JPS6233609B2 - - Google Patents
Info
- Publication number
- JPS6233609B2 JPS6233609B2 JP56038316A JP3831681A JPS6233609B2 JP S6233609 B2 JPS6233609 B2 JP S6233609B2 JP 56038316 A JP56038316 A JP 56038316A JP 3831681 A JP3831681 A JP 3831681A JP S6233609 B2 JPS6233609 B2 JP S6233609B2
- Authority
- JP
- Japan
- Prior art keywords
- traveling
- moving body
- pair
- photoelectric sensors
- positioning
- 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
Links
- 238000010586 diagram Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】
本発明は走行移動体、たとえば工場内の自動搬
送車に用いられる無人走行する走行移動体の位置
決め停止装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a positioning and stopping device for a moving moving object, such as an unmanned moving moving object used in an automatic guided vehicle in a factory.
従来、この種の走行移動体は光学的反射テープ
や誘導電線等の誘導体によつて、その経路に沿う
べく誘導されて走行する。この走行移動体を所定
の位置に停止させるためには、停止マークとして
床面に光学的反射テープや誘導電線を、上記誘導
体とは別個に配設されていた。したがつて、工場
内の加工設備や、倉庫設備の配置の変更や、工程
順序の変更にともなつて、停止箇所を変更するた
めには前記停止マークの再配設を行なわなければ
ならない。誘導電線を使用する場合にはその埋設
工事が大変であり、また光学反射テープにおいて
は塵埃などに弱くかつ破損しやすい等の欠点を有
するものであつた。 BACKGROUND ART Conventionally, this type of moving vehicle is guided along a route by a guide such as an optical reflective tape or a guiding wire. In order to stop this running moving body at a predetermined position, an optically reflective tape or a guiding wire is provided on the floor as a stop mark, separately from the above-mentioned guide body. Therefore, the stop marks must be rearranged in order to change the stop location due to a change in the layout of processing equipment or warehouse equipment in a factory, or a change in the process order. When using induction wires, burying them is difficult, and optical reflective tapes have drawbacks such as being susceptible to dust and being easily damaged.
この発明は上記欠点に鑑みてなされたもので、
頻繁な工場内設備の配置変更に対しても、特別な
付帯工事を必要とせず容易に対応できる位置決め
停止装置を得ることを目的とするものである。 This invention was made in view of the above drawbacks.
It is an object of the present invention to provide a positioning and stopping device that can easily cope with frequent changes in the arrangement of equipment in a factory without requiring any special incidental work.
以下、この発明の一実施例を図によつて説明す
る。 Hereinafter, one embodiment of the present invention will be described with reference to the drawings.
第１図はこの発明の一実施例を示す概略平面説
明図で、図において、１は走行移動体で、２の駆
動車輪によつて駆動される。３は走行移動体１の
走行する基準経路、４ａ，４ｂはそれぞれ走行移
動体１の一側面に取り付けられた反射型光電セン
サ、５は工場内の作業位置などの近くに配置され
て走行移動体１との間で積載物の授受を行なうた
めの移載装置で、走行移動体１の光電センサ４
ａ，４ｂと相対向する位置に、反射板６ａ，６ｂ
がそれぞれ取り付けられている。 FIG. 1 is a schematic plan view showing an embodiment of the present invention. In the figure, reference numeral 1 denotes a traveling moving body, which is driven by drive wheels 2. FIG. Reference numeral 3 denotes a reference path along which the traveling vehicle 1 travels; 4a and 4b each reflect a photoelectric sensor attached to one side of the traveling vehicle 1; and 5 indicates a reference path along which the traveling vehicle 1 travels. 1 is a transfer device for delivering and receiving a loaded object to and from the photoelectric sensor 4 of the moving vehicle 1.
Reflector plates 6a and 6b are provided at positions opposite to a and 4b.
are attached to each.
第２図は走行移動体１の内部における制御系の
概略構成を示すブロツク図で、図中、７は車軸１
２によつて駆動車輪２に結合された駆動モータ
で、制御回路１１からの走行信号にもとづいて、
駆動回路９を介して駆動される。８は車軸１２に
取り付けられたデイスクブレーキ装置で、制御回
路１１からの停止信号によつて、制動回路１０を
介して駆動車輪２を停止させる。 FIG. 2 is a block diagram showing a schematic configuration of the control system inside the traveling vehicle 1. In the figure, 7 indicates the axle 1.
A drive motor coupled to the drive wheel 2 by 2, based on a running signal from the control circuit 11,
It is driven via a drive circuit 9. Reference numeral 8 denotes a disc brake device attached to the axle 12, which stops the driving wheels 2 via the braking circuit 10 in response to a stop signal from the control circuit 11.
走行移動体１に取り付けられた光電センサ４
ａ，４ｂは反射型であり、センサの中に投光素子
と受光素子を併せ持つていて、センサ自身の投光
素子より光を出して、その反射光を受光素子が検
出すると制御回路１１に信号を出力するようにな
つている。反射板６ａ，６ｂ以外の反射光たとえ
ば移載装置５の側面からの反射光等を検出しない
ように受光感度を調整することができる。 Photoelectric sensor 4 attached to traveling moving object 1
Reference symbols a and 4b are reflective types, which have both a light emitting element and a light receiving element inside the sensor, and when the light emitting element of the sensor itself emits light and the light receiving element detects the reflected light, it sends a signal to the control circuit 11. is now output. The light receiving sensitivity can be adjusted so as not to detect reflected light from sources other than the reflecting plates 6a and 6b, such as reflected light from the side surface of the transfer device 5.
光電センサは元来10度程度の指向角θを有して
いる。したがつて第３図に示すように、反射板６
ａ，６ｂはこの指向角を見込んで指向角の外縁の
位置で移載装置５に取り付けられる。 A photoelectric sensor originally has a directivity angle θ of about 10 degrees. Therefore, as shown in FIG.
a and 6b are attached to the transfer device 5 at the outer edge of the directivity angle in consideration of this directivity angle.
第１図において基準経路３に沿つて走行してき
た走行移動体１は、移載装置５に接近してきてま
ず光電センサ４ａによつて反射板６ｂを検出する
が、そのまま走行を続け、走行移動体１が第１図
の点線で示した関係位置にきて、光電センサ４ａ
が反射板６ａを検出するとともに、光電センサ４
ｂが反射板６ｂを検出したときに、制御回路１１
より停止信号を送出し駆動モータ７に停止させる
とともに、、デイスクブレーキ装置８を付勢して
走行移動体１を停止させる。 In FIG. 1, the moving vehicle 1 that has traveled along the reference route 3 approaches the transfer device 5 and first detects the reflective plate 6b with the photoelectric sensor 4a, but continues to travel and the traveling vehicle 1 comes to the relative position shown by the dotted line in FIG. 1, and the photoelectric sensor 4a
detects the reflector 6a, and the photoelectric sensor 4
b detects the reflection plate 6b, the control circuit 11
A stop signal is sent out to stop the drive motor 7, and at the same time, the disc brake device 8 is energized to stop the traveling vehicle 1.
このように２個の光電センサが２個の反射板を
同時に検出したときに走行移動体１を停止させる
ことによつて、指向角θによる位置ずれの影響を
除去し、走行移動体１が移載装置５に対して右方
あるいは左方のどちらから接近して来ても再現性
よく位置決め停止をすることができる。 In this way, by stopping the moving vehicle 1 when the two photoelectric sensors simultaneously detect the two reflectors, the influence of positional deviation due to the directivity angle θ is removed, and the moving vehicle 1 is prevented from moving. Positioning and stopping can be performed with good reproducibility regardless of whether the loading device 5 is approached from the right or the left.
第４図はこの発明の他の実施例を示すもので、
走行移動体１のもう一方の側面にも光電センサ４
ａ，４ｂと略同一の光電センサ４ｃ，４ｄを取り
付けたものである。この構成によると、基準経路
３のどちら側に停止箇所がある場合にも、また走
行移動体１が転回して基準経路を逆方向から停止
箇所たとえば移載装置５に接近する場合にも、走
行移動体１を位置決め停止をさせることができ
る。 FIG. 4 shows another embodiment of this invention.
A photoelectric sensor 4 is also provided on the other side of the traveling moving body 1.
Photoelectric sensors 4c and 4d, which are substantially the same as a and 4b, are attached. According to this configuration, no matter which side of the reference route 3 there is a stop point, or when the traveling moving body 1 turns and approaches the stop point, for example, the transfer device 5, from the opposite direction on the reference route, the traveling The moving body 1 can be positioned and stopped.
さて、この発明は走行移動体１を所定の停止箇
所に精度よく位置決め停止させるものであるが、
走行移動体１の走行速度が大きくなると、停止信
号を送出してから走行移動体１が停止するまでの
惰走が問題となる。このような場合には例えば第
５図に示すように、走行移動体１の光電センサ４
ａが反射板６ｂを検出した時点T1において、走
行速度を減速モードに移行して低速度V2で走行
移動体１を走行させ、光電センサ４ａが反射板６
ａ，光電センサ４ｂが反射板６ｂを同時に検出し
た時点T2において走行移動体１を停止させるこ
とによつて精度よく位置決め停止することができ
る。 Now, the present invention is for accurately positioning and stopping the traveling moving body 1 at a predetermined stopping point.
When the traveling speed of the moving vehicle 1 increases, coasting from when the stop signal is sent until the traveling vehicle 1 stops becomes a problem. In such a case, for example, as shown in FIG.
At time T1 when sensor a detects the reflector 6b, the traveling speed is shifted to deceleration mode and the traveling moving object 1 is run at a low speed V2 , and the photoelectric sensor 4a detects the reflector 6b.
a. By stopping the traveling moving body 1 at time T2 when the photoelectric sensor 4b simultaneously detects the reflecting plate 6b, it is possible to accurately position and stop the moving body 1.
この発明は以上説明したとうり、走行移動体に
取り付けられた光電センサと停止箇所に取り付け
られた反射板との簡単な組み合わせにより、走行
移動体を再現性よく位置決め停止させ、頻繁な停
止箇所の変更に対しても単に反射板の取付位置を
変更するだけで容易にその対応ができるという効
果がある。 As explained above, this invention allows a moving moving object to be positioned and stopped with good reproducibility by a simple combination of a photoelectric sensor attached to a moving moving object and a reflector attached to a stopping point. There is an advantage that changes can be easily accommodated by simply changing the mounting position of the reflector.
第１図はこの発明の一実施例を示す慨略平面説
明図、第２図は走行移動体の内部の制御回路ブロ
ツク図、第３図は光電センサと反射板の位置関係
を示す平面説明図、第４図はこの発明の他の実施
例を示す走行移動体の説明図、第５図はこの発明
のさらに他の実施例を示す停止状態のタイムチヤ
ートである。
図において、１は走行移動体、４ａ，４ｂ，４
ｃ，４ｄは光電センサ、５は移載装置、６ａ，６
ｂは反射板、７は駆動モータ、８はデイスクブレ
ーキ装置、１１は制御回路である。なお各図中同
一符号は同一または相当部分を示す。
FIG. 1 is a schematic plan view showing an embodiment of the present invention, FIG. 2 is a block diagram of a control circuit inside a traveling vehicle, and FIG. 3 is a plan view showing the positional relationship between a photoelectric sensor and a reflector. , FIG. 4 is an explanatory diagram of a traveling moving body showing another embodiment of the present invention, and FIG. 5 is a time chart in a stopped state showing still another embodiment of the present invention. In the figure, 1 is a traveling moving body, 4a, 4b, 4
c, 4d are photoelectric sensors, 5 is a transfer device, 6a, 6
b is a reflector, 7 is a drive motor, 8 is a disc brake device, and 11 is a control circuit. Note that the same reference numerals in each figure indicate the same or corresponding parts.
Claims (1)
て走行移動体に配設された１対の反射型の光電セ
ンサと、この光電センサに対応して所定の位置決
め場所に配設された１対の反射板と、前記光電セ
ンサの最初の受光に応じて前記走行移動体を減速
モードに移行させ１対の前記光電センサの受光出
力が互いに均衡したとき前記走行移動体を停止さ
せる制御手段とを備えてなる走行移動体の位置決
め停止装置。 ２ 走行移動体の一側面に１対の光電センサを取
付けた特許請求の範囲第１項記載の走行移動体の
位置決め停止装置。 ３ 走行移動体の両側面に１対ずつの光電センサ
を取り付けた特許請求の範囲第１項記載の走行移
動体の位置決め停止装置。[Claims] 1. A pair of reflective photoelectric sensors consisting of a light emitting element and a light receiving element, which are arranged at a distance from each other on a traveling moving body, and a pair of reflective photoelectric sensors arranged at a predetermined positioning location corresponding to the photoelectric sensors. A pair of disposed reflectors and a first light received by the photoelectric sensor shift the traveling moving body to a deceleration mode, and when the light reception outputs of the pair of photoelectric sensors are balanced with each other, the traveling moving body is moved. A positioning and stopping device for a traveling moving body, comprising a control means for stopping the moving body. 2. The positioning and stopping device for a traveling movable body according to claim 1, wherein a pair of photoelectric sensors are attached to one side of the traveling movable body. 3. The positioning and stopping device for a traveling movable body according to claim 1, wherein a pair of photoelectric sensors are attached to each side of the traveling movable body.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56038316A JPS57152014A (en) | 1981-03-16 | 1981-03-16 | Positioning stop device for running mobile body |
| DE823237439T DE3237439T1 (en) | 1981-03-16 | 1982-03-16 | RUNNING CONTROL DEVICE FOR A RUNNING MOVABLE OBJECT |
| US06/438,850 US4554498A (en) | 1981-03-16 | 1982-03-16 | Control apparatus for running moving object |
| PCT/JP1982/000073 WO1982003283A1 (en) | 1981-03-16 | 1982-03-16 | Movement controller for moving body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56038316A JPS57152014A (en) | 1981-03-16 | 1981-03-16 | Positioning stop device for running mobile body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS57152014A JPS57152014A (en) | 1982-09-20 |
| JPS6233609B2 true JPS6233609B2 (en) | 1987-07-22 |
Family
ID=12521873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56038316A Granted JPS57152014A (en) | 1981-03-16 | 1981-03-16 | Positioning stop device for running mobile body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS57152014A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5161467A (en) * | 1986-11-05 | 1992-11-10 | Mitsubishi Denki K.K. | Industrial robot system |
| JPH01231702A (en) * | 1988-03-10 | 1989-09-18 | Daifuku Co Ltd | Moving shelf equipment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5244995B2 (en) * | 1971-10-28 | 1977-11-11 | ||
| JPS567105A (en) * | 1979-06-29 | 1981-01-24 | Hitachi Ltd | Conveyer |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5244995U (en) * | 1975-09-25 | 1977-03-30 |
-
1981
- 1981-03-16 JP JP56038316A patent/JPS57152014A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5244995B2 (en) * | 1971-10-28 | 1977-11-11 | ||
| JPS567105A (en) * | 1979-06-29 | 1981-01-24 | Hitachi Ltd | Conveyer |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS57152014A (en) | 1982-09-20 |
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