JPH0269806A - Unmanned carrier - Google Patents
Unmanned carrierInfo
- Publication number
- JPH0269806A JPH0269806A JP63222818A JP22281888A JPH0269806A JP H0269806 A JPH0269806 A JP H0269806A JP 63222818 A JP63222818 A JP 63222818A JP 22281888 A JP22281888 A JP 22281888A JP H0269806 A JPH0269806 A JP H0269806A
- Authority
- JP
- Japan
- Prior art keywords
- unmanned carrier
- guided vehicle
- automatic guided
- detection area
- mark
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 230000003287 optical effect Effects 0.000 claims abstract description 6
- 238000012790 confirmation Methods 0.000 abstract 1
- 230000003247 decreasing effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は無人搬送車に関し、特に非接触式の障害物検出
装置を有する無人搬送車に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic guided vehicle, and more particularly to an automatic guided vehicle having a non-contact obstacle detection device.
従来、この種の無人搬送車は、無人搬送車自体の管理制
御する制御装置、走行および操舵のための駆動装置、入
出力装置、外部との情報通信のための通信装置、および
光学式ガイドテープあるいは磁気ガイドテープなどを読
み取る認識装置などで構成される。また、さらに対人安
全確保のため、前後面のバンバ、側面バンバなどが設け
られておりその部位に接触すると搬送車は急速に停止す
るようになっている。また、搬送車の走行方向に対して
反射波検出式の超音波センサや光電センサ等の非接触式
のセンサを設置し走行方向に障害物を検知した場合は減
速し、接近していることをアラームなどにより警告して
いる。さらに最近では前記減速後さらに一定以上接近し
た場合は搬送車が停止するようになっており、走行路上
の人、物に対しての安全措置が施されている。Conventionally, this type of automated guided vehicle has been equipped with a control device for managing and controlling the automated guided vehicle itself, a drive device for running and steering, an input/output device, a communication device for communicating information with the outside, and an optical guide tape. Alternatively, it may consist of a recognition device that reads magnetic guide tape, etc. Furthermore, to ensure personal safety, front and rear bumpers, side bumpers, etc. are provided, and the transport vehicle will stop rapidly if it comes into contact with these parts. In addition, non-contact sensors such as ultrasonic sensors that detect reflected waves and photoelectric sensors are installed in the direction of travel of the guided vehicle, and if an obstacle is detected in the direction of travel, the vehicle will decelerate and detect that it is approaching. Warnings are provided through alarms, etc. Furthermore, recently, the conveyance vehicle has come to stop if it approaches the vehicle for more than a certain amount after decelerating, as a safety measure for people and objects on the way.
上述した従来の無人搬送車は、非接触式の超音波センサ
や光電センサは無人搬送車に取り付けられ固定されるが
、第６図（ａ）及び（ｂ）のようにセンサの検知方向は
おおむね走行方向と平行で、走行路面に対して水平方向
に設定する。それぞれの検出感度は任意に設定はできる
ものの少なくとも走行中は変更ができない。この状態で
例えば第７図のような走行路がコーナーになっていて、
搬送車の前方に壁面などの物体が走行路に対して著しく
近接して配置されている場合などは搬送車が方向転換す
る前に壁面を障害物として誤認するため減速そして停止
してしまう欠点がある。In the conventional automated guided vehicle described above, non-contact ultrasonic sensors and photoelectric sensors are attached and fixed to the automated guided vehicle, but as shown in Figure 6 (a) and (b), the detection direction of the sensor is generally Set parallel to the driving direction and horizontal to the driving road surface. Although each detection sensitivity can be set arbitrarily, it cannot be changed at least while the vehicle is running. In this state, for example, if the driving path is a corner as shown in Figure 7,
If an object such as a wall is placed in front of the transport vehicle extremely close to the travel path, the transport vehicle may decelerate and stop before changing direction due to the misidentification of the wall as an obstacle. be.
本発明の無人搬送車は、光学式ガイドテープあるいは磁
気ガイドテープによって軌道を決められ誘導走行する無
人搬送車において、走行路に設けられた特定の光学式マ
ークあるいは磁気マークを検出することにより、該無人
搬送車に設けられた非接触式障害物検出装置の検出領域
を切り換えることを特徴とする。The automatic guided vehicle of the present invention has a trajectory determined by an optical guide tape or a magnetic guide tape and guides the vehicle. It is characterized by switching the detection area of a non-contact obstacle detection device provided on an automatic guided vehicle.
次に、本発明について図面を参照して説明する。 Next, the present invention will be explained with reference to the drawings.
第１図は本発明の一実施例の無人搬送車のブロック構成
図、第２図は該−実施例の無人搬送車の側面図、第３図
は該−実施例の無人搬送車の走行路の平面図である。無
人搬送車１は走行路１２を軌道中心１１に沿って走行す
る。軌道中心には誘導用の光学式反射テープが布設され
ている。このとき無人搬送車の超音波センサは進行方向
水平方向に向いている。無人搬送車１が伏角にせよのマ
ーク３１を検出すると、無人搬送車１は変向装置２を動
作させ、第２図に示すようにセンサの角度を伏角にする
。走行路のマーク３１は誘導ガイドテープと同類のもの
で光学的に区別できるようになっている。また、このマ
ーク３１を検出したとき変向装置２を動作させ超音波セ
ンサ３を一定角度だけ伏角にする動作はあらかじめ無人
搬送車１に登録しておく。第２図のように超音波センサ
３が下方を向くとその検出エリア４が下向きになり進行
方向に対して見かけ玉検出エリアが減少したようになる
。このため、第３図で無人搬送車１の前方にある壁面２
１を検知しなくなり、無人搬送車は停止することなく走
行路１２を軌道中心１１の誘導テープに沿って走行する
ことができる。FIG. 1 is a block configuration diagram of an automatic guided vehicle according to an embodiment of the present invention, FIG. 2 is a side view of the automatic guided vehicle according to the embodiment, and FIG. 3 is a running path of the automatic guided vehicle according to the embodiment. FIG. The automatic guided vehicle 1 travels on a travel path 12 along a track center 11. Optical reflective tape for guidance is installed at the center of the orbit. At this time, the ultrasonic sensor of the automatic guided vehicle is oriented horizontally in the direction of travel. When the automatic guided vehicle 1 detects the mark 31 indicating the angle of inclination, the automatic guided vehicle 1 operates the direction changing device 2 to change the angle of the sensor to the inclined angle as shown in FIG. The travel path mark 31 is similar to a guide tape and can be optically distinguished. Further, the operation of operating the direction changing device 2 and tilting the ultrasonic sensor 3 by a certain angle when the mark 31 is detected is registered in the automatic guided vehicle 1 in advance. As shown in FIG. 2, when the ultrasonic sensor 3 faces downward, its detection area 4 faces downward, so that the apparent ball detection area decreases in the direction of travel. For this reason, the wall surface 2 in front of the automatic guided vehicle 1 in FIG.
1 is no longer detected, and the automatic guided vehicle can travel on the travel path 12 along the guide tape at the track center 11 without stopping.
さらに、走行し戻せのマーク３２を検出すると、同様に
変更装置２を動作させ、超音波センサ３の向きを水平方
向に戻す。なお、第２図のような状態でも無人搬送車１
の前方近くに障害物があれば。Furthermore, when the mark 32 indicating that the vehicle should run back is detected, the changing device 2 is operated in the same manner, and the orientation of the ultrasonic sensor 3 is returned to the horizontal direction. Furthermore, even in the state shown in Figure 2, the automatic guided vehicle 1
If there is an obstacle near the front.
検知することになるので、無人搬送車ｌは減速停止する
。Since this is detected, the automatic guided vehicle l decelerates and stops.
第４図は本発明の他の実施例の無人搬送車のブロック構
成図、第５図は該他の実施例の無人搬送車の側面図であ
る。この実施例では超音波センサを３ ａ ｒ ３ ｂ
のように２個設け、それぞれ検出感度を変えてあらかじ
め設定しておく。通常走行中はスイッチ５を検出エリア
のひろい超音波センサ３ａ側に切り換え、伏角にせよの
マーク３１を検知したときスイッチ５を検出エリアの狭
い超音波センサ３ｂ側に切り換えるようにする。スイッ
チ５は機械式スイッチ、電子スイッチ、ソフトウェアス
イッチなどを使用することができる。この実施例では該
−実施例の変向装置２のような駆動機構がなくなるため
構造的に簡素化できる利点がある。FIG. 4 is a block diagram of an automatic guided vehicle according to another embodiment of the present invention, and FIG. 5 is a side view of the automatic guided vehicle according to the other embodiment. In this example, the ultrasonic sensors are 3 a r 3 b
Two detectors are provided, each with a different detection sensitivity and set in advance. During normal running, the switch 5 is switched to the ultrasonic sensor 3a side with a wide detection area, and when a mark 31, regardless of the angle of inclination, is detected, the switch 5 is switched to the ultrasonic sensor 3b side with a narrow detection area. The switch 5 can be a mechanical switch, an electronic switch, a software switch, or the like. This embodiment has the advantage of being structurally simple because it does not require a drive mechanism like the direction changing device 2 of the second embodiment.
以上説明したように本発明は、走行路上の特定のマーク
を無人搬送車が読みとり、マークの意味する内容に従っ
て、障害物検知センサの検知領域を変えることができる
非接触式障害物検出装置を設けることにより、本来障害
物ではない物体を誤認することがなくなり、誤認による
無人搬送車の無用な減速停止を防止することができる効
果がある。As explained above, the present invention provides a non-contact obstacle detection device that allows an automatic guided vehicle to read a specific mark on a running road and change the detection area of an obstacle detection sensor according to the meaning of the mark. This eliminates the possibility of misrecognizing objects that are not originally obstacles, and has the effect of preventing unnecessary deceleration and stopping of the automatic guided vehicle due to misrecognition.
第１図は本発明の一実施例の無人搬送車のブロック構成
図、第２図は該−実施例の無人搬送車の側面図、第３図
は該−実施例の無人搬送車の走行路の平面図、第４図は
本発明の他の実施例の無人搬送車のブロック構成図、第
５図は該他の実施例の無人搬送車の側面図、第６図（ａ
） 、 （ｂ）はそれぞれ従来の無人搬送車の平面図及
び側面図、第７図は従来の無人搬送車の走行路の平面図
である。
１・・・・・・無人搬送車、２・・・・・・変向装置、
３．３ａ。
３ｂ・・・・・・超音波センサ、４．４ａ、４ｂ・・・
・・・検出エリア、５・・・・・・スイッチ、１１・・
・・・・軌道中心、１２・・・・・・走行路、２１・・
・・・・壁面、３１・・・・・・“伏角にせよ”のマー
ク、３２・・・・・・“戻せ”のマーク。
代理人 弁理士 内 原 晋
茅
」
茅
図゛
早
乙
回
革
圀FIG. 1 is a block configuration diagram of an automatic guided vehicle according to an embodiment of the present invention, FIG. 2 is a side view of the automatic guided vehicle according to the embodiment, and FIG. 3 is a running path of the automatic guided vehicle according to the embodiment. FIG. 4 is a block diagram of an automatic guided vehicle according to another embodiment of the present invention, FIG. 5 is a side view of the automatic guided vehicle according to another embodiment, and FIG.
) and (b) are respectively a plan view and a side view of a conventional automatic guided vehicle, and FIG. 7 is a plan view of a running path of the conventional automatic guided vehicle. 1...Automated guided vehicle, 2...Direction changing device,
3.3a. 3b... Ultrasonic sensor, 4.4a, 4b...
...Detection area, 5...Switch, 11...
...Track center, 12...Travel path, 21...
...Wall surface, 31...Mark for "make it incline", 32...Mark for "return". Agent: Patent Attorney Shinka Uchihara
Claims (1)
軌道を決められ誘導走行する無人搬送車において、走行
路に設けられた特定の光学式マークあるいは磁気マーク
を検出することにより、該無人搬送車に設けられた非接
触式障害物検出装置の検出領域を切り換えることを特徴
とする無人搬送車。In an automated guided vehicle whose trajectory is determined by an optical guide tape or a magnetic guide tape and the vehicle guides the vehicle, it is possible to detect a specific optical mark or magnetic mark provided on the traveling route. An automatic guided vehicle characterized by switching the detection area of a contact type obstacle detection device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63222818A JP2503604B2 (en) | 1988-09-05 | 1988-09-05 | Automatic guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63222818A JP2503604B2 (en) | 1988-09-05 | 1988-09-05 | Automatic guided vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0269806A true JPH0269806A (en) | 1990-03-08 |
| JP2503604B2 JP2503604B2 (en) | 1996-06-05 |
Family
ID=16788392
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63222818A Expired - Lifetime JP2503604B2 (en) | 1988-09-05 | 1988-09-05 | Automatic guided vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2503604B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5804804A (en) * | 1995-04-19 | 1998-09-08 | Kabushiki Kaisha Toshiba | Device for supplying and receiving medium between a plurality of apparatuses, cash transaction system with the device, and method of supplying and receiving the medium |
| WO2021006321A1 (en) * | 2019-07-10 | 2021-01-14 | ヤンマーパワーテクノロジー株式会社 | Automatic travel system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61265606A (en) * | 1985-05-21 | 1986-11-25 | Toyoda Autom Loom Works Ltd | Obstacle processor for unmanned carrying car |
-
1988
- 1988-09-05 JP JP63222818A patent/JP2503604B2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61265606A (en) * | 1985-05-21 | 1986-11-25 | Toyoda Autom Loom Works Ltd | Obstacle processor for unmanned carrying car |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5804804A (en) * | 1995-04-19 | 1998-09-08 | Kabushiki Kaisha Toshiba | Device for supplying and receiving medium between a plurality of apparatuses, cash transaction system with the device, and method of supplying and receiving the medium |
| WO2021006321A1 (en) * | 2019-07-10 | 2021-01-14 | ヤンマーパワーテクノロジー株式会社 | Automatic travel system |
| JP2021015341A (en) * | 2019-07-10 | 2021-02-12 | ヤンマーパワーテクノロジー株式会社 | Automatic travelling system |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2503604B2 (en) | 1996-06-05 |
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