JPS61168024A - Guiding and controlling device of unmanned carrier car - Google Patents

Abstract

PURPOSE:To perform control which receives less influences from external irregular lights, by providing two projectors and two light-reception detectors at the front and rear sides on one diagonal line of a car body in the direction perpendicular to the advancing direction of the car and performing the control by irradiating and detecting one side edge of a light reflecting tape by means of each set of the projector and detector. CONSTITUTION:Projectors 3 and 4 which irradiate both edges 21 and 22 of a light reflecting tape and light-reception detectors 5 and 6 which receive reflecting lights are provided at the front and rear sections on one diagonal line of the car body of an unmanned carrier car 1 in the direction perpendicular to the advancing direction of the car 1. A semiconductor position detector is composed of resistance layers pro vided on both surfaces of a high-resistance silicon substrate and N+layer and each layer is connected with both right and left electrodes and a common electrode, respec tively. When the distance between the right and left electrodes and the distance be tween an optical beam made incident on the resistance layers and an electrode 51 are designated as l and x, respectively, the electric currents fetched by the right and left electrodes respectively become as follows: IA=IO(l-x)/l and IB=IOx/l. By using the currents IA and IB, the incident position of the optical beam can be known.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to an automated guided vehicle that detects the position of a light reflective tape placed along a guiding course and provides a predetermined signal to a control device of the automated guided vehicle. It relates to a vehicle guidance control device.

Conventional technology and its problems Conventionally, optically guided unmanned transport, which travels along a predetermined path by shining light from a light emitting source onto a light reflective tape placed directly above the floor and detecting the reception of the reflected light, has been widely used. However, when using a fluorescent lamp as a light source, it is necessary to install a device in the power supply section to boost the low voltage of the battery mounted on the type, and there is also a disadvantage that there is a large power loss. .

Also, the number of light-receiving elements perpendicular to the light-reflecting tape increases.
If a light emitting diode other than a fluorescent lamp is used as a light emitting source, the same number of light receiving elements as the number of light emitting diodes will be required, making the device complicated and expensive.

Furthermore, this type of light receiving and detecting device has the disadvantage that it lacks reliability in detecting the light reflecting tape because it is easily affected by dirt on the light reflecting tape and ambient light.

Means to solve problems The present invention has been made in view of the above circumstances.

Two projectors that emit pulsed light beams to one end of the light-reflecting tape and two light-receiving detectors that receive the light beams reflected from the light-reflecting tape are placed on one diagonal of the automatic guided vehicle body. Cast in front and back and perpendicular to the direction of movement of the mold.

The one light projector and one light receiving detector are placed on the same side of the light distribution reflective tape, and the other light projector and one light receiving detector are placed on the other side of the light reflecting tape. The device is equipped with a control device which detects the irradiation of each end side and outputs a guidance signal based on the signal from the light receiving detector.

Embodiment FIG. 1 shows an automatic guided vehicle according to the present invention, which has two projectors and two
FIG. 2 is an explanatory diagram schematically showing a configuration including two light receiving detectors. In the figure, l is an unmanned transport vehicle that travels by detecting a light-reflecting tape 2 placed on the floor along its travel route.

The above-mentioned light-reflecting tape is placed on one diagonal of the vehicle body at this unmanned transport point 1 and on the side and rear of the vehicle body. The edge of 21.2! A floodlight 8.4 is arranged to illuminate the sky.
．． Light reflective tape from 4! A light receiving detector 6.6 is provided for receiving the reflected light reflected by each of the two.

Proverb 6 indicates the steering wheel and 7 indicates the driving wheel.

Figure 2 is an explanatory diagram showing the configuration of a light projector 8.4 and a light receiving detector 5.6 showing an embodiment of the present invention. In the figure, reference numeral 41 denotes a light emitting diode as a light source.

82.42 is the light beam K irradiated from the light emitting diode 81, 4' 1, and the one end side xi, 22 of the light reflective tape 2.
The beam splits 7 vertically to reflect the beam. 811.
411 is a lens system, and beam splitter R'l, 4
The image of the light emitting portion of the light emitting diode Ill, 41 reflected by the light emitting diode Ill, 41 is formed on the surface of the one end side 21 of the reflective tape 2, and the image on the one end side 21 of the reflective tape 2 is focused on the light receiving detector 6.6. An image is formed on the detection site.

5.6 is one end side 21.2 of the light reflective tape 2! The light beam λ reflected by the lens system, ■.

411 and a beam splitter 82.41.

The light receiving detectors (sensors) IIK and 6 are arranged at the front and rear parts of the vehicle body so as to be perpendicular to the progression of the mold, and the distance between the centers of both sensors 5 and 6 is the width of the light reflective tape. The left side and the right side from the center line of the reflective tape 2 are detected respectively.

In the illustrated example, a -dimensional semiconductor device detector is shown. This semiconductor device detector consists of ten 2N resistive layers sandwiching a high-resistance silicon substrate from both sides, and each layer has an electrode.
51. It is formed by connecting Fi2 and common electrode 5B.

Therefore, the distance between the electrodes 5] and 62 is l, and the resistance is 1
In particular, let the distance between the incident light beam and the electrode 61 be X,
If the currents collected in the electric field 61.52 are IA and IB, and the total is Io, then the resistance value of the resistance layer is proportional to the length.

It is shown in the table.

By performing a predetermined calculation using the currents IA and In taken out from each electrode, the incident position of the light beam 1 incident on the sensor 5 can be determined. If the distance 1 between the incident position and the electrode 51 during normal running is determined so as to correspond to one end of the light reflective tape, the amount of deviation of the light reflective tape in the automatic transport system will be determined by the change ΔX in the incident position. can be detected. The same applies to the sensor 6 as well.

A signal that detects this amount of deviation is used to control the redirection of the unmanned aircraft and guide it. Next, the operation of this device will be explained.

When the east side is running normally, the light beam emitted from the light emitting diode fit, 41 has a beam splitter a! , 4! reflected by lens system 1
18. Each end side of the light reflective tape snow through 431 zt
, zt, and this reflected light 1z passes through the lens system i1m, 48 again to the beam splitter +1.
! , 4! and enters the sensor 5.6. This incident position is set to electrode g1. Let the distance from the electrode 111 be X (same as the above code).

0, the inclination angle θ of the vehicle body becomes t@n #閤O, and these output values are stored in the storage device as reference values.

When the vehicle deviates from the light reflecting tape in a vertical direction Δx, it becomes a fish nDθ醐O, which is detected by output increase/decrease of the sensor 5.6 and inclination angle calculation, and compared with the above-mentioned stored value. In other words, since the output of the sensor 6 placed at the front of the vehicle and the output of the sensor 6 placed immediately behind the vehicle increase and decrease by the same output, and c@n'θ is zero,
A parallel deviation state can be determined.

If the straight line is tilted at an angle Δθ from the light reflective tape (L is the distance between the front and back of the sensor 5.6), then the left/right oblique direction of the straight line and the amount of deviation thereof will be determined by the increase or decrease of the sensor 6.11. The angle of inclination of the vehicle body is calculated using the above formula.

In other words, when the east side is tilted to the left with respect to the direction of travel,
The output of sensor 6 increases, and the output of sensor 6 decreases.

Conversely, when tilting to the right, the output of sensor 6 decreases and the output of sensor 6 increases, so the tilt direction is determined by both the sensors g and II.
Judgment is made by detecting the change in output, and the amount of deviation is determined based on the change in output, and the angle of inclination of the vehicle body is also determined at the same time by calculating ■J.

As described above, the current running state can be determined by the increase/decrease in the detection outputs of the sensors 6 and 6, and by calculating the tilt angle of the mounted body based on the detection outputs of both sensors.

Next, the calculation device calculates the steering angle d of the electric motor by a-, 1ΔX+, and 2Δθ (where Kl and Lx are constants determined by the vehicle body), and the steering motor is steered by this calculation output.

FIG. 1 is a block diagram showing the circuit configuration of the device according to the present invention.

The light beam irradiated from the light emitting diode jl, 41 is incident on the sensor 5.6, and the photocurrent is outputted according to the incident position to the electrode 51.5! ! , 61.82, then the amplifier 71.7! and arithmetic unit 731. The communication deviation amount, electric body angle, and steering angle are calculated and compared through the storage device 74, and this output is sent to the control circuit γ6 through the A/D converter 76.
By inputting the signal to the drive motor 77 and the steering motor γ8, the driving wheel γ and the steering wheel 6 are operated.

In the above description, the light beams were irradiated on both ends of the light-reflecting tape, but the irradiation potential of the light beam was such that it irradiated the inside of the light-reflecting tape with a predetermined width from both ends. It's okay.

Furthermore, if the bundle completely deviates from the light reflective tape, fm
Since the output of any of the E sensors 5 and 41 becomes zero, it is also possible to stop the vehicle after a certain period of time has elapsed.

In the above embodiment, -dimensional semiconductor device detectors are placed on the front and rear diagonals of the bundle, illuminate both ends of the light-reflecting tape, and detect the amount of deviation and electric angle of the bundle by the reflected light. In addition, the projector/receiver has a lens system that focuses on the irradiation decoy and the light receiving surface, which reduces the number of detectors, reduces detection errors, and reduces power requirements. It has the advantage of being small.

Next, other embodiments will be explained.

FIG. 4 is an explanatory diagram showing part of the light projecting section and the light receiving section, in which a laser beam is used as the light beam. The laser beam LB emitted from the laser beam generator 51 is split into eight beams by the beam splitter 52.68. The laser beam LBl branched by the prism 54. One end side 21 of the light reflective tape 2 is irradiated through a lens system, and the laser beam Lux split by the beam splitter 68 is irradiated onto the other side of the light reflective tape 2 through a prism 56 lens system as described above. ! % beam splitter 5! , the laser beam LB+ that passed through All
s is a beam splitter 5G placed in its path.

The upper surface of the light-reflecting tape is illuminated through a lens system, and each lens system forms a focal point.

And both ends of the light reflective tape! 1,1! The laser beam LB1. The reflected light of LBz is detected by the sensor 5.6.
The other laser beam LBII is reflected by the light reflecting tape and separately sent to the bundle via the beam splitter 56. The barcode reader 67 mounted on the tower is irradiated. If the command information for the bundle set in advance on the upper surface of the light reflective tape 2 is determined by a bar code, the command information for the bundle can be transmitted by reading the bar code by irradiating the laser beam LBs. Barcode readers are well known, and barcode decoding and control of commands to control devices are well known.
Detailed explanation will be omitted. In this embodiment, the %1 laser beam is split into multiple parts and used for guiding the bundle, as well as for reading barcodes displayed on light reflective tape. In addition to being effective at transmitting information to the bundle, it also has the advantage that there are fewer malfunctions due to disturbance light due to dirt on the light-reflecting tape.

In addition, as another embodiment in the light projecting section, 1 light emitting diode 8
1, 4' The light beam λ emitted from 1 may be pulsed light. That is, as shown in FIG. 3, a light emitting diode at,
It is intermittently driven by drive circuits s FI and s g ic to which the output of the oscillation circuit 114.44 is applied. This pulsed light has advantages f) i, such as less influence on dirt on the light reflecting tape and less influence on ambient light.

In the above embodiment, a -dimensional semiconductor position detector is used as the sensor, but the present invention is not limited to this.

Effects of the Invention According to the present invention, two sets of light emitters and light receiving detectors are arranged diagonally in front and rear of the unmanned transport system.

This light emitter/receiver irradiates both ends of the light reflective tape to form an image, and receives the light at the light receiving detector and focal point, which reduces the number of light receiving detectors and simplifies the device, reducing the risk of dirt on the light reflecting tape. has little effect on ambient light, and when using a laser beam, it is possible to read the information displayed on the light reflective tape by adding a barcode reader, so it can be used not only for guiding the book but also for transmitting information. It also has the advantage that it can be done easily.

[Brief explanation of drawings]

FIG. 1 is a configuration explanatory diagram showing one embodiment of the present invention. FIG. 2 is a configuration explanatory diagram showing a secondary light-receiving section, FIG. 8 is a block diagram schematically showing the circuit configuration of the embodiment, and FIG. Megumi is an unmanned transporter,
2 is the light reflective tape, 8°4 is the emitter, 6.6 is the light receiving detector, 21.22 is the edge of the light reflective tape,
157 is barcode reader% LB is laser beam, R is light beam Patent issuer 1 person outside Hitachi Machinery and Electric Industries, Ltd. Figure 3 Figure 2

Claims (2)

[Claims] (1) In an automated guided vehicle that guides the automated guided vehicle by detecting the amount of lateral deviation from the light reflecting tape and the vehicle body angle by receiving light from the light reflecting tape laid on the floor, A pair of light projectors and light receiving detectors are disposed on the left and right in the front and rear, respectively, and each of the light receiving detectors is configured to be able to receive and detect light over a predetermined width in the left or right direction of the surface of the light reflective tape, respectively; By irradiating and imaging a light beam from each of the projectors onto one left and right end side of the light-reflecting tape, and focusing the reflected light from the light-reflecting tape on the light-receiving detector, both light-receiving detectors can be detected. 1. A guidance control device for an automatic guided vehicle, characterized in that the automatic guided vehicle is guided by determining the traveling direction, deviation amount, and body angle of the automatic guided vehicle based on changes in output. (2) By detecting the amount of lateral deviation from the light-reflecting tape and the vehicle body angle by receiving light from the light-reflecting tape laid on the floor surface, the automatic guided vehicle that guides the vehicle will be able to A pair of light projectors and light receiving detectors are disposed on the left and right in the front and rear, respectively, and each of the light receiving detectors is configured to be able to receive and detect light over a predetermined width in the left or right direction of the surface of the light reflective tape, respectively; emitting a laser beam from each of the projectors;
This laser beam is branched into a plurality of beams, and the two branched laser beams are irradiated and focused on one left and right end of the light reflective tape, and the reflected light from the light reflective tape is transmitted to the light receiving detector. By imaging the light received by the two light receiving detectors, the traveling direction, deviation amount, and body angle of the automatic guided vehicle are determined based on the changes in the output of both light receiving detectors, and the vehicle is steered. The other one illuminates and forms an image on the surface of the reflective tape, and the reflected light from this reflective tape is made to enter a barcode reader mounted on the vehicle, thereby reading the information displayed on the surface of the reflective tape. A guidance control device for an unmanned guided vehicle characterized by the following: