JPS62293407A - Safety device for unmanned carriage - Google Patents
Safety device for unmanned carriageInfo
- Publication number
- JPS62293407A JPS62293407A JP61136751A JP13675186A JPS62293407A JP S62293407 A JPS62293407 A JP S62293407A JP 61136751 A JP61136751 A JP 61136751A JP 13675186 A JP13675186 A JP 13675186A JP S62293407 A JPS62293407 A JP S62293407A
- Authority
- JP
- Japan
- Prior art keywords
- guided vehicle
- bumper
- receiver
- automatic guided
- transmitter
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims description 18
- 230000003287 optical effect Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 description 6
- 238000013459 approach Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000035945 sensitivity 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】
＆ 発明の詳細な説明
〔産業上の利用分野〕
この発明は無人搬送車の安全装置、特に前端部お工び後
端部に変位可能なバンパを有する無人搬送車の安全装置
に関するものである。[Detailed Description of the Invention] & Detailed Description of the Invention [Field of Industrial Application] This invention relates to a safety device for an automatic guided vehicle, particularly for an automatic guided vehicle having a front end and a displaceable bumper at the rear end. It concerns safety equipment.
第４図〜第６図は、例えば特開昭５５−１５５０２号公
報に示された従来の無人搬送車の安全装置を示すもので
、図中、（１）に無人搬送車、（２）はこの無人搬送車
（１）の下面四隅部にそれぞれ設けられた従輪で、キャ
スタ等で構成されている。（３）は無人搬送車（１）の
下面両側部の前後方向中央部にそれぞれ設けら′！″Ｌ
九駆励輪で、図示しない駆動装置により相互に独立して
駆動されるようになっている。（４）は上記無人搬送車
（１）の前端部に配されたバンパ、（５）は無人ｔり送
ｉ ｆｌｌの後端部に配されたパンパで、これら両バン
パ（４＋ 、 （５）の両端部は、無人搬送車（１）の
両側部から外側に稍突出している。すなわち、両バンパ
（４１、（５）は、無人搬送車（１）よりも稍大きい寸
法に設定されている。（６）は各バンパ（４＋ 、 （
δ）を変位可能に無人搬送車（１）に支持するバンパ支
え、（７）は各バンパ（４１、（５１’ｉｚ正常な位置
に保持するための押しばね、（３）はバンパ（４）、（
５）が人等の障害物（９）に接触した際にバンパ支え（
６）の変位を検出するブツシュオン形のリミットスイッ
チで、その作動により無人搬送車（１）が停止する。ｏ
Ｏ） ｉｑ無人七送車（１）が走行する走行路面である
。Figures 4 to 6 show a conventional safety device for an automatic guided vehicle disclosed in, for example, Japanese Patent Application Laid-open No. 55-15502. In the figures, (1) is an automatic guided vehicle, and (2) is The following wheels are provided at each of the four corners of the lower surface of the automatic guided vehicle (1) and are composed of casters and the like. (3) are provided at the center in the front-rear direction on both sides of the lower surface of the automatic guided vehicle (1). ″L
It has nine drive wheels and is driven independently of each other by a drive device (not shown). (4) is a bumper placed at the front end of the automatic guided vehicle (1), and (5) is a bumper placed at the rear end of the unmanned transport vehicle (1). Both ends of the bumper protrude slightly outward from both sides of the automatic guided vehicle (1).In other words, both bumpers (41, (5) are set to have slightly larger dimensions than the automatic guided vehicle (1). (6) is for each bumper (4+, (
δ) is displaceably supported on the automated guided vehicle (1) by a bumper support, (7) is a push spring for holding each bumper (41, (51'iz) in a normal position, (3) is a bumper (4) ,(
5) comes into contact with an obstacle (9) such as a person, the bumper support (
6) is a push-on type limit switch that detects the displacement of the automatic guided vehicle (1). o
O) This is the road surface on which the iq unmanned vehicle (1) travels.
従来の無人搬送車の安全装置は上記のように構成され、
無人搬送車（１）が矢印（Ａ）方向に走行している際に
、例えばバンパ（４）に障害物（９）が接触するとバン
パ（４）は押しばね（７）のバンパ保持力に抗して変位
し、これに伴なってバンパ支え（６）も変位する。Conventional safety devices for automated guided vehicles are configured as described above.
For example, if an obstacle (9) comes into contact with the bumper (4) while the automatic guided vehicle (1) is traveling in the direction of arrow (A), the bumper (4) will resist the bumper holding force of the push spring (7). The bumper support (6) is also displaced accordingly.
この変位にリミットスイッチ（３） Ｋより検出され、
その検出は号により無人搬送車（１）は停止する。This displacement is detected by limit switch (3) K,
Upon detection, the automated guided vehicle (1) will stop.
上記のような従来の無人搬送車の安全装置ではバンパ（
４）、（５）を、無人搬送車（１１０幅員より若干大き
く設定して進行方向にある障害物（９）を検出するよう
にしているため、無人搬送車（１）が停止している間に
作業者が無人搬送車（１）の側面に近寄ったり、あるい
は移載ステージ（図示せず）から物がはみ出して無人搬
送車（１）に近付いた場合には、これらがバンパ（４１
、（５）の端部に引掛かり、極めて危険であるという問
題があった。Conventional safety devices for automated guided vehicles such as those mentioned above include bumpers (
4) and (5) are set slightly larger than the width of the automatic guided vehicle (110) to detect obstacles (9) in the direction of travel, so while the automatic guided vehicle (1) is stopped, If a worker approaches the side of the automated guided vehicle (1) or an object protrudes from the transfer stage (not shown) and approaches the automated guided vehicle (1), the bumper (41)
, (5), which is extremely dangerous.
ま友無人搬送車（１）は、両側の駆動輪（３）を相互に
逆転させることにエリ、無人搬送車（１）の中央部全中
心としてスピンターン（旋回動作）可能な構造になって
いるが、このような場合にも、バンハ（４１゜（５）と
障害物（９）とが干渉するおそれがある。The Maomo unmanned guided vehicle (1) has a structure that allows the drive wheels (3) on both sides to be rotated in reverse, and the entire center of the unmanned guided vehicle (1) to be able to spin and turn. However, even in such a case, there is a risk that the bancha (41° (5)) and the obstacle (9) will interfere.
そしてこれらの不具合に、非常に稀であるため無人搬送
車（１）の側面に、前後端部と同様なバンパ全取付ける
ことは通常行なわれていない。Since these problems are extremely rare, it is not usual to completely mount bumpers on the sides of the automatic guided vehicle (1), similar to the front and rear ends.
この発明に係る無人搬送車の安全装置に、いずれか一方
のバンパの一端部に設置され信号を無人搬送車−側面の
外側全通して発を言する発信器と、他方のバンパの一端
部に設置され上記発信器からの信号を受信する受信器と
から検出装置を溝成し、この検出装置全、無人設送車の
両側位置にイれぞれ設けるようにし丸ものである。The safety device for an automatic guided vehicle according to the present invention includes a transmitter that is installed at one end of one of the bumpers and transmits a signal through the entire outside of the side of the automatic guided vehicle, and a transmitter that is installed at one end of one of the bumpers and transmits a signal through the entire outside of the side of the automatic guided vehicle. A detection device is formed from a receiver which is installed and receives a signal from the transmitter, and all of the detection devices are round so as to be provided on both sides of the unmanned guided vehicle.
この発明においては、一方のバンパの一端部に設けた発
信器からの信号を他方のバンパの一端部に設けた受信器
で受信するようにしているので、いずれか一方のバンパ
が障害物に接触して変位すれば、発信器からの信号を受
信器で受信できなくなり、これにより障害物の検出が可
能となる。また、発信器からのは号は無人（７設送車−
側面の外側を通して発信され、しかも検出装置な、無人
（般送車の両側位置にそれぞれ設けられているので、障
害物が無人搬送車の側面に接近し７ｃ場合も、障害物に
より信号が遮断されて受信器で受信できなくなり、同様
１′？：障害物を検出できる。すなわち、検出装置を２
セット設けるだけで、全方位の障害物検出が可能となる
。In this invention, a signal from a transmitter provided at one end of one bumper is received by a receiver provided at one end of the other bumper, so either one of the bumpers comes into contact with an obstacle. If the object is displaced, the receiver will no longer be able to receive the signal from the transmitter, making it possible to detect the obstacle. Also, the number from the transmitter is unmanned (7 construction vehicles -
The signal is transmitted through the outside of the side, and detection devices are installed on both sides of the unmanned guided vehicle (general vehicle), so even if an obstacle approaches the side of the automated guided vehicle, the signal will be blocked by the obstacle. Similarly, 1'?: Obstacles can be detected.In other words, if the detection device is
Omnidirectional obstacle detection is possible just by installing a set.
第１図〜第３図はこの発明の一実施例を示すもので、図
中、第４図〜第６図と同一符号は同−又は相当部分を示
す。０１）はバンパ（４）の両端部にそれぞれ設置され
次設光器で、無人搬送車（１）−側面の外側を通して光
線（功全バンパ（ｓ） ０１ｌｌに照射するようになっ
ている。０Ｆ３Ｊはバンパ（５）の両端部にそれぞれ設
置されて上記光線（功を受光する受光器で、上記投光器
ａ刀とともに、ビーム遮光で動作する検出装置を構成し
ている。すなわち、無人搬送車（１）の両側位置には、
検出装置が１セツトずつ設けられており、投光器Ｃ１１
）からの光線（１２１が受光器ｔｌＢ＋で受光されない
場合に、無人搬送車（１）にその走行を停止する。1 to 3 show one embodiment of the present invention, and in the figures, the same reference numerals as in FIGS. 4 to 6 indicate the same or corresponding parts. 01) are installed at both ends of the bumper (4), and are designed to irradiate the light beam (Kozen bumper (s) 01ll) through the outside of the side of the automatic guided vehicle (1) with the attached light devices.0F3J are light receivers that are installed at both ends of the bumper (5) to receive the above-mentioned light beam, and together with the above-mentioned projector, constitute a detection device that operates by blocking the beam. ) on both sides of
One set of detection devices is provided, and the projector C11
) is not received by the light receiver tlB+, the automatic guided vehicle (1) stops traveling.
上記のように構成された無人搬送車の安全装置において
は、第２図に示すように例えばバンパ（４）に障害物（
９）が接触してバンパ（４）が変位すると、各投光器（
１１）からの光線（１２）が受光器（１Ｂ＋とは異なる
方向に照射され、受光器（１３）で受光されなくなる。In the safety device for an automatic guided vehicle configured as described above, for example, an obstacle (
When the bumper (4) is displaced due to the contact between the projectors (9) and
The light beam (12) from the light receiver (11) is irradiated in a direction different from that of the light receiver (1B+), and is no longer received by the light receiver (13).
このため、無人搬送車（１）はその走行？停止する。な
おバンハ（５）に障害物（９）が接触した場合も、同様
に受光器ａａ＋で光線（１２）が受光されなくなり、無
人搬送車（１）はその走行を停止する。For this reason, the automatic guided vehicle (1) is not traveling that way. Stop. Note that when the obstacle (9) comes into contact with the banha (5), the light beam (12) is similarly no longer received by the light receiver aa+, and the automatic guided vehicle (1) stops traveling.
一方、第３図に示すように例えば障害物（９）が無人搬
送車（１）の側面に接近すると、投光器（１１）からの
光線（功が障害物（９）で遮断され、受光器０！１）で
受光されなくなる。このため、無人搬送車（１）はその
走行を停止する。On the other hand, as shown in FIG. 3, for example, when an obstacle (9) approaches the side of the automatic guided vehicle (1), the light beam from the projector (11) is blocked by the obstacle (9), and the receiver !1) The light will no longer be received. Therefore, the automatic guided vehicle (1) stops traveling.
しかして、無人搬送車（１）の側面にバンパを設けるこ
となく、全方位の障害物を検出できる。検出装置２セツ
トの簡単な構成で、しかも従来必須であったバンパ（４
）、（５）用のリミットスイッチ（３）が不要となるの
で、安価に製作できる。ま次光軸は、わずかの振れで受
光器（１３）で受光されなくなるので感度のよい障害物
検出が可能となる。Therefore, obstacles in all directions can be detected without providing a bumper on the side of the automatic guided vehicle (1). It has a simple configuration of 2 sets of detection devices, and also eliminates the bumper (4
) and (5), the limit switch (3) is not required, so it can be manufactured at low cost. Since the optical receiver (13) does not receive light due to a slight deflection of the secondary optical axis, it is possible to detect obstacles with high sensitivity.
なお上記実施例では、各検出装置とも、バンパ（４）に
投光器α１）全設置するとともに、バンパ（５）に受光
器Ｑ！ＩＩ） ′ｆｅ設置するものを示したが、雨検出
装置とも投光器α刀、受光器Ｑａｌの取付は位置を逆に
してもよく、また一方の検出装置のみ投光器（１３１の
取付は位置を逆にしてもよい。このようにしても、上記
実施例と同様の効果が期待できる。In the above embodiment, in each detection device, the light emitter α1) is completely installed on the bumper (4), and the light receiver Q! is installed on the bumper (5). II) Although the items to be installed have been shown, the positions of the rain detection device, the projector α, and the receiver Qal may be reversed, and only one of the detection devices may be installed with the projector (131) reversed. Even in this case, the same effects as in the above embodiment can be expected.
また上記実施少１では、検出装置を、光信号を発信する
投光器辿と、光信号を受信する受光器０３）とで構成す
るものを示し九が、例えば超音波信号を発信する発信器
と、超音波信号を受信する受信器とで構成するようにし
てもよく、上記実施例と同様の効果が得られる。Moreover, in the above-mentioned embodiment 1, the detection device is composed of a light projector that transmits an optical signal and a light receiver 03) that receives the optical signal. It may also be configured with a receiver that receives ultrasonic signals, and the same effects as in the above embodiment can be obtained.
この発明は以上説明したとおり、いずれか一方のバンパ
の一端部に設置され信号を無人飯送車−側面の外側を通
して発信において、いずれか一方のバンパの一端部に設
置され上記発信器からの信号全受信する受信器とから検
出装置を構成し、この検出装置を、無人搬送車の両側位
置にそれぞれ設ける＝９にしているので、無人搬送車の
側面にバンパを設けることなく全方位の障害物を検出で
き、障害物との干渉を防止できる等の効果がある。As explained above, this invention is installed at one end of either bumper and transmits a signal through the outside of the side of an unmanned food truck, and the signal from the transmitter installed at one end of either bumper is transmitted. A detection device is made up of a receiver that receives all signals, and these detection devices are installed on both sides of the automatic guided vehicle (=9), so it is possible to detect obstacles in all directions without installing bumpers on the sides of the automatic guided vehicle. This has the effect of being able to detect obstacles and preventing interference with obstacles.
【図面の簡単な説明】
第１図はこの発明の一芙施例を示す無人搬送車○安全装
置の平面図、第２図および第５図は障害物検出の方法を
それぞれ示す説明図、第４図は従来の無人搬送車の安全
装置を示す第１図相当図、第５図は同様の正面図、第６
図は障害物が無人搬送車の側面に接近し之状態を示す第
４図相当図である。
Ｈ）−−無人搬送車 （４） 、 （５） −６バン
パ（９）・中障害物 ０１・・投光器（功・・光
線 （１Ｂ）・・受光器なお各図中、同一符号
は同−又は相当部分を示すものとする。[Brief Description of the Drawings] Fig. 1 is a plan view of an automatic guided vehicle safety device showing one embodiment of the present invention, Figs. 2 and 5 are explanatory diagrams showing an obstacle detection method, respectively; Figure 4 is a diagram equivalent to Figure 1 showing the safety device of a conventional automated guided vehicle, Figure 5 is a similar front view, and Figure 6 is a similar diagram.
This figure is a view corresponding to FIG. 4, showing a state in which an obstacle approaches the side of the automatic guided vehicle. H) --Automated guided vehicle (4), (5) -6 Bumper (9)・Medium obstacle 01...Light emitter (effect...Light beam (1B)...Light receiver In each figure, the same reference numerals are the same - or a corresponding portion thereof.
Claims (3)
人搬送車の側端から外側に突出するバンパをそれぞれ設
けるとともに、各バンパを、障害物との接触により変位
可能とした無人搬送車の安全装置において、いずれか一
方のバンパの一端部に設置され信号を無人搬送車一側面
の外側を通して発信する発信器と、他方のバンパの一端
部に設立され上記発振器からの信号を受信する受信器と
から検出装置を構成し、この検出装置を、無人搬送車の
両側位置にそれぞれ設けたことを特徴とする無人搬送車
の安全装置。(1) A bumper is provided at the front end and rear end of the automated guided vehicle, with both ends protruding outward from the side edges of the automated guided vehicle, and each bumper is movable by contact with an obstacle. A safety device for a guided vehicle includes a transmitter installed at one end of one of the bumpers to transmit a signal through the outside of one side of the automated guided vehicle, and a transmitter installed at one end of the other bumper to receive the signal from the oscillator. A safety device for an automatic guided vehicle, characterized in that a detection device is configured from a receiver for detecting a signal, and the detection devices are provided at both sides of the automatic guided vehicle.
とともに、受信器は、光信号を受信する受光器で形成さ
れることを特徴とする特許請求の範囲第１項記載の無人
搬送車の安全装置。(2) The unmanned transportation system according to claim 1, wherein the transmitter is formed of a light projector that transmits an optical signal, and the receiver is formed of a light receiver that receives the optical signal. car safety equipment.
形成されるとともに、受信器は、超音波信号を受信する
超音波受信器で形成されることを特徴とする特許請求の
範囲第１項記載の無人搬送車の安全装置。(3) Claims characterized in that the transmitter is formed by an ultrasonic transmitter that transmits ultrasonic signals, and the receiver is formed by an ultrasonic receiver that receives ultrasonic signals. The safety device for the automatic guided vehicle described in paragraph 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61136751A JPS62293407A (en) | 1986-06-12 | 1986-06-12 | Safety device for unmanned carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61136751A JPS62293407A (en) | 1986-06-12 | 1986-06-12 | Safety device for unmanned carriage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62293407A true JPS62293407A (en) | 1987-12-21 |
Family
ID=15182654
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61136751A Pending JPS62293407A (en) | 1986-06-12 | 1986-06-12 | Safety device for unmanned carriage |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62293407A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009036737A (en) * | 2007-08-06 | 2009-02-19 | Tcm Corp | Contact detector of unmanned vehicle |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5639939A (en) * | 1979-09-07 | 1981-04-15 | Hitachi Ltd | Obstacle detector for unattended cart |
| JPS606815A (en) * | 1983-06-24 | 1985-01-14 | Mitsutoyo Mfg Co Ltd | Feeder with fine adjustment |
-
1986
- 1986-06-12 JP JP61136751A patent/JPS62293407A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5639939A (en) * | 1979-09-07 | 1981-04-15 | Hitachi Ltd | Obstacle detector for unattended cart |
| JPS606815A (en) * | 1983-06-24 | 1985-01-14 | Mitsutoyo Mfg Co Ltd | Feeder with fine adjustment |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009036737A (en) * | 2007-08-06 | 2009-02-19 | Tcm Corp | Contact detector of unmanned vehicle |
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