JP3018658B2 - Posture control method for unmanned towing vehicle for wagon vehicles - Google Patents
Posture control method for unmanned towing vehicle for wagon vehiclesInfo
- Publication number
- JP3018658B2 JP3018658B2 JP3270767A JP27076791A JP3018658B2 JP 3018658 B2 JP3018658 B2 JP 3018658B2 JP 3270767 A JP3270767 A JP 3270767A JP 27076791 A JP27076791 A JP 27076791A JP 3018658 B2 JP3018658 B2 JP 3018658B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- wagon
- guide
- unmanned
- towing vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000000034 method Methods 0.000 title description 3
- 230000006698 induction Effects 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION
【０００１】[0001]
【産業上の利用分野】本発明は、手押し台車（以下、ワ
ゴン車という）の下にもぐり込んで当該ワゴン車を牽引
する無人牽引車のもぐり込み姿勢制御方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling the position of an unmanned towing vehicle which is driven under a hand truck (hereinafter referred to as a "wagon vehicle") to tow the wagon vehicle.
【０００２】[0002]
【従来の技術】図３〜図５は工場における部品配達や病
院における配膳等に使用されるワゴン車の１例を示した
もので、この種のワゴン車１０は４個の自由輪１１を有
し、図６に示すように、その底板１２には、工場や病院
の走行路面ＦＬに向かって開口するピン受け孔１４を有
する連結部１３が設けられている。１５は把持部であ
る。2. Description of the Related Art FIGS. 3 to 5 show an example of a wagon truck used for delivering parts at a factory or serving food at a hospital. This type of wagon truck 10 has four free wheels 11. Then, as shown in FIG. 6, the bottom plate 12 is provided with a connecting portion 13 having a pin receiving hole 14 opening toward the traveling road surface FL of a factory or a hospital. Reference numeral 15 denotes a grip.
【０００３】２０は車高の低い無人牽引車であって、前
後に操舵・駆動輪２１を有し、工場や病院の床に張られ
た誘導線（磁気テープや光学テープ等のガイド線）２２
を検出するためのガイドセンサ２３、このガイドセンサ
２３の出力や走行路面ＦＬ上の各種制御用のマークを読
み取るマークセンサの出力を取り込んで操舵／駆動輪２
１の操舵角や回転速度を制御する制御装置２４を搭載
し、指令入力に基づき所定のプログラムを実行して目的
地から目的地への走行・停止を繰り返す。無人牽引車２
０には、図６に示すように、車体カバーの天板２５から
鉛直向きに突出可能に突出しピン２６とこの突出しピン
２６とラック・ピニオン係合して所定距離だけ上下駆動
するピン駆動部２７を有している。２８は光学式の位置
センサであって、無人牽引車２０は、突出しピン２６が
ピン受け孔１４に上下に対向する位置まで走行すると、
ワゴン車１０の底板１２外面に貼着してある光反射板
（図示せず）に対向して信号を送出する。[0003] Reference numeral 20 denotes an unmanned towing vehicle having a low vehicle height, which has steering and driving wheels 21 at the front and rear, and a guide line (a guide line such as a magnetic tape or an optical tape) 22 on a floor of a factory or a hospital.
Sensor 23 for detecting the output of the steering / drive wheel 2 by taking in the output of the guide sensor 23 and the output of a mark sensor for reading various control marks on the road surface FL.
The control device 24 for controlling the steering angle and the rotation speed of the vehicle 1 is mounted, and a predetermined program is executed based on a command input to repeatedly travel and stop from the destination to the destination. Unmanned towing vehicle 2
As shown in FIG. 6, a pin 26 protrudes vertically from the top plate 25 of the vehicle body cover, and a pin drive unit 27 that engages with the protruding pin 26 and racks and pinions to drive up and down a predetermined distance. have. Reference numeral 28 denotes an optical position sensor, and when the unmanned towing vehicle 20 travels to a position where the protruding pin 26 vertically faces the pin receiving hole 14,
A signal is transmitted in opposition to a light reflecting plate (not shown) attached to the outer surface of the bottom plate 12 of the wagon 10.
【０００４】ワゴン車１０は、走行路面ＦＬ上の予め定
められた配車位置へ人手により置かれる。無人牽引車２
０は、所定の配車位置に停められているワゴン車１０の
下まで自動走行してワゴン車１０の下にもぐり込み、一
旦、停止し、突出しピン２６を上昇させて、図６に示す
ように、ワゴン車１０の連結部１３のピン受け孔１４内
へ突出させ、この連結動作が終わると、次の目的地へ向
かって走行を開始し、ワゴン車１０を牽引する。[0004] The wagon 10 is manually placed at a predetermined dispatch position on the traveling road surface FL. Unmanned towing vehicle 2
0, the vehicle automatically travels under the wagon vehicle 10 stopped at a predetermined vehicle allocation position, goes under the wagon vehicle 10, temporarily stops, and raises the protruding pin 26, as shown in FIG. When the connecting operation is completed, the vehicle starts traveling to the next destination and pulls the wagon 10.
【０００５】[0005]
【発明が解決しようとする課題】ワゴン車１０は、人手
により、予め定められている配車位置に停められるもの
である上、前記のように全車輪が自由輪１１であるた
め、正しい姿勢で、精度良く停めることが難しい。例え
ば、突出しピン２６の外径ｄ２が３０ｍｍ、ピン受け孔
１３の内径ｄ１が４０ｍｍである場合、無人牽引車２０
の進行方向の停止精度が＋５ｍｍであると、横方向に許
容されるずれ（横ずれ）は０ｍｍしかなく、停止精度が
＋０ｍｍの場合は、横方向に許容されるずれ（横ずれ）
＋５ｍｍとなる。すなわち、図７と図８から理解される
ように、無人牽引車の進行方向の停止誤差が大きくなる
程、横方向に許容されるずれ余裕は小さくなり、実際に
は、このような数値の精度でワゴン車１０を停めること
は難しいので、ワゴン車１０と無人牽引車２０を、常に
自動的にピン連結させることは不可能である。The wagon 10 is manually stopped at a predetermined dispatch position, and all the wheels are free wheels 11 as described above. It is difficult to stop accurately. For example, when the outer diameter d2 of the protruding pin 26 is 30 mm and the inner diameter d1 of the pin receiving hole 13 is 40 mm, the unmanned towing vehicle 20
When the stop accuracy in the traveling direction of the moving direction is +5 mm, the deviation (lateral deviation) allowed in the lateral direction is only 0 mm, and when the stop accuracy is +0 mm, the deviation allowed in the lateral direction (lateral deviation).
+5 mm. That is, as can be understood from FIGS. 7 and 8, as the stop error in the traveling direction of the unmanned tow vehicle increases, the deviation margin allowed in the lateral direction decreases. It is difficult to stop the wagon 10 with the vehicle, so it is impossible to always automatically and automatically connect the wagon 10 and the unmanned towing vehicle 20 with pins.
【０００６】このため、配車位置に機械的なガイド（所
定間隔で平行するバー）を設けてワゴン車１０の姿勢を
規制する考え方があるが、ガイドが人の通行の邪魔にな
る他、ガイドとワゴン車とを接触させないために、両者
間に狭い間隙を取る必要があり、ワゴン車の車幅精度の
バラツキをおさえなくてはならないので、ワゴン車が高
価になるといった問題が発生する。For this reason, there is an idea that a mechanical guide (a bar parallel at a predetermined interval) is provided at a vehicle allocation position to regulate the posture of the wagon vehicle 10, but the guide does not obstruct the passage of a person, and the guide does not interfere with the traffic. In order to avoid contact with the wagon vehicle, it is necessary to provide a narrow gap between the two, and it is necessary to suppress variations in the vehicle width accuracy of the wagon vehicle, causing a problem that the wagon vehicle becomes expensive.
【０００７】本発明はこの問題を解消するためになされ
たもので、ワゴン車の姿勢を規制するのではなく、無人
牽引車のもぐり込み姿勢を配車位置にあるワゴン車の姿
勢に追従させ、ワゴン車用ガイド等の走行路上の固定設
備を不要にすることができるワゴン車用無人牽引車のも
ぐり込み姿勢制御方法を提供することを目的とする。The present invention has been made to solve this problem. Instead of restricting the position of the wagon vehicle, the unmanned towing vehicle is caused to follow the posture of the wagon vehicle at the dispatching position. It is an object of the present invention to provide a method for controlling a recessed attitude of an unmanned towing vehicle for a wagon vehicle, which can eliminate the need for a fixed facility such as a vehicle guide on a traveling path.
【０００８】[0008]
【課題を解決するための手段】本発明は上記目的を達成
するため、路面に布設された誘導線を検知するガイドセ
ンサを備え、当該誘導線に案内されて走行し、停止して
いるワゴン車の下にもぐり込んで当該ワゴン車とピン連
結したのち当該ワゴン車を牽引する誘導式無人牽引車に
おいて、 （Ａ）上記ワゴン車は、その底外面に、車体中心線に沿
って延びる車上誘導線を有し、 （Ｂ）上記無人牽引車は上記車上誘導線を検知するため
の第２のガイドセンサ及び上記ガイドセンサから当該第
２のガイドセンサへ切り換える切換装置を搭載し、 （Ｃ）当該無人牽引車は上記ワゴン車へのもぐり込み開
始後は、上記ワゴン車の車上誘導線により案内される構
成とした。SUMMARY OF THE INVENTION In order to achieve the above object, the present invention comprises a guide sensor for detecting a guide line laid on a road surface, and a wagon vehicle traveling and stopped by being guided by the guide line. (A) The above-mentioned wagon vehicle has an on-board guide line extending along a vehicle center line on a bottom outer surface thereof. (B) the unmanned towing vehicle is provided with a second guide sensor for detecting the on-board guide line and the second guide sensor from the second guide sensor .
The switching device for switching to the second guide sensor mounted, (C) the unmanned towing vehicle after the start dive into the van was configured to be guided by the car on the guide wire of the wagon.
【０００９】[0009]
【作用】本発明では、無人牽引車は、配車位置にあるワ
ゴン車へのもぐり込みを開始すると、ワゴン車の車上誘
導線をガイドとして、すなわち当該ワゴン車の姿勢に追
従するように走行するから、ワゴン車の姿勢を規制する
場合と異なって、前記したガイド等は不要になる。According to the present invention, when the unmanned tow vehicle starts to enter the wagon vehicle at the dispatch position, the unmanned tow vehicle runs using the on-board guide line of the wagon vehicle as a guide, that is, follows the posture of the wagon vehicle. Therefore, unlike the case where the attitude of the wagon car is regulated, the above-described guide and the like are not required.
【００１０】[0010]
【実施例】以下、本発明の１実施例を図面を参照して説
明する。An embodiment of the present invention will be described below with reference to the drawings.
【００１１】図１および図２において、１５はワゴン車
１０の底板１２の外面に張られた車上誘導線である。こ
の車上誘導線１５は例えば磁気テープや光学テープから
なり、図２に示すように、底板１２の幅方向中央部（ワ
ゴン車１０の車体中心線上）に張られている。３０はガ
イドセンサ２３と同じガイドセンサであって、無人牽引
車２０の天井の外面に設けられている。このガイドセン
サ３０は、図２に示すように、無人牽引車２０の車体幅
方向中央部にあり、その出力は制御装置２４に取り込ま
れる。In FIG. 1 and FIG. 2, reference numeral 15 denotes an on-board guide line extending on the outer surface of the bottom plate 12 of the wagon vehicle 10. The on-vehicle guide wire 15 is made of, for example, a magnetic tape or an optical tape, and is stretched at the center in the width direction of the bottom plate 12 (on the vehicle body center line of the wagon vehicle 10), as shown in FIG. Reference numeral 30 denotes the same guide sensor as the guide sensor 23, which is provided on the outer surface of the ceiling of the unmanned towing vehicle 20. As shown in FIG. 2, the guide sensor 30 is located at the center of the unmanned towing vehicle 20 in the vehicle width direction, and its output is taken into the control device 24.
【００１２】無人牽引車２０は、ワゴン車１０の下へも
ぐり込むまでは、誘導線２２に案内されて走行する。す
なわち、ガイドセンサ２３が誘導線２２に対する車体幅
方向のずれに応じた信号を出力し、この信号から、制御
装置２４が誘導線２２に対する車体中心のずれ量を演算
により求めて、このずれを無くすように、ステアリング
制御する。The unmanned towing vehicle 20 is guided by the guide line 22 and travels until it goes under the wagon vehicle 10. That is, the guide sensor 23 outputs a signal corresponding to the displacement in the vehicle body width direction with respect to the guide line 22, and from this signal, the controller 24 calculates the amount of displacement of the vehicle center with respect to the guide line 22 by calculation, and eliminates this displacement. So that the steering control.
【００１３】無人牽引車２０が、ワゴン車１０へのもぐ
り込みを開始すると、制御装置２４はガイドセンサ３０
からの出力の取込みを開始するとともにガイドセンサ２
３の出力の取込みを停止し、ガイドセンサ３０の出力か
ら無人牽引車２０の車上誘導線１５に対するずれの有無
を検知し、このずれが無くなるようにステアリング制御
する。When the unmanned towing vehicle 20 starts to move into the wagon vehicle 10, the control device 24 sends the guide sensor 30
Of the output from the sensor and guide sensor 2
3 is stopped, the presence or absence of a shift of the unmanned towing vehicle 20 from the on-board guide line 15 is detected from the output of the guide sensor 30, and steering control is performed to eliminate the shift.
【００１４】このように、本実施例では、無人牽引車２
０がワゴン車１０へのもぐり込みを開始すると、ワゴン
車１０の車上誘導線１５に対する姿勢のずれが検出さ
れ、無人牽引車２０の車体中心がワゴン車１０の車体中
心と一致するように走行制御されるので、無人牽引車２
０のワゴン車１０に対する横ずれ量を前記した許容範囲
に容易に収めることが可能となる。As described above, in this embodiment, the unmanned towing vehicle 2
When the vehicle starts moving into the wagon 10, the deviation of the attitude of the wagon 10 with respect to the on-board guide line 15 is detected, and the vehicle is driven such that the center of the vehicle of the unmanned towing vehicle 20 coincides with the center of the vehicle of the wagon 10. Controlled, unmanned towing vehicle 2
It is possible to easily set the lateral displacement amount with respect to the wagon vehicle 10 within the allowable range described above.
【００１５】なお、各センサ２３と３０の切換えは、ワ
ゴン車１０にもぐり始めたときワゴン車１０に設けた光
電センサが働くようにするか、或いは、ワゴン車１０の
置き場所を所定位置とし、プログラム的に接近したこと
を検知し、自動的に行なう等の手段を採ればよい。The switching between the sensors 23 and 30 is performed by operating the photoelectric sensor provided on the wagon 10 when the wagon 10 is started to travel, or by setting the place of the wagon 10 at a predetermined position. Means may be adopted such that the approach is detected programmatically and the approach is performed automatically.
【００１６】[0016]
【発明の効果】本発明は以上説明した通り、無人牽引車
は、ワゴン車へのもぐり込み開始後は、もぐり込みつつ
あるワゴン車側から誘導され、無人牽引車の姿勢はワゴ
ン車の姿勢に追従することになるので、通行の邪魔にな
る前記したガイド等の機械的手段を用いなくて済み、ワ
ゴン車の製作精度を緩和することができるので、その
分、製作費が安価になる。As described above, according to the present invention, the unmanned towing vehicle is guided from the side of the wagon vehicle that is being driven into the vehicle after the vehicle starts to be driven into the wagon vehicle, and the attitude of the unmanned tow vehicle is changed to the posture of the wagon vehicle. Since the vehicle is followed, it is not necessary to use the above-mentioned mechanical means such as the above-mentioned guide which obstructs the traffic, and the manufacturing accuracy of the wagon can be reduced, so that the manufacturing cost is reduced accordingly.
【図１】本発明の実施例を示す正面図である。FIG. 1 is a front view showing an embodiment of the present invention.
【図２】上記実施例の一部破断平面図である。FIG. 2 is a partially broken plan view of the embodiment.
【図３】従来のワゴン車と無人牽引車の側面図である。FIG. 3 is a side view of a conventional wagon and an unmanned towing vehicle.
【図４】従来のワゴン車と無人牽引車の平面図である。FIG. 4 is a plan view of a conventional wagon vehicle and an unmanned towing vehicle.
【図５】従来のワゴン車と無人牽引車の正面図である。FIG. 5 is a front view of a conventional wagon vehicle and an unmanned towing vehicle.
【図６】ワゴン車と無人牽引車のピン連結機構を示す図
である。FIG. 6 is a diagram showing a pin connecting mechanism between the wagon vehicle and the unmanned towing vehicle.
【図７】ワゴン車と無人牽引車の停止精度を説明するた
めの図である。FIG. 7 is a diagram for explaining the stopping accuracy of the wagon vehicle and the unmanned towing vehicle.
【図８】無人牽引車の進行方向停止精度とワゴン車に対
する横方向余裕との関係を示す図である。FIG. 8 is a diagram showing the relationship between the stopping accuracy of the unmanned towing vehicle in the traveling direction and a lateral margin for the wagon vehicle.
１０ ワゴン車 １１ 自由輪 １２ 底板 １３ 連結部 １４ ピン受け孔 １５ 車上誘導線 ２０ 無人牽引車 ２１ 操舵・駆動輪 ２２ 誘導線 ２３ ガイドセンサ ２４ 制御装置 ２５ 車体カバー ２６ 突出しピン、 ２７ ピン駆動部 ３０ ガイドセンサ DESCRIPTION OF SYMBOLS 10 Wagon vehicle 11 Free wheel 12 Bottom plate 13 Connecting part 14 Pin receiving hole 15 On-board guide line 20 Unmanned towing vehicle 21 Steering / drive wheel 22 Guide line 23 Guide sensor 24 Control device 25 Body cover 26 Projection pin, 27 Pin drive unit 30 Guide sensor
Claims (1)
ドセンサを備え、この誘導線に案内されて走行し、停止
しているワゴン車の下にもぐり込んで当該ワゴン車とピ
ン連結したのちこのワゴン車を牽引する誘導式無人牽引
車において、 上記ワゴン車は、その底外面に、車体中心線に沿って延
びる車上誘導線を有し、上記無人牽引車は、上記車上誘
導線を検知するための第２のガイドセンサ及び上記ガイ
ドセンサから当該第２のガイドセンサへ切り換える切換
装置を搭載し、当該無人牽引車は上記ワゴン車へのもぐ
り込み開始後は、上記ワゴン車の車上誘導線により案内
されることを特徴とするワゴン車用無人牽引車のもぐり
込み姿勢制御方法。[Claim 1, further comprising a guide sensor for detecting the guiding line which is laid on the road surface, traveling while being guided by the guide wire, after connecting the wagon and the pin sunk beneath the vehicle wagon stopped this in induction unmanned towing vehicle for towing the wagon, the wagon is detected at a bottom exterior surface, has an on-board guide line extending along the vehicle body center line, the unmanned towing vehicle, the vehicle on the guide wire Guide sensor and the guide
For switching from the first sensor to the second guide sensor
The unmanned tow vehicle for a wagon vehicle is guided by an on- board guide line of the wagon vehicle after the unmanned tow vehicle starts to enter the wagon vehicle. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3270767A JP3018658B2 (en) | 1991-10-18 | 1991-10-18 | Posture control method for unmanned towing vehicle for wagon vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3270767A JP3018658B2 (en) | 1991-10-18 | 1991-10-18 | Posture control method for unmanned towing vehicle for wagon vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05108156A JPH05108156A (en) | 1993-04-30 |
| JP3018658B2 true JP3018658B2 (en) | 2000-03-13 |
Family
ID=17490717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3270767A Expired - Lifetime JP3018658B2 (en) | 1991-10-18 | 1991-10-18 | Posture control method for unmanned towing vehicle for wagon vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3018658B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5916011B2 (en) * | 2012-04-27 | 2016-05-11 | 株式会社日立製作所 | Automated guided vehicle |
| JP7129594B2 (en) * | 2018-09-20 | 2022-09-02 | パナソニックＩｐマネジメント株式会社 | Feeder trolley |
-
1991
- 1991-10-18 JP JP3270767A patent/JP3018658B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH05108156A (en) | 1993-04-30 |
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