JPH069010B2 - Driving method of self-propelled cart - Google Patents
Driving method of self-propelled cartInfo
- Publication number
- JPH069010B2 JPH069010B2 JP60299214A JP29921485A JPH069010B2 JP H069010 B2 JPH069010 B2 JP H069010B2 JP 60299214 A JP60299214 A JP 60299214A JP 29921485 A JP29921485 A JP 29921485A JP H069010 B2 JPH069010 B2 JP H069010B2
- Authority
- JP
- Japan
- Prior art keywords
- marker
- self
- traveling
- propelled
- traveling direction
- 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 - Fee Related
Links
- 238000000034 method Methods 0.000 title claims description 12
- 239000003550 marker Substances 0.000 claims description 83
- 238000001514 detection method Methods 0.000 claims description 49
- 230000007704 transition Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000463 material Substances 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】 [産業上の利用分野] この発明は、床面に配設された走行路を一対の走行路検
出装置により光学的に読取りながら自走する自走台車の
走行方法に関する。Description: TECHNICAL FIELD The present invention relates to a traveling method of a self-propelled carriage that optically travels a traveling path arranged on a floor by a pair of traveling path detection devices. .
[従来技術] 例えば実開昭60−100810号公報に示す移動車に
あっては、自動走行路上の特定位置に、移動車に取り付
けられた反射型光電型センサーで検出される光線反射シ
ートを取り付け、検出された光線反射シートに基づいて
目的の制御信号を読み出して移動車を停止、分岐等の制
御している。[Prior Art] For example, in the moving vehicle disclosed in Japanese Utility Model Laid-Open No. 60-100810, a light ray reflection sheet detected by a reflective photoelectric sensor attached to the moving vehicle is attached to a specific position on an automatic traveling road. A target control signal is read out based on the detected light reflection sheet to control the moving vehicle such as stopping and branching.
[発明が解決しようとする問題点] しかしながら、上記した制御方法にあっては、センサー
が目標位置のシートを検出したか否か判別できなかっ
た。[Problems to be Solved by the Invention] However, in the above-described control method, it is not possible to determine whether or not the sensor detects the sheet at the target position.
このため、床面上のごみをシートとして検出するおそれ
があり、この場合にあっては移動車が所定の目標位置へ
移動していない状態であっても、次の走行データに切換
えて走行制御するおそれがあり、移動車を所望の走行パ
ターンで移動制御できなかった。Therefore, dust on the floor may be detected as a sheet. In this case, the traveling control is switched to the next traveling data even when the moving vehicle is not moving to the predetermined target position. Therefore, the movement of the moving vehicle cannot be controlled in a desired traveling pattern.
[発明の目的] 本発明は、上記した従来の欠点を解決するために発明さ
れたものであり、その目的とするところは、走行切換指
令用のマーカを確実に検出して走行パターンを正確に切
換えて自走車を所望の走行パターンで走行制御すること
ができる自走台車の走行方法を提供することにある。[Object of the Invention] The present invention has been invented in order to solve the above-mentioned conventional drawbacks, and an object of the present invention is to reliably detect a travel switching command marker to accurately determine a travel pattern. It is an object of the present invention to provide a traveling method of a self-propelled vehicle that can be switched to control traveling of the self-propelled vehicle in a desired traveling pattern.
[問題点を解決するための手段] このため本発明は、走行方向と直交する方向へ、走行ル
ートに沿って配設された走行路の幅とほぼ一致する間隔
をおいて設けられた一対の走行路検出装置により、該走
行路を検出しながら自走する自走台車において、自走台
車の各制御位置に対応する走行路の側方に、走行方向幅
が所定の長さで、高反射率のマーカを設けると共に該マ
ーカに相対する自走台車の側方に、発光部材及び受光部
材からなる前方検出器と後方検出器とを該マーカの走行
方向長さと一致する間隔をおいて取り付け、自走台車の
走行に伴って前方検出器がマーカの走行方向後端を検出
した後に、該前方検出器がマーカの非検出状態へ遷移す
ると同期して後方検出器がマーカの走行方向後端を検出
したとき、マーカ検出信号を出力して検出されたマーカ
以降に関する走行データを読み出し、該走行データに基
づいて自走台車を走行制御することを特徴としている。[Means for Solving the Problems] Therefore, according to the present invention, a pair of pairs are provided in the direction orthogonal to the traveling direction at intervals substantially corresponding to the width of the traveling path arranged along the traveling route. In a self-propelled vehicle that travels while detecting the traveling path by means of the traveling path detection device, a traveling direction width of a predetermined length and high reflection are provided to the side of the traveling path corresponding to each control position of the self-propelled vehicle. A rate detector is provided, and a front detector and a rear detector formed of a light emitting member and a light receiving member are attached to the side of the self-propelled carriage opposite to the marker at an interval matching the running direction length of the marker, After the front detector detects the rear end of the marker in the traveling direction as the vehicle travels, the rear detector moves the rear end of the marker in synchronization with the transition of the front detector to the non-detection state of the marker. When detected, it outputs a marker detection signal to detect It is characterized in that the traveling data regarding the marker and the subsequent markers that have been issued is read out and the traveling of the self-propelled carriage is controlled based on the traveling data.
[発明の作用] 本発明方法は上記のように構成されるため、一対の走行
路検出装置により走行路を検出しながら自走台車が走行
路に沿って自走されて所望のマーカに至ると、前方検出
器はマーカの走行方向後端検出によりマーカ検出状態へ
遷移する。そして自走台車の自走に伴って、マーカの走
行方向前端通過に伴って前方検出器がマーカ検出状態か
ら非検出状態へ遷移するのと同期して後方検出器がマー
カの走行方向後端検出によりマーカ検出状態へ遷移する
と、自走台車はマーカを検出したと判断して走行データ
をマーカ以後の走行データに切り換えて走行制御させ
る。[Advantageous Effects of the Invention] Since the method of the present invention is configured as described above, when the self-propelled carriage travels along the traveling road to reach the desired marker while detecting the traveling road by the pair of traveling road detecting devices. The front detector transits to the marker detection state by detecting the trailing end of the marker in the traveling direction. The rear detector detects the rear end of the traveling direction of the marker in synchronization with the transition of the front detector from the marker detection state to the non-detection state as the marker passes by the front end of the traveling direction of the self-propelled vehicle. When the state shifts to the marker detection state, the self-propelled carriage determines that the marker is detected and switches the traveling data to the traveling data after the marker to control traveling.
[実施例] 以下、本発明に係る自走台車の走行方法の実施例を図面
に従って説明する。[Embodiment] An embodiment of a traveling method of a self-propelled carriage according to the present invention will be described below with reference to the drawings.
第1図は自走台車の概略を示す斜視図、第2図は自走台
車における各種検出装置の取付状態を示す斜視図であ
り、自走台車1のシャーシ3には単一の操舵軸5が、走
行方向前方中央にて回転可能に支持されている。そして
該操舵軸5に固着されたホルダ7には操舵輪9が回転可
能に支持され、該操舵輪9には前記ホルダ7に取付けら
れたDCモータ等の駆動モータ11が連結されている。
前記操舵軸5にはシャーシ3に固着されたDCモータ、
ステップモータ等のステアリングモータ13が連結さ
れ、該ステアリングモータ13の駆動に伴って操舵輪9
が操舵制御される。前記シャーシ3には一対の走行輪1
5が、走行方向後部にて走行直交方向へ所要の間隔をお
いて回転可能に取付けられている。FIG. 1 is a perspective view showing an outline of a self-propelled carriage, and FIG. 2 is a perspective view showing a mounting state of various detection devices in the self-propelled carriage. A single steering shaft 5 is attached to a chassis 3 of the self-propelled carriage 1. Is rotatably supported at the front center in the traveling direction. A steering wheel 9 is rotatably supported by a holder 7 fixed to the steering shaft 5, and a drive motor 11 such as a DC motor attached to the holder 7 is connected to the steering wheel 9.
The steering shaft 5 has a DC motor fixed to the chassis 3,
A steering motor 13 such as a step motor is connected to the steering wheel 9 as the steering motor 13 is driven.
Is steering controlled. The chassis 3 has a pair of running wheels 1
5 is mounted rotatably at a rear portion in the traveling direction in the traveling orthogonal direction at a required interval.
前記ホルダ7の走行方向前方には一対の走行路検出装置
17a・17bが、走行直交方向へ後述する走行路35
の幅より短い間隔をおいて取付けられている。この走行
路検出装置17a・17bはそれぞれ発光部材と受光部
材(何れも図示せず)とから構成され、各発光部材は床
面に向けて光を照射し、また各受光部材は前記発光部材
から照射された後に走行路35から反射された光に基づ
いてHIGHの電気信号を出力する。前記シャーシ3に
はマーカ検出装置19が、走行方向前方の側方に取付け
られている。このマーカ検出装置19は走行方向に対し
て所要の間隔lをおいたマーカ前端検出装置19aとマ
ーカ後端検出装置19bとから構成され、マーカ前端検
出装置19a及びマーカ後端検出装置19bの発光部材
は床面に向けて光を照射し、またマーカ前端検出装置1
9a及びマーカ後端検出装置19bの受光部材(何れも
図示せず)は後述するマーカ37からの反射光に基づい
てHIGHの電気信号を出力する。In front of the holder 7 in the traveling direction, a pair of traveling path detecting devices 17a and 17b are provided in a traveling orthogonal direction, which will be described later.
It is installed at intervals shorter than the width of. Each of the traveling road detection devices 17a and 17b includes a light emitting member and a light receiving member (neither of which is shown). Each light emitting member emits light toward the floor surface, and each light receiving member is connected to the light emitting member. The electric signal of HIGH is output based on the light reflected from the traveling path 35 after being irradiated. A marker detection device 19 is attached to the chassis 3 at the front side in the traveling direction. The marker detecting device 19 is composed of a marker front end detecting device 19a and a marker rear end detecting device 19b which are spaced apart from each other by a required distance 1 with respect to the traveling direction. Irradiates the floor with light, and the marker front end detection device 1
The light receiving members 9a and the marker rear end detection device 19b (neither shown) output a HIGH electrical signal based on the reflected light from the marker 37, which will be described later.
第3図は上記自走台車1の制御概略を示すブロック図で
あり、CPU21には前記走行路検出装置17a・17
bが夫々接続され、該走行路検出装置17a・17bの
各受光部材から電気信号が入力される。また、CPU2
1にはマーカ検出装置19が接続され、マーカ検出装置
19を構成するマーカ前端検出装置19a及びマーカ後
端検出装置19bの各受光部材から電気信号が入力され
る。前記CPU21にはROM23及びRAM25が夫
々接続されている。該ROM23は走行データ領域27
を有し、該走行データ領域27には走行路検出装置17
a・17bから入力される電気信号に基づいてステアリ
ングモータ13を駆動し、走行路35に沿って自走台車
1を自走させる走行データ及びマーカ前端検出装置19
a・マーカ後端検出装置19bからの電気信号に基づい
て自走台車1の現在位置を判断し、目的位置に向って自
走台車1を自走させるための各種データが記憶されてい
る。前記RAM25にはマーカカウンタ領域29を有
し、該マーカカウンタ領域29はマーカ検出装置19に
よりマーカ37を検出したときに順次インクリメントさ
れ、自走台車1の現在位置に関するデータを記憶してい
る。FIG. 3 is a block diagram showing an outline of control of the self-propelled carriage 1. The CPU 21 has the traveling road detecting devices 17a, 17a.
b are connected to each other, and an electric signal is input from each light receiving member of the traveling road detection devices 17a and 17b. Also, CPU2
A marker detection device 19 is connected to 1, and an electric signal is input from each light receiving member of the marker front end detection device 19 a and the marker rear end detection device 19 b that form the marker detection device 19. A ROM 23 and a RAM 25 are connected to the CPU 21, respectively. The ROM 23 is a traveling data area 27
And the travel data detection area 17 is provided in the travel data area 27.
The driving data and the marker front end detection device 19 for driving the steering motor 13 based on the electric signal input from a.
a. Various data for determining the current position of the self-propelled carriage 1 based on the electric signal from the marker rear end detection device 19b and causing the self-propelled carriage 1 to self-propagate toward the target position are stored. The RAM 25 has a marker counter area 29, which is sequentially incremented when the marker detecting device 19 detects the marker 37 and stores data relating to the current position of the self-propelled carriage 1.
前記CPU21には走行駆動回路31が接続され、該走
行駆動回路31には前記走行データ領域27に記憶され
た走行データに基づいて駆動モータ11を駆動して自走
台車1を走行路に沿って自走させる。前記CPU21に
はステアリング駆動回路33が接続されている。該ステ
アリング駆動回路33は自走台車1が直線状或いは曲線
状の走行路に沿って自走するときには、常に走行路検出
装置17a・17bが走行路検出状態となるようにステ
アリングモータ13を駆動し、また自走台車1が分岐状
の走行路に沿って自走するときには、一方の走行路検出
装置17a或いは走行路検出装置17bが走行路検出状
態でかつ他方の走行路検出装置17b或いは走行路検出
装置17aが走行路非検出状態となるようにステアリン
グモータ13を駆動している。A travel drive circuit 31 is connected to the CPU 21, and the drive motor 11 is driven in the travel drive circuit 31 based on the travel data stored in the travel data area 27 to drive the self-propelled carriage 1 along the travel path. Make it self-propelled. A steering drive circuit 33 is connected to the CPU 21. The steering drive circuit 33 drives the steering motor 13 so that the traveling road detection devices 17a and 17b are always in the traveling road detection state when the self-propelled carriage 1 travels along a straight or curved traveling road. When the self-propelled vehicle 1 travels along a branching traveling road, the traveling road detecting device 17a or the traveling road detecting device 17b is in the traveling road detecting state and the other traveling road detecting device 17b or the traveling road is detected. The steering motor 13 is driven so that the detection device 17a is in the traveling road non-detection state.
第4図は走行路の状態及びマーカの配置状態を示す説明
図であり、床面には自走台車1の走行ルートに沿って走
行路35が直線状、分岐状或いは合流するように取付け
られている。この走行路35は高い反射率を有するアル
ミニウム、ステンレス等の材質から形成されている。ま
た、走行路35に沿った床面にはマーカ37が、自走台
車1の停止位置、分岐位置及び合流位置等の各種制御位
置にてマーカ検出装置19と対向するように取付けられ
ている。このマーカ37は走行方向に対し前記マーカ前
端検出装置19aとマーカ後端検出装置19bとの相互
間隔lに応じた長さlからなり、高い反射率のアルミニ
ウム、ステンレス等により形成されている。そしてこの
マーカ37は自走台車1の走行ルートを複数に区分して
いる。FIG. 4 is an explanatory view showing the state of the traveling road and the arrangement of the markers. The traveling road 35 is attached to the floor along the traveling route of the self-propelled carriage 1 so as to be linear, branched or merge. ing. The running path 35 is made of a material having a high reflectance, such as aluminum or stainless steel. Further, a marker 37 is attached to the floor surface along the traveling path 35 so as to face the marker detection device 19 at various control positions such as a stop position, a branch position and a merge position of the self-propelled carriage 1. The marker 37 has a length 1 corresponding to the mutual distance 1 between the marker front end detecting device 19a and the marker rear end detecting device 19b with respect to the traveling direction, and is formed of aluminum, stainless steel or the like having a high reflectance. The marker 37 divides the traveling route of the self-propelled carriage 1 into a plurality of sections.
上記のように構成された自走台車1の自走方法を第5図
乃至第7図に従って説明する。A self-propelled method of the self-propelled carriage 1 configured as described above will be described with reference to FIGS. 5 to 7.
先ず、通常の走行方法を説明すると、通常走行状態を示
す第5図において、自走台車1は駆動モータ11の駆動
により走行路35に沿って自走する。その際、第5図に
実線で示すようにCPU21は、常に走行路検出装置1
7a・17bの双方が走行路35上に位置し、これら走
行路検出装置17a・17bの発光部材から照射された
光が走行路35により反射されて受光部材に入射し、各
受光部材からの電気信号がHIGHになるようにステア
リングモータ13を駆動制御している。従って第5図の
一点鎖線で示すように一方の走行路検出装置17aが走
行路35から外れるように自走台車1が自走したとき、
CPU21は走行路35から外れた走行路検出装置17
aが走行路35に対向してその受光部材からの電気信号
がHIGHになるように操舵軸5を反時計方向へ駆動制
御している。同様に第5図の二点鎖線で示すように他方
の走行路検出装置17bが走行路35から外れるように
自走台車1が自走したとき、CPU21は走行路35か
ら外れた走行路検出装置17bが走行路35に対向して
その受光部材の電気信号がHIGHになるように操舵軸
5を時計方向へ駆動制御している。これにより直線状或
いは曲線状の走行路35に沿って自走台車1が自走され
る。First, the normal traveling method will be described. In FIG. 5 showing a normal traveling state, the self-propelled carriage 1 is self-propelled along the traveling path 35 by the drive motor 11. At that time, as shown by the solid line in FIG.
Both 7a and 17b are located on the traveling road 35, and the light emitted from the light emitting members of these traveling road detecting devices 17a and 17b is reflected by the traveling road 35 and enters the light receiving member, and the electricity from each light receiving member is received. The steering motor 13 is drive-controlled so that the signal becomes HIGH. Therefore, when the self-propelled carriage 1 self-propels so that one of the traveling road detecting devices 17a is disengaged from the traveling road 35 as shown by the one-dot chain line in FIG.
The CPU 21 is a traveling road detection device 17 which is out of the traveling road 35.
The steering shaft 5 is driven and controlled in the counterclockwise direction so that a faces the traveling path 35 and the electric signal from the light receiving member becomes HIGH. Similarly, as shown by the two-dot chain line in FIG. 5, when the self-propelled vehicle 1 self-propels so that the other traveling road detection device 17b is deviated from the traveling road 35, the CPU 21 is a traveling road detection device deviated from the traveling road 35. The steering shaft 5 is driven and controlled in the clockwise direction so that 17b faces the traveling path 35 and the electric signal of the light receiving member becomes HIGH. As a result, the self-propelled carriage 1 is self-propelled along the straight or curved travel path 35.
次にマーカ検出作用を示す第6図(A)・(B)におい
て、自走台車1が自走台車1の停止位置、分岐位置及び
合流位置に設けられたマーカ37に位置したとき、先
ず、走行方向前方に設けられたマーカ前端検出装置19
aがマーカ37を検出し、その受光部材からの電気信号
がHIGHに遷移する[第6図(A)参照]。この状態
にて自走台車1が更に自走し、走行方向後方に設けられ
たマーカ後端検出装置19bがマーカ37に位置したと
き、その受光部材の電気信号がLOWからHUGHに変
化して該マーカ37を検出する。その際、マーカ後端検
出装置19bの電気信号がHIGHに遷移するとほぼ同
期してマーカ前端検出装置19aがマーカ非検出状態に
なるため、その受光部材からの電気信号がHIGHから
LOWに遷移する。CPU21はマーカ前端検出装置1
9a及びマーカ後端検出装置19bから出力される電気
信号の遷移状態、即ちマーカ前端検出装置19aの電気
信号がHIGHに遷移した後、マーカ後端検出装置19
bの電気信号がHIGHに遷移するとほぼ同期してマー
カ前端検出装置19aの電気信号がHIGHからLOW
に遷移したことに基づいてマーカ37の存在を検出する
[第6図(B)参照]。これによりCPU21はマーカ
カウンタ領域29を1インクリメントし、自走台車1の
現在走行位置を判断するとともにマーカカウンタ領域2
9によるマーカ37の計数値に基づいて走行データ領域
27から目的位置に対する次の走行区間に関する走行デ
ータをアクセスし、該データに基づいて自走台車1を自
走させる。Next, in FIGS. 6 (A) and 6 (B) showing the marker detection operation, when the self-propelled carriage 1 is located at the marker 37 provided at the stop position, the branch position and the merge position of the self-propelled carriage 1, first, Marker front end detection device 19 provided in front of the traveling direction
a detects the marker 37, and the electric signal from the light receiving member changes to HIGH [see FIG. 6 (A)]. When the self-propelled carriage 1 further self-propels in this state, and the marker rear end detection device 19b provided at the rear of the traveling direction is located at the marker 37, the electric signal of the light receiving member changes from LOW to HUGH. The marker 37 is detected. At this time, when the electric signal of the marker rear end detection device 19b transits to HIGH, the marker front end detection device 19a enters the marker non-detection state almost in synchronization, so that the electric signal from the light receiving member transits from HIGH to LOW. The CPU 21 is the marker front end detection device 1
9a and the transition state of the electric signal output from the marker rear end detection device 19b, that is, after the electric signal of the marker front end detection device 19a transits to HIGH, the marker rear end detection device 19
When the electric signal of b changes to HIGH, the electric signal of the marker front end detection device 19a changes from HIGH to LOW almost in synchronization.
The presence of the marker 37 is detected based on the transition to [1] [see FIG. 6 (B)]. As a result, the CPU 21 increments the marker counter area 29 by 1, determines the current traveling position of the self-propelled carriage 1 and the marker counter area 2
Based on the count value of the marker 37 by 9, the traveling data regarding the next traveling section with respect to the target position is accessed from the traveling data area 27, and the self-propelled carriage 1 is self-propelled based on the data.
次に分岐走行方法を示す第4図、第7図において、第4
図に示すマーカ検出装置19が分岐用のマーカ37を検
出したとき、CPU21は走行データ領域27からこの
分岐用のマーカ37の計数値に応じた分岐走行に関する
走行データをアクセスする。そして例えば第4図に示す
ように直線状態から右方向へ分岐走行する場合、CPU
21は分岐方向に設けられたマーカ前端検出装置19a
が常に走行路35から外れるとともに他方のマーカ後端
検出装置19bが常に走行路35を検出するようにステ
アリングモータ13を駆動制御する。これにより操舵軸
5が時計方向へ回動し、右方向に分岐する走行路35に
沿って自走台車1を分岐走行させている。同様に左方向
へ分岐走行する場合、CPU21は分岐側に設けられた
マーカ後端検出装置19bが常に走行路35から外れる
とともに他方のマーカ前端検出装置19aが常に走行路
35を検出するようにステアリングモータ13を駆動制
御する。これにより操舵軸5が反時計方向へ回動し、右
方向へ分岐する走行路35に沿って自走台車1を分岐走
行させている。Next, referring to FIG. 4 and FIG.
When the marker detection device 19 shown in the figure detects the branch marker 37, the CPU 21 accesses the travel data area 27 for travel data relating to branch travel according to the count value of the branch marker 37. Then, for example, as shown in FIG. 4, when branching from a straight line to the right, the CPU
21 is a marker front end detection device 19a provided in the branch direction.
Is always deviated from the traveling path 35, and the steering motor 13 is drive-controlled so that the other marker rear end detection device 19b always detects the traveling path 35. As a result, the steering shaft 5 rotates in the clockwise direction, and the self-propelled carriage 1 is branched and travels along the traveling path 35 branching to the right. Similarly, when branching to the left, the CPU 21 performs steering such that the marker rear end detection device 19b provided on the branch side is always disengaged from the travel path 35 and the other marker front end detection device 19a always detects the travel path 35. The motor 13 is drive-controlled. As a result, the steering shaft 5 rotates counterclockwise, causing the self-propelled carriage 1 to branch and travel along the travel path 35 that branches to the right.
このように本実施例方法は、マーカ37の存在に基づい
てインクリメントされるマーカカウンタ領域29の計数
値に応じて走行データ領域27から走行データをアクセ
スして自走台車1を自走させることが可能である。その
際、マーカ37の有無によって自走台車1の走行データ
が切換えられるため、マーカに書込まれた走行データを
読取って自走台車1を自走させる従来の走行方式に比べ
自走台車1を安定的にかつ正確に自走させることが可能
である。As described above, according to the method of the present embodiment, the traveling data can be accessed from the traveling data area 27 according to the count value of the marker counter area 29 that is incremented based on the presence of the marker 37, and the self-propelled carriage 1 can be self-propelled. It is possible. At that time, the traveling data of the self-propelled carriage 1 is switched depending on the presence or absence of the marker 37. It is possible to drive it stably and accurately.
[発明の効果] このように本発明は、走行切換指令用のマーカを確実に
検出して走行パターンを正確に切換えて自走車を所望の
走行パターンで走行制御することができる自走台車の走
行方法を提供することが可能である。EFFECTS OF THE INVENTION As described above, according to the present invention, there is provided a self-propelled carriage capable of reliably detecting a marker for a traveling switching command and accurately switching traveling patterns to control traveling of the traveling vehicle in a desired traveling pattern. It is possible to provide a driving method.
第1図は自走台車の概略を示す斜視図、第2図は自走台
車における各種の検出装置の取付状態を示す斜視図、第
3図は自走台車の制御概略を示すブロック図、第4図は
走行路の状態及びマーカの配置状態を示す説明図、第5
図乃至第7図は自走台車の自走方法を説明する説明図で
ある。 図中1は自走台車、17a・17bは走行路検出装置、
19はマーカ検出装置、19aはマーカ検出装置を構成
するマーカ前端検出装置、19bはマーカ検出装置を構
成するマーカ後端検出装置、27は走行データ領域、3
5は走行路、37はマーカである。FIG. 1 is a perspective view showing an outline of a self-propelled carriage, FIG. 2 is a perspective view showing a mounting state of various detection devices in the self-propelled carriage, and FIG. 3 is a block diagram showing an outline of control of the self-propelled carriage. FIG. 4 is an explanatory diagram showing the state of the road and the arrangement of the markers,
Drawing 7 thru / or Drawing 7 is an explanatory view explaining the self-propelled method of a self-propelled trolley. In the figure, 1 is a self-propelled carriage, 17a and 17b are traveling path detection devices,
Reference numeral 19 is a marker detecting device, 19a is a marker front end detecting device which constitutes the marker detecting device, 19b is a marker rear end detecting device which constitutes the marker detecting device, 27 is a traveling data area, 3
Reference numeral 5 is a traveling path, and 37 is a marker.
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 昭60−157612(JP,A) 特開 昭61−82211(JP,A) 特開 昭60−63618(JP,A) 特開 昭59−176808(JP,A) 特開 昭61−245214(JP,A) 特開 昭62−150406(JP,A) 特開 昭59−197906(JP,A) 特開 昭54−376(JP,A) 実開 昭60−100810(JP,U) 実開 昭53−123395(JP,U) 実開 昭50−19125(JP,U) ─────────────────────────────────────────────────── --- Continuation of the front page (56) References JP-A-60-157612 (JP, A) JP-A-61-82211 (JP, A) JP-A-60-63618 (JP, A) JP-A-59- 176808 (JP, A) JP 61-245214 (JP, A) JP 62-150406 (JP, A) JP 59-197906 (JP, A) JP 54-376 (JP, A) Actual opening Sho 60-100810 (JP, U) Actual opening Sho 53-123395 (JP, U) Actual opening Sho 50-19125 (JP, U)
Claims (1)
沿って配設された走行路の幅とほぼ一致する間隔をおい
て設けられた一対の走行路検出装置により、該走行路を
検出しながら自走する自走台車において、 自走台車の各制御位置に対応する走行路の側方に、走行
方向幅が所定の長さで、高反射率のマーカを設けると共
に該マーカに相対する自走台車の側方に、発光部材及び
受光部材からなる前方検出器と後方検出器とを該マーカ
の走行方向長さと一致する間隔をおいて取り付け、 自走台車の走行に伴って前方検出器がマーカの走行方向
後端を検出した後に、該前方検出器がマーカの非検出状
態へ遷移すると同期して後方検出器がマーカの走行方向
後端を検出したとき、マーカ検出信号を出力して検出さ
れたマーカ以降に関する走行データを読み出し、該走行
データに基づいて自走台車を走行制御することを特徴と
する自走台車の走行方法。1. A traveling road is detected by a pair of traveling road detecting devices provided in a direction orthogonal to the traveling direction at intervals substantially corresponding to the width of the traveling road arranged along the traveling route. On the other hand, in a self-propelled vehicle that is self-propelled, a marker with high reflectance is provided at the side of the traveling path corresponding to each control position of the self-propelled vehicle and has a predetermined width in the traveling direction and faces the marker. A front detector composed of a light emitting member and a light receiving member and a rear detector are attached to the side of the self-propelled vehicle at an interval corresponding to the length of the marker in the traveling direction, and the front detector is attached as the self-propelled vehicle travels. When the rear detector detects the rear end of the marker in the traveling direction in synchronization with the transition of the front detector to the marker non-detection state after detecting the rear end of the marker in the traveling direction, the marker detection signal is output. Driving data related to the detected marker Reading, driving method of self-propelled bogie, which comprises running control the self-propelled carriage based on the running data.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP60299214A JPH069010B2 (en) | 1985-12-27 | 1985-12-27 | Driving method of self-propelled cart |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP60299214A JPH069010B2 (en) | 1985-12-27 | 1985-12-27 | Driving method of self-propelled cart |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS62156704A JPS62156704A (en) | 1987-07-11 |
JPH069010B2 true JPH069010B2 (en) | 1994-02-02 |
Family
ID=17869625
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP60299214A Expired - Fee Related JPH069010B2 (en) | 1985-12-27 | 1985-12-27 | Driving method of self-propelled cart |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH069010B2 (en) |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60100810U (en) * | 1983-12-15 | 1985-07-09 | 株式会社ダイフク | Mark sheet for detecting traveling position of moving vehicle |
-
1985
- 1985-12-27 JP JP60299214A patent/JPH069010B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JPS62156704A (en) | 1987-07-11 |
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