JPH0391012A - Derailment discriminating system for unattended carriage - Google Patents

Abstract

PURPOSE:To approximately uniformly decide derailment by detecting the deviation from a guide mark zone to output a derailment signal at the time when the binary OR between differential signals of output levels of detectors is '0'. CONSTITUTION:Outputs of amplifiers 2a and 2b which amplify the outputs of detectors 1a and 1b are differentiated with respect to time to output signals A and B. OR between signals A and B is operated to output a signal S indicating whether an unattended carriage is derailed from the guide mark zone or not. That is, binary OR between two or more positive differential signals is operated, and derailment of the unattended carriage from the guide mark zone is detected when this output is '0'. Thus, derailment is always approximately uniformly decided though the offset of detectors is varied by temperature or the like.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は誘導標識帯に沿って走行する無人搬送車の脱線
判定方式に関する。DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a derailment determination method for an automatic guided vehicle traveling along a guidance sign zone.

〔従来の技術〕[Conventional technology]

従来、この種の無人搬送車の脱線判定方式は、誘導標識
帯に沿って走行する無人搬送車に誘導標識帯を検知する
検知器を２つ以上備えて、誘導標識帯に対するそれぞれ
の検知器１ａ、１ｂの出力レベルが第４図に示すように
予め定められたある一定レベル以下になった時を検出し
て脱線と判定していた。Conventionally, this type of automatic guided vehicle derailment determination system includes equipping an automatic guided vehicle traveling along a guidance marking zone with two or more detectors for detecting the guidance marking zone, and detecting each of the detectors 1a for the guidance marking zone. , 1b has fallen below a certain predetermined level as shown in FIG. 4, and it is determined that the train has derailed.

〔発明が解決しようとする課題〕[Problem to be solved by the invention]

上述した従来の無人搬送車の脱線方式は、無人搬送車に
誘導標識帯を検知する検知器を２つ以上備えて、誘導標
識帯に対するそれぞれの検知器の出力レベルが予め定め
られたある一定レベル以下になった時を検出して脱線と
判定する方式となっているので、検知器に誘導標識帯が
近づいてない時の検知器の出力（オフセット〉が温度変
化や経時変化で変動した場合に、脱線と判定する点が変
動するという欠点がある。In the conventional automated guided vehicle derailment method described above, the automated guided vehicle is equipped with two or more detectors for detecting the guidance marking zone, and the output level of each detector with respect to the guidance marking zone is set to a certain predetermined level. The system detects when the following occurs and determines a derailment, so if the detector's output (offset) changes due to temperature changes or changes over time when the guidance sign band is not approaching the detector, , the disadvantage is that the point at which a derailment is determined varies.

〔課題を解決するための手段〕[Means to solve the problem]

本発明の無人搬送車の脱線判定方式は、走行路に沿って
誘導標識帯が敷設され、前記誘導標識帯を２つ以上の検
知器で検出しつつ操舵角を変えて前記誘導標識帯に沿っ
て走行する無人搬送車の脱線判定方式において、前記検
知器の出力レベルのそれぞれを時間微分をとる微分手段
と、この微分手段からの２つ以上の正の微分信号の二値
論理和をとりその出力が“０”となった時を前記無人搬
送車が前記誘導標識帯からはずれた時として脱線信号を
出力する出力手段とを有している。In the automatic guided vehicle derailment determination method of the present invention, a guide sign band is laid along a running route, and the guide sign band is detected by two or more detectors while changing the steering angle to move along the guide sign band. In a derailment determination method for an automatic guided vehicle traveling in a vehicle, a differentiating means takes a time derivative of each of the output levels of the detector, and a binary OR of two or more positive differential signals from the differentiating means is performed. and an output means for outputting a derailment signal as a time when the automatic guided vehicle has deviated from the guide sign zone when the output becomes "0".

〔実施例〕〔Example〕

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を示すブロック図、第２図は
本実施例及び従来例の無人搬送車の外観構造の一例を示
す模式図、第３図（ａ）は本実施例内の検知器の出力レ
ベルの特性を示す特性図、第２図（ｂ）及び（ｃ）はそ
れぞれ第２図に示す誘導標識帯が検知器に左から右へ近
づいた時及び右から左へ近づいた時の第１図に示す信号
Ａ。Fig. 1 is a block diagram showing one embodiment of the present invention, Fig. 2 is a schematic diagram showing an example of the external structure of an automatic guided vehicle of this embodiment and a conventional example, and Fig. 3 (a) is a block diagram showing an example of the external structure of an automatic guided vehicle of this embodiment and a conventional example. Figure 2 (b) and (c) are characteristic diagrams showing the characteristics of the output level of the detector when the guidance sign band shown in Figure 2 approaches the detector from left to right and from right to left, respectively. Signal A shown in FIG.

Ｂ、Ｓの関係を示す図である。It is a figure showing the relationship between B and S.

第１図及び第２図において、本実施例は誘導標識帯７と
無人搬送車８との位置を検出する無人搬送車８に取付け
られた検知器１ａ、ｌｂと、検知器１ａ、ｌｂのそれぞ
れの出力を増幅する増幅器２ａ、２ｂと、増幅器２ａ、
２ｂのそれぞれの出力の差を増幅する差動増幅器３と、
差動増幅器３の出力によって無人搬送車８の方向を制御
するモータ（図示省略）を駆動する操航モータ駆動回路
４と、増幅回路２ａ、２ｂのそれぞれの出力の時間微分
をとって信号Ａ、Ｂを出力する微分回路５ａ、５ｂと、
信号Ａ、Ｂの論理和をとって無人搬送車８の誘導標識帯
７からの脱線の有無の信号Ｓを出力する論理和回路６と
を有して構成している。In FIG. 1 and FIG. 2, the present embodiment includes detectors 1a and lb attached to the automatic guided vehicle 8 that detect the positions of the guide sign band 7 and the automatic guided vehicle 8, and detectors 1a and lb, respectively. amplifiers 2a and 2b that amplify the output of the amplifiers 2a and 2b;
a differential amplifier 3 that amplifies the difference between the respective outputs of 2b;
The navigation motor drive circuit 4 that drives a motor (not shown) that controls the direction of the automatic guided vehicle 8 by the output of the differential amplifier 3 and the time differentiation of the outputs of the amplifier circuits 2a and 2b are used to generate a signal A, Differential circuits 5a and 5b that output B,
It is configured to include an OR circuit 6 which takes the logical sum of the signals A and B and outputs a signal S indicating whether or not the automatic guided vehicle 8 has derailed from the guide marking zone 7.

次に、本実施例の動作について、第１図、第２図および
第３図（ａ）、（ｂ）、（ｃ）を用いて説明する。Next, the operation of this embodiment will be explained using FIG. 1, FIG. 2, and FIGS. 3(a), (b), and (c).

無人搬送車８が走行を開始して、誘導標識帯７が検知器
１ａ、ｌｂに対して左から右へ近づいた時、検知器１ａ
、ｌｂの出力レベルは第３図（ａ）のＰ領域から入って
くるので、差動増幅器３からの出力信号Ｃによって操航
モータ駆動回路４は無人搬送車８を第３図に示すＯ領域
の中心に来るように駆動する。そうして、尚、検知器ｌ
ａ、ｌｂが右へずれて検知器１ａ、ｌｂの出力レベルが
第３図（ａ）のＱ領域に入ったとたん、第３図（ｂ）に
示すように信号Ａ、Ｂともに二値の“Ｏ”となって信号
Ｓも°′○”となり、論理和回路６は脱線信号を出力す
る。When the automatic guided vehicle 8 starts traveling and the guide sign band 7 approaches the detectors 1a and lb from left to right, the detector 1a
, lb come from the P region shown in FIG. 3(a), the navigation motor drive circuit 4 uses the output signal C from the differential amplifier 3 to move the automatic guided vehicle 8 into the O region shown in FIG. drive to the center of the Then, the detector l
As soon as a and lb shift to the right and the output levels of detectors 1a and 1b enter the Q region shown in FIG. 3(a), both signals A and B become binary "" as shown in FIG. 3(b). O'', the signal S also becomes °'○'', and the OR circuit 6 outputs a derailment signal.

上述と逆に、無人搬送車８が走行を開始して誘導標識帯
７が検知器１ａ、ｌｂに対して右から左へ近づいた時に
は検知器１ａ、ｌｂの出力レベルは第３図（ａ）のＱ領
域から入って来るので、検知器１ａ、ｌｂが左へずれて
検知器１ａ、ｌｂの出力レベルが第３図（ａ＞のＰ領域
に入ったとたん第３図（Ｃ）に示すように信号Ａ、Ｂと
に二値のＯ”となって信号Ｓも“Ｏ”となり、論理和回
路６は脱線信号を出力する。Contrary to the above, when the automatic guided vehicle 8 starts traveling and the guidance sign band 7 approaches the detectors 1a, lb from right to left, the output levels of the detectors 1a, lb are as shown in FIG. 3(a). Since the signal comes from the Q region of , the detectors 1a and lb shift to the left, and as soon as the output level of the detectors 1a and lb enters the P region of FIG. 3 (a>), as shown in FIG. 3 (C) Then, the signals A and B become binary O", the signal S also becomes "O", and the OR circuit 6 outputs a derailment signal.

上述のように本実施例は脱線判定に検知器１ａ、ｌｂの
増幅信号を微分回路５ａ、５ｂで時間微分した信号を用
いているので、オフセットが検知器１ａ、ｌｂの出力レ
ベルに対して無視できないレベルであっても脱線を判定
することができる。As mentioned above, in this embodiment, the signals obtained by time-differentiating the amplified signals of the detectors 1a and lb using the differentiating circuits 5a and 5b are used for derailment determination, so the offset is ignored with respect to the output level of the detectors 1a and lb. Derailment can be determined even at a level where it is not possible.

〔発明の効果〕〔Effect of the invention〕

以上説明したように本発明は、検知器出力の時間微分信
号の論理和を脱線判定に用いることにより、時間微分信
号に温度変化等の影響を受けないので、検知器のオフセ
ットが温度等で変動した場合にも、常に、はぼ一定の脱
線判定ができるという効果がある。As explained above, in the present invention, by using the logical sum of the time-differentiated signals of the detector output for derailment determination, the time-differentiated signal is not affected by temperature changes, etc., so the offset of the detector changes due to temperature, etc. Even in this case, there is an effect that derailment judgment can always be made to a certain degree.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は本発明の一実施例を示すブロック図、第２図は
本実施例及び従来例の無人搬送車の外観構造の一例を示
す模式図、第３図（ａ）は本実施例内の検知器の出力レ
ベルの特性を示す特性図、第３図（ｂ）及び（ｃ）はそ
れぞれ第２図に示す誘導標識帯に検知器が左から右へ近
づいた時及び右から左へ近づいた時の第１図に示す信号
Ａ。 Ｂ、Ｓの関係を示す図である。第４図は従来例の検知器
の出力レベルの特性を示す特性図である。 ｌａ、ｌｂ−・−検知器、２ａ、２ｂ−増幅器、３・・
・差動増幅器、４・・・操舵モータ駆動回路、５ａ。 ５ｂ・・・微分回路、６・・・論理和回路、７・・・誘
導標識帯、８・・・無人搬送車。Fig. 1 is a block diagram showing one embodiment of the present invention, Fig. 2 is a schematic diagram showing an example of the external structure of an automatic guided vehicle of this embodiment and a conventional example, and Fig. 3 (a) is a block diagram showing an example of the external structure of an automatic guided vehicle of this embodiment and a conventional example. Figures 3 (b) and (c) show the characteristics of the output level of the detector when the detector approaches the guidance sign zone shown in Figure 2 from left to right and from right to left, respectively. Signal A shown in FIG. It is a figure showing the relationship between B and S. FIG. 4 is a characteristic diagram showing the output level characteristics of a conventional detector. la, lb--detector, 2a, 2b-amplifier, 3...
- Differential amplifier, 4... Steering motor drive circuit, 5a. 5b...Differential circuit, 6...OR circuit, 7...Guidance sign band, 8...Automated guided vehicle.

Claims (1)

【特許請求の範囲】[Claims] 走行路に沿って誘導標識帯が敷設され、前記誘導標識帯
を２つ以上の検知器で検出しつつ操舵角を変えて前記誘
導標識帯に沿って走行する無人搬送車の脱線判定方式に
おいて、前記検知器の出力レベルのそれぞれを時間微分
をとる微分手段と、この微分手段からの２つ以上の正の
微分信号の二値論理和をとりその出力が“０”となつた
時を前記無人搬送車が前記誘導標識帯からはずれた時と
して脱線信号を出力する出力手段とを有することを特徴
とする無人搬送車の脱線判定方式。In a derailment determination method for an automated guided vehicle, in which a guidance marking strip is laid along a travel route, the guiding marking strip is detected by two or more detectors, and the automated guided vehicle travels along the guiding marking strip by changing a steering angle, Differentiating means for taking time differentiation of each of the output levels of the detector, and a binary OR of two or more positive differential signals from this differentiating means, and the time when the output becomes "0" is determined by the unmanned system. A system for determining derailment of an automatic guided vehicle, comprising: an output means for outputting a derailment signal when the guided vehicle deviates from the guide sign zone.