point (35) ), The transport vehicle body (1) on the side where the light receiving member (33) does not receive light starts after a predetermined pause time, and the transport vehicle body (1) on the side where the light receiving member (33) receives light receives the predetermined temporary time. A collision prevention device for an automated guided vehicle, which is characterized in that the vehicle is stopped after being stopped for a time obtained by adding a predetermined time required for the other transporting vehicle body (1) to pass through the merging portion.