JPS62274405A - Unattended carrier device - Google Patents
Unattended carrier deviceInfo
- Publication number
- JPS62274405A JPS62274405A JP61118889A JP11888986A JPS62274405A JP S62274405 A JPS62274405 A JP S62274405A JP 61118889 A JP61118889 A JP 61118889A JP 11888986 A JP11888986 A JP 11888986A JP S62274405 A JPS62274405 A JP S62274405A
- Authority
- JP
- Japan
- Prior art keywords
- change position
- operation change
- position mark
- guide tape
- detector
- 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 description 6
- 230000032258 transport Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 2
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】 ３、発明の詳細な説明 ［発明の目的］ （産業上の利用分野） 本発明は、物品の搬送を行う無人搬送装置に関する。[Detailed description of the invention] 3. Detailed description of the invention [Purpose of the invention] (Industrial application field) The present invention relates to an unmanned transport device that transports articles.
（従来の技術）
物品の搬送を行う無人搬送装置のうち、誘導テープに従
って搬送車を移動する無人搬送装置は、例えば第２図に
示すように構成されており、搬送車１は駆動輪２ａ、２
ｂと従輪３ａ、３ｂとを備えており、駆動輪２ａ、２ｂ
を回転する駆動装置４ａ、４ｂは、誘導テープ検知器５
に接続された制御装置６により制御されている。(Prior Art) Among unmanned conveyance devices that transport articles, an unmanned conveyance device that moves a conveyance vehicle according to a guide tape is configured as shown in FIG. 2, for example, and the conveyance vehicle 1 has drive wheels 2a, 2
b, and driven wheels 3a, 3b, and drive wheels 2a, 2b.
The driving devices 4a and 4b that rotate the guide tape detector 5
It is controlled by a control device 6 connected to.
そして、移動路に添って床面には誘導テープ７が敷設さ
れており、制御装置６は、誘導テープ検知器５から入力
される誘導テープ検知信号により、駆動装置４ａ、４ｂ
を制御して、この誘導テープ７に添って搬送車１を移動
させる。A guide tape 7 is laid on the floor along the moving path, and the control device 6 controls the drive devices 4a, 4b based on the guide tape detection signal inputted from the guide tape detector 5.
is controlled to move the transport vehicle 1 along this guide tape 7.
また、搬送車１の停止、減速等を行う移動路上の作業場
所８、交差点９、カーフ１０の直前等には、誘導テープ
７の側方に動作変更位置マーク１１ａ、１１ｂ、１１ｃ
等を設けておき、搬送車１に制御装置６に接続された動
作変更位置マーク検知器１２を配置して、この動作変更
位置マーク１１ａ、１１ｂ、１１Ｃを検知させる。そし
て、制御装置６は、動作変更位置マーク検知器１２から
の検知信号により、動作変更位置を認識し、予め入力さ
れた動作プログラムに従って駆動装置４ａ、４ｂを制御
して、搬送車１を移動、停止させている。In addition, operation change position marks 11a, 11b, 11c are placed on the side of the guide tape 7, etc. immediately before the work place 8, intersection 9, or kerf 10 on the moving path where the transport vehicle 1 is stopped, decelerated, etc.
etc., and an operation change position mark detector 12 connected to the control device 6 is arranged on the transport vehicle 1 to detect the operation change position marks 11a, 11b, 11C. Then, the control device 6 recognizes the motion change position based on the detection signal from the motion change position mark detector 12, and controls the drive devices 4a and 4b according to the motion program input in advance to move the guided vehicle 1. It is stopped.
（発明が解決しようとする問題点）
しかしながら、上記説明の従来の無人搬送装置では、搬
送車に、移動路を示す誘導テープを検知する誘導テープ
検知器の他に動作変更位置マークを検知するための動作
変更位置マーク検知器を設ける必要がある。(Problem to be Solved by the Invention) However, in the conventional unmanned conveyance device described above, in addition to the guide tape detector that detects the guide tape that indicates the movement path, the guide tape detector is equipped with a guide tape detector that detects the operation change position mark. It is necessary to provide a motion change position mark detector.
また、この動作変更位置マークおよび検出器は、通常中
央に設置された誘導用テープおよび検出器の横方向に設
置されるため、カーブに設ける場合や、搬送車の姿勢が
変化した場合に設置が困難であり、誤差が出やすい。In addition, this operation change position mark and detector are usually installed laterally to the guidance tape and detector installed in the center, so they cannot be installed when placed on a curve or when the orientation of the transport vehicle changes. It is difficult and prone to errors.
本発明は、かかる従来の事情に対処してなされたもので
、動作変更位置マークを検知するための動作変更位置マ
ーク検知器を必要としない無人搬送装置を提供しようと
するものである。The present invention has been made in response to such conventional circumstances, and aims to provide an unmanned conveyance device that does not require a motion change position mark detector for detecting a motion change position mark.
［発明の構成］
（問題点を解決するための手段）
すなわち本発明は、移動路に添って敷設された誘導テー
プと、この誘導テープを検知する誘導テープ検知器およ
びこの誘導テープ検知器の検知信号に応じて駆動装置を
制御する制御装置を有する搬送車とを備え、前記搬送車
が前記誘導テープに従って移動するよう構成された無人
搬送装置において、前記誘導テープ上の所望の位置に所
定の長さにわたり動作変更位置マーク部を設け、前記搬
送車の制御装置が、前記動作変更位置マーク部により動
作変更位置を認識するよう構成した。[Structure of the Invention] (Means for Solving the Problems) That is, the present invention provides a guide tape laid along a travel path, a guide tape detector that detects the guide tape, and a detection method of the guide tape detector. An unmanned conveyance device comprising: a conveyance vehicle having a control device that controls a drive device according to a signal, and the conveyance vehicle is configured to move according to the guide tape. An operation change position mark section is provided over the entire length, and the control device of the conveyance vehicle is configured to recognize the operation change position by the operation change position mark section.
（作用）
本発明の無人搬送装置によれば、移動路に添って敷設さ
れた誘導テープ上に予め定められた長さにわたって動作
変更位置マーク部を設け、この動作変更位置マーク部に
より搬送車に動作変更位置を認識させる。(Function) According to the unmanned conveyance device of the present invention, an operation change position mark part is provided over a predetermined length on the guide tape laid along the movement path, and the operation change position mark part allows the transport vehicle to Recognize the operation change position.
（実施例）
以下本発明の詳細を図面に示す実施例について説明する
。(Example) The details of the present invention will be described below with reference to an example shown in the drawings.
第１図は、本発明の一実施例の無人搬送装置の構成を示
すもので、この実施例の無人搬送装置では、搬送車２１
は駆動輪２２ａ、２２ｂと従軸２３ａ、２３ｂとを備え
ており、駆動輪２２ａ、２２ｂを回転する駆動装置２４
ａ、２４ｂは、誘導テープ検知器２５に接続された制御
装置２６により制御されている。FIG. 1 shows the configuration of an unmanned transport system according to an embodiment of the present invention.
is equipped with drive wheels 22a, 22b and slave shafts 23a, 23b, and includes a drive device 24 that rotates the drive wheels 22a, 22b.
a, 24b are controlled by a control device 26 connected to a guide tape detector 25.
そして、移動路に添って床面には誘導テープ２７が敷設
されており、制御装置２６は、誘導テープ検知器２５か
ら入力される誘導テープ検知信号により、駆動装置２４
ａ、２４ｂを制御して、この誘導テープ２７に添って搬
送車２１を移動させる。A guide tape 27 is laid on the floor along the moving path, and the control device 26 controls the drive device 24 based on the guide tape detection signal input from the guide tape detector 25.
a and 24b to move the transport vehicle 21 along this guide tape 27.
また、搬送車２１の停止、減速等を行う移動路上の作業
場所２８、交差点２９、カーブ３０の直前等には、動作
変更位置マーク部として、誘導テープ２７に所定の長さ
にわたって誘導テープ欠落部３１ａ、３１ｂ、３’Ｉ
ｃがＨＵけられＴＪす、制御装置２６は、誘導テープ検
知器２５からの信号、および駆動装置２４ａ、２４ｂか
らの速度信号により、各誘導テープ欠落部３１ａ、３１
ｂ、３１Ｃの存在およびその長さを算出し、例えば誘導
テープ欠落部の長さが１０ｖ■以下であれば、小規模な
破断としてそのまま通過し、１００ｍ１以上であれば、
大規模な破断または誘導テープ２７からの脱落として停
止し、２０耶程度であれば、動作変更位置を示すマーク
として認識し、予め入力された動作プログラムに従って
駆動装置２４ａ、２４ｂを制御し、搬送車２１を方向変
換、位置認識、移動、停止等させる。In addition, immediately before the work place 28, intersection 29, curve 30, etc. on the moving path where the transport vehicle 21 is stopped, decelerated, etc., a missing part of the guidance tape is placed on the guidance tape 27 over a predetermined length as an operation change position mark. 31a, 31b, 3'I
When c is HU and TJ, the control device 26 detects each guide tape missing portion 31a, 31 according to the signal from the guide tape detector 25 and the speed signal from the drive devices 24a, 24b.
b. Calculate the existence of 31C and its length. For example, if the length of the missing part of the guide tape is 10v or less, it will pass through as a small-scale fracture, and if it is 100m1 or more,
If the guide tape 27 stops due to large-scale breakage or falls off, and if it is about 20, it is recognized as a mark indicating the operation change position, and the drive devices 24a and 24b are controlled according to the operation program input in advance, and the transport vehicle 21 to change direction, recognize position, move, stop, etc.
なお、誘導テープ欠落部３１ａ、３１ｂ、３１Ｃは、そ
の長さを変更することによって異なった種類の動作変更
位置を示すように構成することもできる。Note that the guide tape missing parts 31a, 31b, and 31C can be configured to indicate different types of operation change positions by changing their lengths.
すなわら、この実施例の無人搬送装置では、搬送車２１
は誘導テープ２７上に設けられた誘導テープ欠落部３１
ａ、３１ｂ、３１ｃを誘導テープ検知器２５によって検
知し、動作変更位置を認識するので、動作変更位置マー
クを認識するための動作変更位置マーク検知器を別途に
設ける必要がない。In other words, in the unmanned transport device of this embodiment, the transport vehicle 21
is the guide tape missing portion 31 provided on the guide tape 27
a, 31b, and 31c are detected by the guide tape detector 25 to recognize the motion change position, so there is no need to separately provide a motion change position mark detector for recognizing the motion change position mark.
なお、上記実施例では、動作変更位置マーク部を誘導テ
ープ欠落部３１ ａ、３’ｌ ｂ、３１ｃにより構成し
たが、本発明は、かかる実施例に限定されるものではな
く、例えば誘導テープ２７の反射率を変化させる、色を
変化させる、縞模様を付ける等どのようにして動作変更
位置マーク部を構成してもよい。また、縞模様を付けて
動作変更位置マーク部を構成した場合には、この動作変
更位置マーク部により１、Ｏ等の信号を入力することも
でき、作業の情報を入力することも可能である。Note that in the above embodiment, the operation change position mark portion was constituted by the guide tape missing portions 31 a, 3'l b, and 31c, but the present invention is not limited to this embodiment; for example, the guide tape 27 The operation change position mark section may be configured in any way, such as by changing the reflectance of the mark, changing its color, or adding a striped pattern. In addition, if the operation change position mark section is configured with a striped pattern, signals such as 1, O, etc. can be input using this operation change position mark section, and it is also possible to input work information. .
［発明の効果］
上述のように、本発明の無人搬送装置では、誘導テープ
上に設けられた動作変更位置マーク部によって搬送車に
動作変更位置を認識させるので、誘導テープを検知する
誘導テープ検知器の他に、動作変更位置マークを検知す
るための動作変更位置マーク検知器を別途に設ける必要
がない。[Effects of the Invention] As described above, in the unmanned conveyance device of the present invention, the operation change position mark part provided on the guide tape allows the conveyance vehicle to recognize the operation change position, so the guide tape detection that detects the guide tape There is no need to separately provide a motion change position mark detector for detecting the motion change position mark in addition to the motion change position mark.
第１図は本発明の一実施例の無人搬送装置の構成を示す
構成図、第２図は従来の無人搬送装置を示す構成図であ
る。
２１・・・・・・搬送車、２４ａ、２４ｂ・・・・・・
駆動装置、２５・・・・・・誘導テープ検知器、２６・
・・・・・制御装置、２７・・・・・・誘導テープ、３
１ａ、３１ｂ、３１Ｇ・・・誘導テープ欠落部。
出願人 東京エレクトロン株式会社代理人 弁理士
須 山 佐 −
第１図
第２図FIG. 1 is a configuration diagram showing the configuration of an unmanned transportation system according to an embodiment of the present invention, and FIG. 2 is a configuration diagram showing a conventional unmanned transportation system. 21...Carrier, 24a, 24b...
Drive device, 25...Guidance tape detector, 26.
...control device, 27 ...guidance tape, 3
1a, 31b, 31G...Missing portions of the guiding tape. Applicant Tokyo Electron Co., Ltd. Agent Patent Attorney Sasa Suyama - Figure 1 Figure 2
Claims (1)
導テープを検知する誘導テープ検知器およびこの誘導テ
ープ検知器の検知信号に応じて駆動装置を制御する制御
装置を有する搬送車とを備え、前記搬送車が前記誘導テ
ープに従って移動するよう構成された無人搬送装置にお
いて、前記誘導テープ上の所望の位置に所定の長さにわ
たり動作変更位置マーク部を設け、前記搬送車の制御装
置が、前記動作変更位置マーク部により動作変更位置を
認識するよう構成されることを特徴とする無人搬送装置
。(1) A transport vehicle that has a guide tape laid along the travel path, a guide tape detector that detects the guide tape, and a control device that controls the drive device in accordance with the detection signal of the guide tape detector. In the unmanned conveyance device, the guided vehicle is configured to move according to the guide tape, wherein an operation change position mark portion is provided over a predetermined length at a desired position on the guide tape, and a control device for the guided vehicle is configured to . An unmanned transport device, characterized in that it is configured to recognize a motion change position by the motion change position mark section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61118889A JPH0792698B2 (en) | 1986-05-23 | 1986-05-23 | Unmanned carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61118889A JPH0792698B2 (en) | 1986-05-23 | 1986-05-23 | Unmanned carrier |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62274405A true JPS62274405A (en) | 1987-11-28 |
| JPH0792698B2 JPH0792698B2 (en) | 1995-10-09 |
Family
ID=14747653
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61118889A Expired - Lifetime JPH0792698B2 (en) | 1986-05-23 | 1986-05-23 | Unmanned carrier |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0792698B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03216710A (en) * | 1990-01-22 | 1991-09-24 | Daifuku Co Ltd | Travel control information instruction device for mobile carrier |
| FR2669750A1 (en) * | 1990-11-28 | 1992-05-29 | Commissariat Energie Atomique | SYSTEM AND METHOD FOR GUIDING A ROBOT USING A MARK DEFINING ITS TRACK. |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS52106578A (en) * | 1976-03-03 | 1977-09-07 | Hitachi Ltd | Position detect apparatus of manless car |
| JPS56127210A (en) * | 1980-10-31 | 1981-10-05 | Hitachi Kiden Kogyo Ltd | Automatic driving control method of unmanned wagon or the like |
| JPS6125219A (en) * | 1984-07-13 | 1986-02-04 | Daifuku Co Ltd | Optical guide type mobile truck control equipment |
-
1986
- 1986-05-23 JP JP61118889A patent/JPH0792698B2/en not_active Expired - Lifetime
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS52106578A (en) * | 1976-03-03 | 1977-09-07 | Hitachi Ltd | Position detect apparatus of manless car |
| JPS56127210A (en) * | 1980-10-31 | 1981-10-05 | Hitachi Kiden Kogyo Ltd | Automatic driving control method of unmanned wagon or the like |
| JPS6125219A (en) * | 1984-07-13 | 1986-02-04 | Daifuku Co Ltd | Optical guide type mobile truck control equipment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03216710A (en) * | 1990-01-22 | 1991-09-24 | Daifuku Co Ltd | Travel control information instruction device for mobile carrier |
| FR2669750A1 (en) * | 1990-11-28 | 1992-05-29 | Commissariat Energie Atomique | SYSTEM AND METHOD FOR GUIDING A ROBOT USING A MARK DEFINING ITS TRACK. |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0792698B2 (en) | 1995-10-09 |
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