JP5917443B2 - Automated guided vehicle - Google Patents
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- JP5917443B2 JP5917443B2 JP2013120362A JP2013120362A JP5917443B2 JP 5917443 B2 JP5917443 B2 JP 5917443B2 JP 2013120362 A JP2013120362 A JP 2013120362A JP 2013120362 A JP2013120362 A JP 2013120362A JP 5917443 B2 JP5917443 B2 JP 5917443B2
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- 238000001514 detection method Methods 0.000 claims description 65
- 230000006698 induction Effects 0.000 claims description 35
- 238000000034 method Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 239000011265 semifinished product Substances 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 239000013598 vector Substances 0.000 description 2
- 230000037303 wrinkles Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Description
本発明は無人搬送車に係り、さらに詳しくは全方向移動車輪と、誘導帯を検知するため誘導帯検知センサを２つ以上等間隔に配置したものを一組とするセンサ群をｎ組（ｎは２以上の整数）備えた誘導帯検知手段とを備えることによって、床面との摩擦力が大きい全方向移動車輪を用いた場合においても床面の磨耗（特に誘導体の磨耗）を低減することができる無人搬送車に関するものである。 The present invention relates to an automatic guided vehicle, and more specifically, an n-group (n group of sensor groups including one set of omnidirectional moving wheels and two or more induction band detection sensors arranged at equal intervals to detect the induction band. By reducing the wear of the floor surface (especially the wear of the derivative) even when using an omnidirectional moving wheel having a large frictional force with the floor surface, It is related with the automatic guided vehicle which can do.
工場や倉庫等で部品・半製品・製品等を搬送する無人搬送車（ＡＧＶ：Ａｕｔｏｍａｔｉｃ Ｇｕｉｄｅｄ Ｖｅｈｉｃｌｅ）は広く知られており、各種の技術が開発されている。
その中でもオムニホイールやメカナムホイールといった全方向移動車輪を車輪に用いることで不特定の方向に容易に移動することができる無人搬送車が開示されている（特許文献１、２を参照）。
2. Description of the Related Art Automated guided vehicles (AGVs) that transport parts, semi-finished products, products, and the like in factories and warehouses are widely known, and various technologies have been developed.
Among these, automatic guided vehicles that can easily move in unspecified directions by using omnidirectional wheels such as omni wheels and mecanum wheels as wheels are disclosed (see Patent Documents 1 and 2).
ここで、このような全方向移動車輪は、オムニホイールを例に取れば特許文献１の［図２］に記載されているような回転体（オムニ車輪２１）が複数設けられた構造に、メカナムホイールを例に取れば特許文献３の［図１］、［図２］に記載されているような回転体（ローラ９）が複数設けられた構造になっており、かかる回転体が自転しながら車軸を中心に公転する構造となっている。
そして、このような全方向移動車輪を用いた無人搬送車は、図５に示す通り、各車輪を異なった方向や速度で回転させることで各車輪に異なる移動方向および駆動力（ベクトル）を発生させ、全車輪の移動方向および駆動力の和（ベクトルの和）によって、車体の向きを変えずに真横や斜め方向など所望する方向に車体を移動させる構造となっている。
よって、回転体と床面との摩擦力はタイヤ等の通常の車輪を用いたものよりも大きくなることとなる。
Here, such an omnidirectional moving wheel has a structure in which a plurality of rotating bodies (omni wheels 21) as described in [FIG. 2] of Patent Document 1 are provided, taking an omni wheel as an example. Taking a num wheel as an example, it has a structure in which a plurality of rotating bodies (rollers 9) as described in [FIG. 1] and [FIG. 2] of Patent Document 3 are provided, and such rotating bodies rotate. However, it has a structure that revolves around the axle.
And, as shown in FIG. 5, an automatic guided vehicle using such omnidirectional moving wheels generates different moving directions and driving forces (vectors) for each wheel by rotating the wheels at different directions and speeds. Thus, the vehicle body is moved in a desired direction, such as a lateral direction or an oblique direction, without changing the direction of the vehicle body, depending on the moving direction of all the wheels and the sum of driving forces (sum of vectors).
Therefore, the frictional force between the rotating body and the floor becomes larger than that using ordinary wheels such as tires.
また、一般的に無人搬送車は、走行させたい経路に沿って床面に敷設または埋設した磁気テープなどの誘導帯を無人搬送車に設けた誘導帯検知センサが検知しながら走行することで常に同一の経路を走行させる機構となっている。 In general, an automatic guided vehicle always travels while a guide band detection sensor provided on the automatic guided vehicle detects a guide band such as a magnetic tape laid or buried on a floor surface along a route to be traveled. It is a mechanism for traveling on the same route.
従って、全方向移動車輪を用いた無人搬送車において上記した従来の無人搬送車と同じような走行機構（常に同一の経路を走行させる機構）を採用してしまうと、全方向移動車輪の回転体と床面との摩擦力が大きいために、通常の車輪を用いた無人搬送車に比べて全方向移動車輪が通過する床面部分が磨耗しやすくなってしまうという問題がある。特に、無人搬送車は通常、工場や倉庫内で複数台を同時に稼動させることが一般的であることから、全方向移動車輪を用いた無人搬送車においては床面がより磨耗しやすくなってしまうことになる。 Therefore, if a traveling mechanism similar to the conventional automatic guided vehicle described above (a mechanism that always travels the same route) is adopted in the automatic guided vehicle using the omnidirectional moving wheel, the rotating body of the omnidirectional moving wheel. Since the frictional force between the vehicle and the floor surface is large, there is a problem that the floor surface portion through which the omnidirectional moving wheel passes is likely to be worn as compared with an automatic guided vehicle using normal wheels. In particular, it is common for automated guided vehicles to operate multiple units at the same time in factories and warehouses, so floors are more likely to wear in automated guided vehicles using omnidirectional wheels. It will be.
また、無人搬送車は一般的に前後方向への移動が多いことから、全方向移動車輪を用いた無人搬送車を用いると前後方向の車輪通過部分の床面が磨耗しやすくなってしまうという問題がある。 In addition, since the automatic guided vehicle generally moves in the front-rear direction, the use of the automatic guided vehicle using the omnidirectional moving wheel makes it easy to wear the floor surface of the wheel passing portion in the front-rear direction. There is.
さらに、全方向移動車輪を用いた無人搬送車は、前後方向の移動から車体の向きを変えずに真横や斜め方向などへ車体を移動させることを特徴とするものであることから、常に同一の経路を走行させることによって全方向移動車輪が通過する床面部分が磨耗してしまうと、全方向移動車輪の特徴を生かしたスムースな方向移動ができなくなってしまうという問題がある。
具体的には、前後方向の走行経路から離脱して、真横や斜め方向など全く別の走行経路に移動するような走行をするような場合には、前後方向の走行経路の床面部分が磨耗してしまっていわゆる轍ができてしまうと、無人搬送車はかかる轍を乗り越えて別の走行経路に移動しなければならないことになり、スムースな方向移動ができなくなってしまうのである。
Furthermore, automatic guided vehicles using omnidirectional wheels are characterized by moving the vehicle body to the side or diagonal direction without changing the direction of the vehicle body from the movement in the front-rear direction. When the floor surface portion through which the omnidirectional moving wheel passes is worn by traveling along the route, there is a problem that smooth direction movement using the characteristics of the omnidirectional moving wheel cannot be performed.
Specifically, when the vehicle travels away from the front-rear direction travel route and moves to a completely different travel route such as a sideways or diagonal direction, the floor portion of the front-rear direction travel route is worn. If so-called wrinkles are formed, the automated guided vehicle must move over the wrinkles and move to another travel route, and smooth movement in the direction becomes impossible.
加えて、無人搬送車が走行方向を変化させる際には敷設された誘導帯の上または誘導帯が埋設された床面の上を全方向移動車輪が通過する場合があり、このような場合には常に同一の経路を走行させてしまうと誘導帯を損傷させてしまうという問題もある。 In addition, when the automated guided vehicle changes the traveling direction, the omnidirectional moving wheel may pass over the laid guide belt or the floor surface where the guide belt is buried. There is also a problem that if the vehicle always runs on the same route, the guide band is damaged.
本発明は、上記した従来の問題点に鑑みてなされたものであって、床面との摩擦力が大きい全方向移動車輪を用いた場合においても床面の磨耗（特に誘導体の磨耗）を低減することができる無人搬送車の提供を目的とするものである。 The present invention has been made in view of the above-mentioned conventional problems, and even when an omnidirectional moving wheel having a large frictional force with the floor surface is used, the floor surface wear (especially wear of a derivative) is reduced. The purpose of this invention is to provide an automated guided vehicle.
上記目的を達成するために、本発明の請求項１に係る無人搬送車は、複数の回転体を備えた全方向移動車輪と、床面に敷設された誘導帯を検知するための誘導帯検知手段と、制御手段を備え、誘導帯検知手段は、３つの誘導帯検知センサを等間隔に配置したものを一組とするセンサ群をｎ組（ｎは２以上の整数）備え、３つの誘導帯検知センサのうち、中央に位置する誘導帯検知センサは常に誘導帯を検知するものであり、３つの誘導帯検知センサのうち、両端に位置する誘導帯検知センサは通常は誘導帯を検知しないものであり、制御手段は、両端の誘導帯検知センサが誘導帯を検知した場合に、走行経路を外れつつあると判断して、誘導帯を両端の誘導帯検知センサの間に位置するように全方向移動車輪の移動方向および駆動力を制御するものであることを特徴とする。
In order to achieve the above object, an automated guided vehicle according to claim 1 of the present invention includes an omnidirectional moving wheel having a plurality of rotating bodies and a guidance band detection for detecting a guidance band laid on the floor surface. Means and control means , and the induction band detection means includes n sets (n is an integer of 2 or more) of sensor groups each including three induction band detection sensors arranged at equal intervals . Among the induction band detection sensors, the induction band detection sensor located in the center always detects the induction band, and among the three induction band detection sensors, the induction band detection sensors located at both ends usually detect the induction band. The control means determines that the guide band is being deviated from the travel route when the guide band detection sensors at both ends detect the guide band, and causes the guide band to be positioned between the guide band detection sensors at both ends. To control the moving direction and driving force of the omnidirectional moving wheel And characterized in that that.
本発明の請求項２に係る無人搬送車は、センサ群が、５〜６０ｍｍの間隔で配置されていることを特徴とする。 The automatic guided vehicle according to claim 2 of the present invention is characterized in that the sensor groups are arranged at intervals of 5 to 60 mm.
本発明の請求項３に係る無人搬送車は、誘導帯検知センサが、５〜２０ｍｍの間隔で配置されていることを特徴とする。 The automatic guided vehicle according to claim 3 of the present invention is characterized in that the guidance band detection sensors are arranged at intervals of 5 to 20 mm.
本発明の請求項４に係る無人搬送車は、センサ群を、無人搬送車の前後および／または左右に設けたことを特徴とする。 The automatic guided vehicle according to claim 4 of the present invention is characterized in that the sensor groups are provided on the front and rear and / or on the left and right of the automatic guided vehicle.
本発明の請求項５に係る無人搬送車の制御方法は、請求項１から請求項４のいずれか一項に記載の無人搬送車をｎ種類（ｎは２以上の整数）用い、第１の無人搬送車にはセンサ群のうちの第１のセンサ群を用いて誘導帯を検知させ、第ｎ（ｎは２以上の整数）の無人搬送車にはセンサ群のうちの第ｎ（ｎは２以上の整数）のセンサ群を用いて誘導帯を検知させることによって、無人搬送車に複数の走行経路を走行させ、全方向移動車輪の回転体による床面の摩耗を低減することを特徴とする。 According to a fifth aspect of the present invention, there is provided a control method for an automatic guided vehicle using n types (n is an integer of 2 or more) of the automatic guided vehicles according to any one of the first to fourth aspects. The automatic guided vehicle uses the first sensor group of the sensor group to detect the induction band, and the nth (n is an integer of 2 or more) automatic guided vehicle has the nth (n is the sensor group). By detecting a guide band using a sensor group of an integer of 2 or more, the automatic guided vehicle travels a plurality of travel routes, and wear on the floor surface due to a rotating body of omnidirectional moving wheels is reduced. To do.
本発明の請求項６に係る無人搬送車の制御方法は、請求項１から請求項４のいずれか一項に記載の無人搬送車を４種類用い、第１の無人搬送車にはセンサ群のうちの第１のセンサ群を用いて誘導帯を検知させ、第２の無人搬送車にはセンサ群のうちの第２のセンサ群を用いて誘導帯を検知させ、第３の無人搬送車にはセンサ群のうちの第３のセンサ群を用いて誘導帯を検知させ、第４の無人搬送車にはセンサ群のうちの第４のセンサ群を用いて誘導帯を検知させることによって、無人搬送車に複数の走行経路を走行させ、全方向移動車輪の回転体による床面の摩耗を低減することを特徴とする。 A control method for an automatic guided vehicle according to a sixth aspect of the present invention uses four types of automatic guided vehicles according to any one of the first to fourth aspects, and the first automatic guided vehicle includes a sensor group. The first automatic sensor group is used to detect the induction band, the second automatic guided vehicle is detected using the second sensor group of the sensor group, and the third automatic guided vehicle is used. The third sensor group of the sensor group is used to detect the guidance band, and the fourth automated guided vehicle is used to detect the guidance band using the fourth sensor group of the sensor group. The conveyance vehicle is caused to travel a plurality of travel routes, and wear of the floor surface due to the rotating body of the omnidirectional moving wheel is reduced.
本発明に係る無人搬送車および無人搬送車の制御方法によれば、２つ以上の誘導帯検知センサを等間隔に配置したものを一組とするセンサ群とするとともに、かかるセンサ群を複数組設けることによって、全方向移動車輪を用いた無人搬送車の走行経路を少しずつずらして走行させることができる。従って、従来の無人搬送車のように常に同一の経路を走行させることを回避することができ、その結果、床面との摩擦力が大きい全方向移動車輪を用いた無人搬送車においても、回転体による床面の摩耗を低減することができる。 According to the automatic guided vehicle and the control method of the automatic guided vehicle according to the present invention, a sensor group in which two or more induction band detection sensors are arranged at equal intervals is set as a set, and a plurality of such sensor groups are set. By providing, the traveling route of the automatic guided vehicle using the omnidirectional moving wheel can be moved little by little. Therefore, it is possible to avoid always traveling the same route as in a conventional automatic guided vehicle, and as a result, even in an automatic guided vehicle using an omnidirectional moving wheel having a large frictional force with a floor surface, Abrasion of the floor surface by the body can be reduced.
また、本発明に係る無人搬送車によれば、センサ群および誘導帯検知センサを特定の間隔で配置したり、センサ群を車体の前後および／または左右に設けたりすることによって、上記の効果をより顕著なものとすることができる。 Further, according to the automatic guided vehicle of the present invention, the above-described effects can be obtained by arranging the sensor group and the induction band detection sensor at specific intervals, or by providing the sensor group at the front and rear and / or the left and right of the vehicle body. It can be more prominent.
さらに、本発明の請求項６に係る無人搬送車の制御方法によれば、無人搬送車を３種類用いることによって、無人搬送車が走行する走行帯（無人搬送車の走行のために占拠されるスペース）の幅を最小にしつつ、全方向移動車輪の回転体による床面の摩耗を低減することができる。 Furthermore, according to the control method for an automatic guided vehicle according to claim 6 of the present invention, by using three types of automatic guided vehicles, a traveling zone in which the automatic guided vehicle travels (occupyed for traveling of the automatic guided vehicle). It is possible to reduce floor wear due to the rotating body of the omnidirectional moving wheel while minimizing the width of the space.
本発明の実施形態を図面に基づいて説明する。なお、以下に述べる実施形態は本発明を具体化した一例に過ぎず、本発明の技術的範囲を限定するものでない。図１は本発明に係る無人搬送車を示す斜視図であり、図２は本発明に係る無人搬送車を示す平面模式図であり、図３は本発明に係る無人搬送車に用いられる誘導帯検知手段を示す模式図であり、図４は本発明に係る無人搬送車の動きを示す模式図である。 Embodiments of the present invention will be described with reference to the drawings. The embodiment described below is merely an example embodying the present invention, and does not limit the technical scope of the present invention. FIG. 1 is a perspective view showing an automatic guided vehicle according to the present invention, FIG. 2 is a schematic plan view showing the automatic guided vehicle according to the present invention, and FIG. 3 is an induction band used in the automatic guided vehicle according to the present invention. FIG. 4 is a schematic diagram showing the detection means, and FIG. 4 is a schematic diagram showing the movement of the automatic guided vehicle according to the present invention.
まず、本発明にかかる無人搬送車１の構成を図１〜図４に基づいて説明する。
本発明にかかる無人搬送車１は、車体２、全方向移動車輪３と車体２に設けられた誘導帯検知手段４を主要部品として構成されている。
First, the structure of the automatic guided vehicle 1 according to the present invention will be described with reference to FIGS.
The automatic guided vehicle 1 according to the present invention includes a vehicle body 2, an omnidirectional moving wheel 3, and induction band detection means 4 provided on the vehicle body 2 as main components.
車体２には非接触の受電コイル、バッテリ、全方向移動車輪を駆動させるためのモータ、誘導帯検知手段４を用いて無人搬送車１を走行経路上で走行させるための制御手段（ともに図示せず）などが設けられている。 The vehicle body 2 includes a non-contact power receiving coil, a battery, a motor for driving an omnidirectional moving wheel, and a control unit for driving the automatic guided vehicle 1 on a travel route using an induction band detection unit 4 (both not shown). Etc.).
全方向移動車輪３は、本実施形態においてはメカナムホイールを用いた形態のものとなっているが、これに限定されるものではなく、オムニホイールなど各種の全方向移動車輪を用いることができる。 Although the omnidirectional moving wheel 3 has a form using a mecanum wheel in this embodiment, it is not limited to this, and various omnidirectional moving wheels such as an omni wheel can be used. .
誘導帯検知手段４は、図３に示す通り８つの誘導帯検知センサ５を１ユニットとして構成されているものであり、かかるユニットが図２に示す通り車体２の前後および左右にそれぞれ１対ずつ合計４つ設けられている構造となっている。
なお、本実施形態においては８つの誘導帯検知センサ５を７ｍｍ間隔（Ｌ１）で配置したものを１ユニットとしているが、これに限定されるものではなく、必要に応じて２つ以上の任意のｎ個の誘導帯検知センサ５を１ユニットとすることができる。また、誘導帯検知センサ５間の間隔（Ｌ１）についても必要に応じて任意の間隔とすることができるが、一般的に使用される誘導体の幅等を考慮すると５〜６０ｍｍの間隔で配置することが好ましい。
さらに、本実施形態においてはかかるユニットを車体２の前後および左右に設けたものとなっているが、これに限定されるものではなく、必要に応じて車体の前後または左右のいずれかにのみ設けることもできる。
As shown in FIG. 3, the guidance band detection means 4 is configured by eight guidance band detection sensors 5 as one unit, and each of these units is paired in front and rear and left and right sides of the vehicle body 2 as shown in FIG. A total of four structures are provided.
In the present embodiment, eight guidance band detection sensors 5 arranged at intervals of 7 mm (L1) are used as one unit. However, the present invention is not limited to this, and two or more arbitrary ones may be used as necessary. The n induction band detection sensors 5 can be made into one unit. Further, the interval (L1) between the induction band detection sensors 5 can also be set to an arbitrary interval as necessary. However, in consideration of the width of a generally used derivative, it is arranged at an interval of 5 to 60 mm. It is preferable.
Further, in the present embodiment, such units are provided on the front and rear and the left and right of the vehicle body 2, but the present invention is not limited to this, and is provided only on the front and rear or the left and right of the vehicle body as necessary. You can also.
さらに誘導帯検知手段４は、任意の誘導帯検知センサ５を一組とするセンサ群６から構成されている。具体的には、本実施形態の誘導帯検知手段４は、図４に示す通り誘導帯検知センサ５うちの、５ａ、５ｃ、５ｅを一組とするセンサ群６ａと、５ｂ、５ｄ、５ｆを一組とするセンサ群６ｂと、５ｃ、５ｅ、５ｇを一組とするセンサ群６ｃと、５ｄ、５ｆ、５ｈを一組とするセンサ群６ｄから構成されている。
なお、本実施形態においてはセンサ群６ａとセンサ群６ｂ、センサ群６ｂとセンサ群６ｃ、センサ群６ｃとセンサ群６ｄを７ｍｍずらして配置（Ｌ２）し、センサ群６ａとセンサ群６ｃ、センサ群６ｂとセンサ群６ｄを１４ｍｍずらして配置（Ｌ３）し、センサ群６ａとセンサ群６ｄを２１ｍｍずらして配置（Ｌ４）した四組のセンサ群６から誘導帯検知手段４を構成しているが、これに限定されるものでなく、必要に応じて二組以上の任意のｎ組のセンサ群によって誘導帯検知手段４を構成することができる。また、センサ群の間隔（Ｌ２、Ｌ３）についても必要に応じて任意の間隔とすることができるが、誘導体の幅や使用する無人搬送車の種類等を考慮すると５〜６０ｍｍの間隔で配置することが好ましい。
Furthermore, the guidance band detection means 4 is comprised from the sensor group 6 which makes arbitrary guidance band detection sensors 5 1 set. Specifically, as shown in FIG. 4, the guidance band detection means 4 of the present embodiment includes sensor groups 6a, 5b, 5d, and 5f of the guidance band detection sensor 5, each including 5a, 5c, and 5e. The sensor group 6b is a set, the sensor group 6c is a set of 5c, 5e, and 5g, and the sensor group 6d is a set of 5d, 5f, and 5h.
In the present embodiment, the sensor group 6a and the sensor group 6b, the sensor group 6b and the sensor group 6c, the sensor group 6c and the sensor group 6d are shifted by 7 mm (L2), and the sensor group 6a and the sensor group 6c are combined. The guide band detecting means 4 is composed of four sensor groups 6 in which the sensor group 6a and the sensor group 6d are displaced by 14 mm (L3) and the sensor group 6a and the sensor group 6d are displaced by 21 mm (L4). It is not limited to this, The guidance zone | band detection means 4 can be comprised by arbitrary n sets of sensor groups of two or more sets as needed. Further, the intervals (L2, L3) of the sensor groups can be arbitrarily set as necessary. However, in consideration of the width of the derivative, the type of the automatic guided vehicle to be used, and the like, the intervals are 5-60 mm. It is preferable.
次に、上記のように構成された無人搬送車１の動作および作用を次に説明する。図４は本発明に係る無人搬送車の動きを示す模式図である。なお、図４においては説明を容易にするために車体２の前方に設けた誘導帯検知手段４のみを記載しているが、車体２の後方に設けた誘導帯検知手段４も後記する動作と同様の動作を行うことになる。また、車体２の左右に設けた誘導帯検知手段４は前後方向の移動から横方向の移動に移行した際に使用されることになり、後記する動作と同種の動作を行うことになる。 Next, the operation and action of the automatic guided vehicle 1 configured as described above will be described below. FIG. 4 is a schematic diagram showing the movement of the automatic guided vehicle according to the present invention. In FIG. 4, only the guidance band detection means 4 provided in front of the vehicle body 2 is shown for ease of explanation, but the guidance band detection means 4 provided in the rear of the vehicle body 2 is also described below. A similar operation is performed. Further, the guidance band detecting means 4 provided on the left and right sides of the vehicle body 2 are used when the movement from the front-rear direction is shifted to the lateral movement, and the same kind of operation as described later is performed.
また、本実施形態では３種類の無人搬送車１ａ、１ｂ、１ｃ、１ｄを稼働させる際の動作を示しているが、これに限定されるものでなく、必要に応じて２種類以上の任意のｎ種類の無人搬送車を稼働させる構成とすることもできる。さらに、図４においては簡略化するために、４種類の無人搬送車１ａ、１ｂ、１ｃ、１ｄを各１台ずつ記載しているが実際に工場や倉庫等で使用する場合にはそれぞれの種類の無人搬送車を複数台稼働させることが一般的である。 Moreover, although this embodiment shows the operation when operating the three types of automatic guided vehicles 1a, 1b, 1c, and 1d, the present invention is not limited to this, and two or more types of arbitrary operations can be performed as necessary. It can also be set as the structure which operates n types of automatic guided vehicles. Further, in FIG. 4, for simplicity, four types of automatic guided vehicles 1a, 1b, 1c, and 1d are shown, but each type is used when actually used in a factory or warehouse. It is common to operate a plurality of automatic guided vehicles.
まず、第１の無人搬送車１ａについては、制御手段が誘導帯検知センサ５うちの５ａ、５ｃ、５ｅを一組とするセンサ群６ａを用いて床面８に敷設された誘導帯７を検知するように制御する。具体的には、誘導帯検知センサ５ｃが常に誘導体７を認識するように制御する。そして、両端の誘導帯検知センサ５ａおよび５ｅが誘導体７を認識した場合には第１の無人搬送車１ａが走行経路から外れつつあると判断して、誘導帯検知センサ５ａおよび５ｅの間に誘導体７が位置するように全方向移動車輪３ａの移動方向および駆動力を制御する。
従って、第１の無人搬送車１ａについては、走行を重ねると床面８の中でも第１の無人搬送車１ａの全方向移動車輪３ａが通過する部分９ａが摩耗していくことになる。
First, for the first automatic guided vehicle 1a, the control means detects the induction band 7 laid on the floor surface 8 using a sensor group 6a including a set of the induction band detection sensors 5a, 5c, and 5e. Control to do. Specifically, the guidance band detection sensor 5c is controlled to always recognize the derivative 7. When the guidance band detection sensors 5a and 5e at both ends recognize the derivative 7, it is determined that the first automatic guided vehicle 1a is moving away from the travel route, and the derivative is between the guidance band detection sensors 5a and 5e. The moving direction and driving force of the omnidirectional moving wheel 3a are controlled so that 7 is located.
Therefore, as for the first automatic guided vehicle 1a, when traveling is repeated, the portion 9a through which the omnidirectional moving wheel 3a of the first automatic guided vehicle 1a passes is worn out on the floor surface 8.
次に、第２の無人搬送車１ｂについては、制御手段が誘導帯検知センサ５うちの５ｂ、５ｄ、５ｆを一組とするセンサ群６ｂを用いて床面８に敷設された誘導帯７を検知するように制御する。具体的には、誘導帯検知センサ５ｄが常に誘導体７を認識するように制御する。そして、両端の誘導帯検知センサ５ｂおよび５ｆが誘導体７を認識した場合には第２の無人搬送車１ｂが走行経路から外れつつあると判断して、誘導帯検知センサ５ｂおよび５ｆの間に誘導体７が位置するように全方向移動車輪３ｂの移動方向および駆動力を制御する。
従って、第２の無人搬送車１ｂについては、走行を重ねると床面８の中でも第２の無人搬送車１ｂの全方向移動車輪３ｂが通過する部分９ｂが摩耗していくことになる。
Next, for the second automatic guided vehicle 1b, the control means uses a sensor group 6b in which the control means 5b, 5d, and 5f of the guidance band detection sensors 5 are used as a set to guide the guidance band 7 laid on the floor surface 8. Control to detect. Specifically, the guidance band detection sensor 5d is controlled to always recognize the derivative 7. When the guidance band detection sensors 5b and 5f at both ends recognize the derivative 7, it is determined that the second automatic guided vehicle 1b is coming off the travel route, and the derivative is between the guidance band detection sensors 5b and 5f. The moving direction and driving force of the omnidirectional moving wheel 3b are controlled so that 7 is located.
Therefore, as for the second automatic guided vehicle 1b, when traveling is repeated, the portion 9b through which the omnidirectional moving wheel 3b of the second automatic guided vehicle 1b passes is worn out on the floor surface 8.
次に、第３の無人搬送車１ｃについては、制御手段が誘導帯検知センサ５うちの５ｃ、５ｅ、５ｇを一組とするセンサ群６ｃを用いて床面８に敷設された誘導帯７を検知するように制御する。具体的には、誘導帯検知センサ５ｅが常に誘導体７を認識するように制御する。そして、両端の誘導帯検知センサ５ｃおよび５ｇが誘導体７を認識した場合には第３の無人搬送車１ｃが走行経路から外れつつあると判断して、誘導帯検知センサ５ｃおよび５ｇの間に誘導体７が位置するように全方向移動車輪３ｃの移動方向および駆動力を制御する。
従って、第３の無人搬送車１ｃについては、走行を重ねると床面８の中でも第３の無人搬送車１ｃの全方向移動車輪３ｃが通過する部分９ｃが摩耗していくことになる。
Next, for the third automatic guided vehicle 1c, the control means uses the sensor band 6c that is a set of 5c, 5e, and 5g of the guidance band detection sensor 5 to guide the guidance band 7 laid on the floor surface 8. Control to detect. Specifically, the guidance band detection sensor 5e is controlled to always recognize the derivative 7. When the guidance band detection sensors 5c and 5g at both ends recognize the derivative 7, it is determined that the third automatic guided vehicle 1c is getting out of the travel route, and the derivative is between the guidance band detection sensors 5c and 5g. The moving direction and driving force of the omnidirectional moving wheel 3c are controlled so that 7 is located.
Accordingly, with respect to the third automatic guided vehicle 1c, when traveling is repeated, the portion 9c through which the omnidirectional moving wheel 3c of the third automatic guided vehicle 1c passes is worn out in the floor surface 8.
最後に、第４の無人搬送車１ｄについては、制御手段が誘導帯検知センサ５うちの５ｄ、５ｆ、５ｈを一組とするセンサ群６ｄを用いて床面８に敷設された誘導帯７を検知するように制御する。具体的には、誘導帯検知センサ５ｆが常に誘導体７を認識するように制御する。そして、両端の誘導帯検知センサ５ｄおよび５ｈが誘導体７を認識した場合には第３の無人搬送車１ｄが走行経路から外れつつあると判断して、誘導帯検知センサ５ｄおよび５ｈの間に誘導体７が位置するように全方向移動車輪３ｄの移動方向および駆動力を制御する。
従って、第３４の無人搬送車１ｄについては、走行を重ねると床面８の中でも第４の無人搬送車１ｄの全方向移動車輪３ｄが通過する部分９ｄが摩耗していくことになる。
Finally, for the fourth automated guided vehicle 1d, the control means uses a sensor group 6d that includes 5d, 5f, and 5h of the guidance band detection sensors 5 as a set, and a guidance band 7 laid on the floor surface 8 is provided. Control to detect. Specifically, the guidance band detection sensor 5f is controlled to always recognize the derivative 7. Then, when the guidance band detection sensors 5d and 5h at both ends recognize the derivative 7, it is determined that the third automatic guided vehicle 1d is moving out of the travel route, and the derivative is between the guidance band detection sensors 5d and 5h. The moving direction and driving force of the omnidirectional moving wheel 3d are controlled so that 7 is located.
Accordingly, with respect to the 34th automatic guided vehicle 1d, the portion 9d through which the omnidirectional moving wheel 3d of the fourth automatic guided vehicle 1d passes will be worn out on the floor surface 8 when traveling is repeated.
そうすると、各無人搬送車の全方向移動車輪の通過部分９ａ、９ｂ、９ｃ、３ｄはいずれも重ならないことからその分床面の摩耗が低減されることになる。また、床面にいわゆる轍ができることを防止することができることから、全方向移動車輪の特徴である車体の向きを変えずに真横や斜め方向など所望する方向への車体の移動をスムースに行わせることができることになる。 If it does so, since the passage parts 9a, 9b, 9c, and 3d of the omnidirectional movement wheel of each automatic guided vehicle do not overlap, the wear of the floor surface is reduced accordingly. In addition, since it is possible to prevent so-called wrinkling on the floor surface, the vehicle body can be smoothly moved in a desired direction such as right side or oblique direction without changing the direction of the vehicle body, which is a feature of the omnidirectional moving wheel. Will be able to.
また、床面の摩耗が低減されることから、床面に埋設または敷設された誘導体の磨耗を低減するとともに、損傷を抑制することができることになり、かかる点からも車体の移動をスムースに行わせることができることになる。 In addition, since the wear on the floor surface is reduced, the wear of the derivatives embedded or laid on the floor surface can be reduced and the damage can be suppressed. From this point, the vehicle body can be moved smoothly. Will be able to.
さらに、図４のように４種類の無人搬送車１を用いれば、無人搬送車が走行する走行帯（無人搬送車の走行のために占拠されるスペース）の幅を最小にしつつ、上記の技術的効果を得ることができることになる。 Furthermore, if four types of automatic guided vehicles 1 are used as shown in FIG. 4, the above-mentioned technique is achieved while minimizing the width of a traveling zone (space occupied for the automatic guided vehicles) where the automatic guided vehicles travel. The effect can be obtained.
本発明は工場や倉庫等で部品・半製品・製品等を搬送する無人搬送車に用いることができる。
The present invention can be used for an automatic guided vehicle that transports parts, semi-finished products, products, etc. in a factory, a warehouse, or the like.
１ 無人搬送車
１ａ 第１の無人搬送車
１ｂ 第２の無人搬送車
１ｃ 第３の無人搬送車
１ｄ 第４の無人搬送車
２ 車体
３ 全方向移動車輪
３ａ 全方向移動車輪
３ｂ 全方向移動車輪
３ｃ 全方向移動車輪
３ｄ 全方向移動車輪
４ 誘導帯検知手段
５ 誘導帯検知センサ
５ａ 誘導帯検知センサ
５ｂ 誘導帯検知センサ
５ｃ 誘導帯検知センサ
５ｄ 誘導帯検知センサ
５ｅ 誘導帯検知センサ
５ｆ 誘導帯検知センサ
５ｇ 誘導帯検知センサ
５ｈ 誘導帯検知センサ
６ センサ群
６ａ センサ群
６ｂ センサ群
６ｃ センサ群
６ｄ センサ群
７ 誘導帯
８ 床面
９ 床面の全方向移動車輪の通過部分
９ａ 第１の無人搬送車の全方向移動車輪の通過部分
９ｂ 第２の無人搬送車の全方向移動車輪の通過部分
９ｃ 第３の無人搬送車の全方向移動車輪の通過部分
９ｄ 第４の無人搬送車の全方向移動車輪の通過部分
DESCRIPTION OF SYMBOLS 1 Automatic guided vehicle 1a 1st automatic guided vehicle 1b 2nd automatic guided vehicle 1c 3rd automatic guided vehicle 1d 4th automatic guided vehicle 2 Car body 3 Omnidirectional moving wheel 3a Omnidirectional moving wheel 3b Omnidirectional moving wheel 3c Omnidirectional moving wheel 3d Omnidirectional moving wheel 4 Guidance band detection means 5 Guidance band detection sensor 5a Guidance band detection sensor 5b Guidance band detection sensor 5c Guidance band detection sensor 5d Guidance band detection sensor 5e Guidance band detection sensor 5f Guidance band detection sensor 5g Guidance band detection sensor 5h Guidance band detection sensor 6 Sensor group 6a Sensor group 6b Sensor group 6c Sensor group 6d Sensor group 7 Guidance band 8 Floor surface 9 Passing portion 9a of wheel moving in all directions on floor surface All of first automatic guided vehicle Passing portion 9b of the directional moving wheel Passing portion 9c of the omnidirectional moving wheel of the second automatic guided vehicle Passing portion 9d of the omnidirectional moving wheel of the third automatic guided vehicle of the fourth automatic guided vehicle Passing part of the movement wheel
Claims (6)
床面に敷設された誘導帯を検知するための誘導帯検知手段と、
制御手段を備え、
前記誘導帯検知手段は、
３つの誘導帯検知センサを等間隔に配置したものを一組とするセンサ群をｎ組（ｎは２以上の整数）備え、
前記３つの誘導帯検知センサのうち、中央に位置する誘導帯検知センサは常に前記誘導帯を検知するものであり、
前記３つの誘導帯検知センサのうち、両端に位置する誘導帯検知センサは通常は前記誘導帯を検知しないものであり、
前記制御手段は、
前記両端の誘導帯検知センサが前記誘導帯を検知した場合に、走行経路を外れつつあると判断して、前記誘導帯を前記両端の誘導帯検知センサの間に位置するように前記全方向移動車輪の移動方向および駆動力を制御するものであることを特徴とする無人搬送車。
An omnidirectional wheel with a plurality of rotating bodies;
Guidance zone detection means for detecting the guidance zone laid on the floor ,
With control means ,
The induction band detecting means includes
N sets (n is an integer equal to or greater than 2) of sensor groups each including three induction band detection sensors arranged at equal intervals ,
Of the three induction band detection sensors, the induction band detection sensor located in the center always detects the induction band,
Of the three induction band detection sensors, the induction band detection sensors located at both ends normally do not detect the induction band,
The control means includes
When the induction band detection sensors at both ends detect the induction band, it is determined that the vehicle is out of the travel route, and the guidance band is moved in all directions so as to be positioned between the induction band detection sensors at both ends. An automatic guided vehicle that controls a moving direction and driving force of wheels .
５〜６０ｍｍの間隔で配置されていることを特徴とする請求項１に記載の無人搬送車。
The sensor group is
The automatic guided vehicle according to claim 1, wherein the automatic guided vehicle is disposed at intervals of 5 to 60 mm.
５〜２０ｍｍの間隔で配置されていることを特徴とする請求項１または請求項２に記載の無人搬送車。
The induction band detection sensor is
The automatic guided vehicle according to claim 1, wherein the automatic guided vehicle is disposed at an interval of 5 to 20 mm.
無人搬送車の前後および／または左右に設けたことを特徴とする請求項１から請求項３のいずれか一項に記載の無人搬送車。
The sensor group is
The automatic guided vehicle according to any one of claims 1 to 3, wherein the automatic guided vehicle is provided on the front and rear and / or on the left and right of the automatic guided vehicle.
第１の無人搬送車には前記センサ群のうちの第１のセンサ群を用いて前記誘導帯を検知させ、
第ｎ（ｎは２以上の整数）の無人搬送車には前記センサ群のうちの第ｎ（ｎは２以上の整数）のセンサ群を用いて前記誘導帯を検知させることによって、
無人搬送車に複数の走行経路を走行させ、全方向移動車輪の回転体による床面の摩耗を低減することを特徴とする無人搬送車の制御方法。
N types (n is an integer of 2 or more) of the automatic guided vehicle according to any one of claims 1 to 4,
The first automatic guided vehicle uses the first sensor group of the sensor group to detect the guide band,
By causing the nth (n is an integer of 2 or more) automatic guided vehicle to detect the induction band using the nth (n is an integer of 2 or more) sensor group of the sensor group,
A control method for an automatic guided vehicle, wherein the automatic guided vehicle is caused to travel along a plurality of travel routes to reduce floor wear caused by a rotating body of omnidirectional moving wheels.
第１の無人搬送車には前記センサ群のうちの第１のセンサ群を用いて前記誘導帯を検知させ、
第２の無人搬送車には前記センサ群のうちの第２のセンサ群を用いて前記誘導帯を検知させ、
第３の無人搬送車には前記センサ群のうちの第３のセンサ群を用いて前記誘導帯を検知させ、
第４の無人搬送車には前記センサ群のうちの第４のセンサ群を用いて前記誘導帯を検知させることによって、
無人搬送車に複数の走行経路を走行させ、全方向移動車輪の回転体による床面の摩耗を低減することを特徴とする無人搬送車の制御方法。
Four types of automatic guided vehicles according to any one of claims 1 to 4 are used,
The first automatic guided vehicle uses the first sensor group of the sensor group to detect the guide band,
The second automatic guided vehicle uses the second sensor group of the sensor groups to detect the guide band,
A third automatic guided vehicle using the third sensor group of the sensor group to detect the guide band;
By causing the fourth automated guided vehicle to detect the induction band using the fourth sensor group of the sensor group,
A control method for an automatic guided vehicle, wherein the automatic guided vehicle is caused to travel along a plurality of travel routes to reduce floor wear caused by a rotating body of omnidirectional moving wheels.
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| JP6629567B2 (en) * | 2015-10-27 | 2020-01-15 | 株式会社Ｓｏｋｅｎ | Transfer device |
| CN108674524B (en) * | 2018-05-04 | 2023-07-07 | 佛山科学技术学院 | AGV anticollision keeps away barrier safety arrangement with adjustable position |
| CN109397981A (en) * | 2018-11-18 | 2019-03-01 | 大连四达高技术发展有限公司 | Omni-directional wheel cross asymmetric distribution structure |
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| SE363781B (en) * | 1970-12-14 | 1974-02-04 | B Iion | |
| US3876255A (en) * | 1972-11-13 | 1975-04-08 | Ilon B E | Wheels for a course stable selfpropelling vehicle movable in any desired direction on the ground or some other base |
| JPS60211511A (en) * | 1984-04-05 | 1985-10-23 | Toyoda Autom Loom Works Ltd | Inductive running method of unattended truck |
| JPH0745364Y2 (en) * | 1987-04-15 | 1995-10-18 | 株式会社三井三池製作所 | Carrier |
| JPH0745764Y2 (en) * | 1987-05-22 | 1995-10-18 | 株式会社豊田自動織機製作所 | Driving control system for unmanned vehicles |
| JPH11249736A (en) * | 1998-02-27 | 1999-09-17 | Ishikawajima Harima Heavy Ind Co Ltd | Automated guided vehicle and automated guided vehicle facility |
| US7991521B2 (en) * | 2006-02-01 | 2011-08-02 | Jervis B. Webb Company | Variable path automated guided vehicle |
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