JPS61246810A - Unattened track - Google Patents

Abstract

PURPOSE:To keep the running with high precision by adopting the constitution that a speech recognition circuit is provided and a signal from the said circuit is converted into a part of a control command from a steering drive circuit. CONSTITUTION:A moving control circuit 12 has a processing function according to the running program by an operating panel 14. A detection signal of an orbit detector 11 is inputted to an orbit detection circuit 15 and processed into an information signal such as deviation to an orbit 2, deceleration or stop and transferred to a movement control circuit 12. Further, a detection signal of an ultrasonic sensor 5 is inputted to the circuit 12. A steering drive circuit 13 receives a signal processed by the circuit 12 to control the steering wheel 3a and the drive wheel 3b and the drive wheel is controlled by a signal from the speech recognition circuit 16 outputting a signal to control a running wheel 3 according to a speech registered in advance.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to an automatic guided vehicle. [Technical Background of the Invention] As is well known, automatic guided vehicles often stop, decelerate, etc. based on control commands. It travels along a track laid on the floor with various guidance marks, and moves to a predetermined position according to the detection of the guidance marks. By the way, for example, if a malfunction occurs in the control for movement, the automatic guided vehicle will run out of control and fall into an extremely dangerous situation.

In order to deal with this situation, we have devised measures such as installing a touch sensor at an appropriate location such as the bumper on the body of the automated guided vehicle, or installing an emergency stop switch, or using a wireless control drive system. Consideration was given to emitting a signal operation that would stop in the event of an abnormality during the transmission and reception of wireless signals.

[Problems with background technology]

In the case of a touch sensor, although the vehicle is controlled to reduce its traveling speed, it literally means that the automatic guided vehicle will collide with something and stop. Although this type of sensor is a necessary component, it is clearly not the preferred stopping action. An emergency stop switch is useless unless a supervisor is always accompanying the automated guided vehicle. Furthermore, in the case of wireless systems, runaway events are often the result of a failure in the wireless system, and there is a problem in that the emergency stop function is unreliable. In view of this problem, the objective is to provide an automatic guided vehicle that can maintain highly accurate running.

[Summary of the invention]

In order to achieve the above object, a voice recognition circuit is attached, and a signal from this circuit is converted into a part of the control command from the steering drive circuit.

[Embodiments of the invention]

Hereinafter, the present invention will be explained based on drawings showing examples.

Figure 1 shows an example of an automatic guided vehicle (1) based on the present invention, in which running wheels (3) that can be turned in all directions along a track (2) are shown.
) The vehicle body (4) is equipped with an ultrasonic sensor (5) on the front surface thereof to confirm the presence of an object, and a bumper (6) that also serves as a touch sensor is attached around the vehicle body. Further, the upper part of the vehicle body is equipped with a pair of emergency stop switches (7), a wireless driving antenna (8) for transmitting and receiving signals from a wireless control panel (not shown), and a microphone (9). Note that the track (2) is provided with guide marks (9), and these track (2) and guide marks (10a)
, (10b) is attached to the lower part of the vehicle body (4).

The circuit (C) that controls the traveling of the automatic guided vehicle (1) will be explained based on FIG. 2. That is, the movement control circuit α2
and a steering drive circuit 0, which are mounted inside the vehicle body (4). The movement control circuit 02 has a processing function according to a travel program using a pendant-type operation panel I. The detection signal of the orbit detector qυ is sent to the orbit detection circuit α
9, which is processed into information signals such as deviation from the trajectory (2), deceleration, stop, etc., and transferred to the movement control circuit α.Furthermore, the movement control circuit az is equipped with an ultrasonic sensor (5). A detection signal is input. On the other hand, the steering drive circuit αH receives the signal processed in the movement control circuit 0 and determines the running direction, speed, stop position, etc. of the steering wheel (3a) and drive wheel (3b), which are the running wheels (3). In addition to being connected to control, the running wheels (3
) is connected to a voice recognition circuit αe which outputs a signal for controlling the output signal. A microphone (9) is connected to the voice recognition circuit σe. In addition, the emergency stop switch (7) and bumper (6) output a signal for emergency stop.
) are both connected to the steering drive circuit 03.

In the above configuration, the automatic guided vehicle (1) travels along the track during normal operation. If an obstacle is present in front of the track (9) while traveling, it is first detected by the ultrasonic sensor (5) and the traveling speed is reduced. In this state, if the obstacle is removed, the vehicle returns to its original running state, but if it is not removed, the speed is further reduced and an emergency stop occurs due to a near-collision between the bumper (6) and the obstacle. If you notice before this emergency stop, you will notice that the supervisors and workers who have registered their voices and instructions
A non-contact emergency stop is performed by a voice such as "Stop". This voice-activated stop is effective when there are no obstacles and the movement control circuit does not output an appropriate control signal due to malfunction. In addition, if the emergency stop switch (7) is located in a place where the guard can press this switch at the same time, priority is given to emergency stop using this switch. Furthermore, even in the case of control using wireless instructions instead of the changeover switch (2) on the operation panel side, there is no difference from the above-mentioned emergency stop operation on the operation panel (α).

In the above embodiment, an example was shown in which voice recognition was used as an emergency stop signal, but the present invention is not limited to this, and can also be applied to driving teaching inputs and driving instructions.

[Effects of the Invention] The registered voice can be used to cause a non-contact emergency stop of traveling, or to provide teaching at any time depending on the working conditions, so the system is incorporated into a control circuit separate from the movement control circuit, so for example, runaway control can be prevented. During this process, it is now possible to reliably prevent situations such as collisions with something or damage to the conveyed object due to continued incorrect driving, resulting in a significant improvement in safety.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention, and FIG. 2 is a block diagram for explaining the circuit configuration. (3)... Running wheel, (4)... Main body, (9)
...Microphone, a'IJ...Movement control circuit, a3...Steering drive circuit, αO...Voice recognition circuit. Agent: Patent attorney Noriyuki Chika (and 1 other person) Figure 1

Claims (3)

[Claims] (1) An automated guided vehicle equipped with a driving wheel and a steering drive circuit that outputs control commands for steering and driving the traveling wheel, which has a voice recognition circuit and a signal from this circuit is transmitted from the steering drive circuit. An unmanned guided vehicle characterized by being converted into a part of control commands. (2) The automatic guided vehicle according to claim 1, wherein the signal from the voice recognition circuit is converted into a signal for stopping the running wheels. (3) The automatic guided vehicle according to claim 1, wherein the signal from the voice recognition circuit is converted into a signal instructing the running wheels to run other than to stop.