JP4984831B2 - Automated guided vehicle and control method thereof - Google Patents

Description

  The present invention relates to an unrailed automatic guided vehicle that travels on a route designated in advance by a track such as a magnetic tape laid on a floor surface, and a control method thereof, and is particularly suitable for changing the traveling direction (posture) of a vehicle. The present invention relates to an automatic guided vehicle and a control method thereof.

  Conventionally, for the purpose of automating logistics, unmanned moving forward on the path formed by the track while correcting the lateral shift of the vehicle with respect to the track such as magnetic tape combined with straight lines and curves laid on the floor by the detection sensor A conveyance vehicle is generally used (see Patent Document 1).

This is because the spin turn steering angle φ from the distance A1 from the wheel base L of the vehicle body and the axis of the caster to the orbit after the spin turn in order to place the vehicle body on the orbit by 90 degrees without causing the vehicle body to protrude too much from the orbit. (= Tan −1 (L / A1)) is obtained, and the travel distance D (= πL / (2 sin φ)) of the spin turn is obtained from φ and L, and the steering motor and The spin motor is controlled to spin-turn so that it can be spin-turned without causing the vehicle body to protrude too much from the track compared to the conventional case where a caster shaft is placed on the track and spin-turned on the spot. ing.
JP-A-11-161335

  However, in the above conventional example, when the vehicle is changed in posture (orientation) to change the course of the automatic guided vehicle (in-situ rotation), the detection range of the detection sensor is temporarily deviated from the track. The vehicle attitude angle is predicted and calculated based on the travel distance obtained by integrating the rotation speed signals from the rotation encoder of the motor, and the vehicle attitude angle is controlled based on the prediction result. For this reason, when error factors such as slip frequently occur on the wheel, there is a problem that derailment that cannot return to the target track occurs. In addition, the calculation of the travel distance and the prediction calculation of the vehicle attitude angle have a problem that the calculation step S is enormous and errors are accumulated, so that the control of the vehicle attitude angle with high accuracy cannot be executed quickly. It was.

  Therefore, the present invention has been made in view of the above problems, and an object thereof is to provide an automatic guided vehicle suitable for control of a vehicle posture and a control method thereof.

The present invention is a track detection sensor multiple, arranged to surround the central portion of the planar direction of the vehicle, it is detected by at least two places trajectory detection sensor laid trajectory spaced laying direction of the raceway to the floor It is an automated guided vehicle and includes a driving device that can arbitrarily set a driving direction with respect to the vehicle. When the vehicle moves forward or backward along a track, the driving device is driven forward or backward along the track. When the vehicle is caused to travel along the track by the driving device based on the detection signal from the track detection sensor located in the front-rear direction of the vehicle, and the vehicle is traversed along the track, the lateral direction along the track Is driven by the drive device along a track without turning the vehicle based on detection signals from track detection sensors located on both sides of the vehicle. When the vehicle is rotated in place on the track, the control unit sets the driving direction of the driving device as the rotation direction of the vehicle, and a pair of track detection sensors for detecting the track sequentially in the rotation direction. The rotation angle of the vehicle is detected by moving to an adjacent track detection sensor .

Therefore, in the present invention, a plurality of track detection sensors are arranged on the floor surface on which the track is laid so as to surround the central portion in the plane direction of the vehicle, and the track laid on the floor surface is separated in the track laying direction. By detecting by only at least two track detection sensors, the posture (orientation) of the traveling vehicle can be determined based on the coordinates of the pair of track detection sensors that have detected the track.
For this reason, when the vehicle is rotated on the track on the spot, the driving direction of the driving device is set as the rotation direction of the vehicle, and a pair of track detection sensors for detecting the track sequentially move to track detection sensors adjacent in the rotation direction. As a result, the rotation angle of the vehicle can be detected, the vehicle posture can be stopped at an arbitrary rotation angle during on-the-spot rotation, and the track is always detected, so the probability of derailment is reduced.

  Hereinafter, the automatic guided vehicle of the present invention and its control method are explained based on one embodiment shown in Drawings 1-8. FIG. 1 is a side view of the automatic guided vehicle, FIG. 2 is a bottom view of the automatic guided vehicle, FIG. 3 is an explanatory view showing the operation of a drive unit and caster wheels of the automatic guided vehicle, and FIG. FIG. 5 is an explanatory diagram for explaining the operation of the track detection unit, FIGS. 6 and 7 are bottom views of the vehicle showing another example of the track detection unit, and FIG. 8 is a system for controlling the traveling of the transport vehicle. It is a block diagram.

  1 to 3, an automatic guided vehicle 1 according to the present embodiment includes two support shafts 3 provided to stand on the floor surface in front and rear of a lower portion of a vehicle body 2, and each support shaft 3. A drive unit 4 provided so as to be able to turn, a caster wheel 5 arranged at substantially four corners of the lower part of the vehicle body, a track detection unit 6 arranged at the center of the lower part of the vehicle body, and a controller 7 for controlling the drive unit 4 are provided. A bumper 8 and the like are installed in the front-rear direction of the vehicle body 2. The caster wheel 5 supports the weight of the vehicle and is turned following the moving direction of the vehicle.

  The drive unit 4 is rotatably supported by the support shaft 3 and has an axle 11 incorporating a pair of drive motors. The drive unit 4 is disposed on the left and right sides of the axle 11 and is independently driven by the pair of drive motors. A pair of drive wheels 12. Each drive wheel 12 is grounded on the road surface and is driven to rotate by a corresponding drive motor 10 to run the automatic guided vehicle 1. The axle shaft connecting the center of the support shaft 3 and the center line of both drive wheels 12 is offset. The rotational angle position of the axle 11 around the support shaft 3 is detected by a steering angle encoder (not shown), and the rotation of each drive motor 10 is detected by a motor encoder (not shown) and input to a controller 7 described later.

  When both the drive wheels 12 are driven at a constant speed by the drive motor 10, the axle 11 does not turn around the support shaft 3, and the axle 11 is moved in a direction perpendicular to the axle shaft (drive direction). The support shaft 3 is pushed through, and the vehicle is moved. In this case, the combined forces in the driving direction of both drive wheels 12 are the same. As will be described later, the traveling direction of the vehicle can be changed variously according to the respective driving states (the driving direction and the driving speed of the front / rear drive unit 4) of both the drive units 4 arranged at the front and rear of the vehicle. . Note that when the driving direction is directed to the front of the vehicle and the vehicle is driven straight, the steering angle is zero.

  Further, when there is a difference between the driving speeds of the left and right driving wheels 12, the axle 11 is rotated around the supporting shaft 3 while pushing the supporting shaft 3 according to the average speed of the both driving wheels 12. To run. Further, when the average speed of both the drive wheels 12 becomes zero, that is, when both the drive wheels 12 are driven at the same speed in opposite directions, the axle 11 is rotated around the support shaft 3, The drive direction to the support shaft 3 can be changed.

  The traveling direction of the vehicle is such that the driving direction of each of the drive units 12 arranged at the front and rear of the vehicle is on the same axis, that is, when the rudder angle that coincides with the longitudinal axis of the vehicle is zero, the vehicle is moved forward. When the drive unit 12 is reversed by an angle of 180 degrees (reverse position, rudder angle is 180 degrees), the vehicle can be moved straight backward.

  Further, when both the drive units 12 are turned from the straight traveling position in the same direction at an angle of 90 degrees, the vehicle can be traversed in the lateral direction without changing its posture. Furthermore, when both the drive units 12 are turned in an oblique direction by an arbitrary direction and the same angle, the vehicle can be made to travel diagonally in an arbitrary direction without changing its posture.

  Further, when both the drive units 12 are turned at an angle of 90 degrees in the opposite direction from the straight traveling position, the vehicle is turned on the spot without moving the center position of the vehicle (the intermediate position of the front and rear support shafts 3). be able to. Further, when the driving direction of the front drive unit 12 is turned by an arbitrary angle, the vehicle can be turned in this arbitrary direction, and the trail at that time is the axle shaft of the front drive unit 12 and the rear drive unit. A turning radius having a turning center at a point where the 12 axle axes intersect is provided. When turning, the drive direction of the rear drive unit 12 (angular position around the support shaft 3) is turned to an angle opposite to the drive direction of the front drive unit 12 (angle position around the support shaft 3). Can make the vehicle turn a little by making the intersection (turning center) between the front and rear axle shafts closer to the vehicle and reducing the turning radius.

  The trajectory detection unit 6 disposed at the center of the lower portion of the vehicle body 3 is provided with a plurality of magnetic sensors 15 arranged in a ring shape (or annular shape) at equal intervals so as to face the floor surface from the lower surface of the vehicle body 2. In the trajectory detection unit 6 shown in FIG. 4, twelve magnetic sensors 15 are arranged in a ring shape. Each magnetic sensor 15 stores a predetermined angle coordinate and front / rear / left / right plane coordinates from the center of the vehicle body 2 in the controller 7 in advance. And when it faces the magnetic tape A laid on the floor surface, the detection signal is output to the controller 7 of the traveling control of the transport vehicle 1. In the example shown in FIG. 1 to 3 and no. 7 to 9 output detection (ON) signals. 4-6 and no. The detection signals are not output from the 10 to 12 magnetic sensors 15 (OFF).

  FIG. 5 shows an example in which each magnetic sensor 15 of the trajectory detection unit 6 shown in FIG. 4 is used. That is, no. 1 to 3 are in front of the vehicle. When the magnetic sensors 15 to 9 are arranged in the rear of the vehicle, in the straight traveling state in which the vehicle travels forward and backward, No. 1 to 3 and no. When the magnetic sensors 15 to 9 output detection (ON) signals, it can be determined that the vehicle is running with the center of the vehicle and the center of the magnetic tape A aligned. And No. 4 and no. 6 magnetic sensor 15 or No. 6 10 and no. No. 12 magnetic sensor 15 is changed to an ON signal. 1 and no. 9 magnetic sensor 15 or No. 9 3 and no. 7 is changed to an OFF signal, it can be determined that the vehicle is shifted to the right or left with respect to the magnetic tape A.

  In the case of right-angle driving where the vehicle is traversed while maintaining its posture, No. 4-6 and no. When the 10 to 12 magnetic sensors 15 output detection (ON) signals, it can be determined that the center of the vehicle and the center of the magnetic tape A coincide with each other, and the center of the vehicle and the magnetic tape A Even when the center deviates, it can be detected in the same manner as when traveling straight ahead.

  In the case where the vehicle is rotated on the spot, when starting from the straight traveling state, the No. shown in the figure. 1 to 3 and no. As the vehicle body 2 turns from the state in which the magnetic sensors 15 to 9 output detection (ON) signals, the magnetic sensor 15 adjacent to the front in the turning direction is sequentially changed to the ON signal, while the rear in the turning direction. The magnetic sensor 15 located in the position is sequentially changed to an OFF signal. Further, since the ON signal is simultaneously output from the magnetic sensors 15 at the diagonal portions of the vehicle front (No. 1 to 3) and the vehicle rear (No. 7 to 9), the posture (orientation) of the vehicle is also detected at the same time. be able to. This means that even when the attitude of the vehicle is changed to an arbitrary direction, the vehicle can be turned and stopped while checking the feedback signal from the magnetic sensor 15, and can be used for controlling the attitude of the vehicle. it can.

  In the track detection unit 6, the ring-shaped magnetic sensors 15 are described as being arranged in a ring shape. However, when the automatic guided vehicle 1 moves in all directions, at least two magnetic fields separated in the track laying direction are used. Other configurations may be used as long as the sensor 15 is configured to constantly detect the trajectory. For example, as shown in FIGS. 6 and 7, the magnetic sensors 15 may be arranged in a rectangular frame shape. Also in this case, the angle coordinate of each magnetic sensor 15 and the front / rear / left / right plane coordinates as the vehicle center (center of the trajectory detection unit 6) are stored in the controller 7 in advance.

  FIG. 8 is a system configuration diagram of the automatic guided vehicle 1. The controller 7 detects a detection signal from the trajectory detection unit 6 that detects the trajectory A and a detection from an address sensor 16 that detects an address magnetic tape that indicates a current position arranged on the side of the trajectory A as required. A traveling control controller 7A that receives a signal and a route / vehicle speed command from a storage circuit 17 that stores a preset traveling route / vehicle speed command and calculates a steering angle command and a speed command of the longitudinal drive unit 4 of the vehicle. Is provided. The controller 7 also receives an angle signal from the steering angle encoder 18 of the axle 11, a rotation angle signal from the left and right motor rotation encoders 19, and a steering angle command and a speed command from the travel control controller 7A. A front wheel drive unit controller 7B and a rear wheel drive unit controller 7C for calculating the rotation speed and the rotation angular speed of the left and right drive motor 10 are provided. The commands for the rotational speed and rotational angular speed of the left and right drive motor 10 are output to the motor drive circuit 20 to control each motor 10.

  9 to 11 show a state in which the transport vehicle 1 travels by tracing the various tracks constituted by the magnetic tape A by the track detection unit 6. In addition, the width | variety of the magnetic tape A shown here is set to the width | variety which the 1-1.5 each of the diagonal of the track | orbit detection unit 6 (2-3 pieces in total) the magnetic sensor 15 carries out ON operation. .

  FIG. 9 shows the forward traveling state and the backward traveling state of the vehicle with respect to the track A laid in a straight state. In the forward state indicated by the solid line, the front and rear drive units 4 have the support shaft 3 in front of the vehicle. The steering angle is set to zero, and the magnetic sensor 15 arranged in the front-rear direction of the magnetic sensor 15 arranged in the ring shape of the trajectory detection unit 6 is driven forward while turning on the ON signal. The illustrated vehicle is placed close to the caster wheel 5 (not shown) so as to detect the magnetic tape B for address indicating the current position of the traveling path arranged on the side of the track A as necessary. An address sensor 16 for detecting the current position is arranged.

  Further, in the reverse drive state indicated by the broken line, the front and rear drive units 4 are set at a steering angle of 180 degrees so that the support shaft 3 exists at the rear of the vehicle. While the magnetic sensor 15 arranged in the front-rear direction is turned on, the vehicle is moved backward.

  In the spot rotation traveling shown in FIG. 10, the front drive unit 4 is set to a rudder angle rotated 90 degrees counterclockwise around the support shaft 3 from the straight traveling position, and the rear drive unit 4 is set around the support shaft 3. It is set to a rudder angle rotated 90 degrees in the clockwise direction, and each drive unit 4 pushes the support shaft 3 in the lateral direction, so that the magnetic tape A is detected at the straight position of the trajectory detection unit 6 before and after. The magnetic sensors 15 adjacent to the magnetic sensor 15 can be sequentially turned on to rotate the vehicle in place, and the rotation angle of the vehicle is fed back to the controller 7 by the magnetic sensor 15 that is turned on.

  The vehicle state when traversing is shown in the upper part of FIG. 11, and the magnetic tape A and the addressing magnetic tape B (four locations) intersecting the magnetic tape A that has been traced are arranged. When the vehicle travels forward and the front address sensor 16 detects the front magnetic tape B, the speed command is decelerated by the travel controller 7A, and the vehicle is disposed at the forefront side of the track detection unit 6. When the crossed magnetic tape A is detected by the magnetic sensor 15, the speed command is further decelerated, and the magnetic sensor 15 located at the center in the front-rear direction is turned ON by the crossed magnetic tape A and at the same time all four addresses are addressed. When the magnetic tape B is detected by the address sensor 16, a stop command is output to stop the vehicle from moving forward. The front and rear drive units 4 are each set at a rudder angle rotated 90 degrees counterclockwise, and the crossed magnetic tapes A are traced by the magnetic sensors 15 arranged in the left-right direction of the vehicle body 2 as indicated by broken lines. The vehicle can be ramped up.

  Further, a branch path by the magnetic tape A is shown in the lower part of FIG. 11, and an address magnetic tape B indicating the branch path is arranged at the left and right positions of the magnetic tape A before the branch path. . In such a branch road, when the address sensor 16 in front of the vehicle detects the magnetic tape B for branch road, the steering angle of the front wheel drive unit 4 is set to an angle along the branch magnetic tape A, and the vehicle is Guide to the branch. In this branch, the attitude (orientation) of the vehicle is detected by the magnetic sensor 15 in which the track detection unit 6 is turned on, and the steering controller 7A controls the steering angle of the front wheel drive unit 4 so that the attitude of the vehicle is not changed suddenly. Set and corrected.

  FIG. 12 is a control flowchart of attitude control executed by the controller 7 at regular intervals. Hereinafter, the attitude control of the automatic guided vehicle will be described based on the control flowchart.

  First, in step S1, the attitude angle of the transport vehicle 1 is detected from the magnetic sensor 15 of the trajectory detection unit 6, an angle (posture) command of the transport vehicle 1 is read, and the attitude angle of the transport vehicle 1 and the current angle are read. The difference angle from the command is calculated. In the normal traveling that moves forward along the track A, the angle difference between the direction of the track A and the posture of the transport vehicle 1 is calculated. In addition, when traversing after stopping at an orthogonal branch path, the posture of the transport vehicle 1 does not change, but since the magnetic tape A on the branch path side is used as a reference in the traveling direction, the reference of the trajectory detection unit 6 The magnetic sensor 15 is switched, and the left-right direction of the vehicle is set as the traveling direction (the steering angle zero direction in the angle command). Further, in the case of an oblique branch road, when the vehicle is in a posture along the magnetic tape A of the branch road, it is the same as the normal running, but when maintaining the posture of the vehicle in the posture state before the branch road, The magnetic sensor 15 used as the reference of the trajectory detection unit 6 is switched so that the magnetic tape A on the branch road side is used as the reference of the traveling direction, and the steering angle of the vehicle is also switched so that the angle command of the transport vehicle 1 is zero.

  In step S2, each steering angle which each drive unit 4 requires in order to correct | amend the difference angle in step S1 is calculated. In step S3, the drive speed generated by each drive unit 4 is calculated based on a transport vehicle travel speed command set in advance for traveling on the travel route. In step S4, each drive motor for realizing the difference steering angle between the steering angle of the drive unit 4 obtained in step S2 and the actual steering angle of each drive unit 4 and the drive speed obtained in step S3. An angular velocity of 10 is calculated. In step S5, a motor command is calculated by multiplying a predetermined gain. In step S6, each drive motor 10 is controlled to change the posture of the transport vehicle 1, and the current processing step S ends.

  Steps S1 to S3 are executed by the travel controller 7A of the controller 7, and steps S4 to S6 are executed by the drive unit controllers 7B and 7C.

  FIG. 13 shows a change in the posture state of the transport vehicle 1 that is changed by executing the angle control of the transport vehicle 1 during traveling. That is, in FIG. 13A, as an example, during straight traveling, each drive unit 4 causes the transport vehicle 1 to travel straight along the magnetic tape A that constitutes the track. The case where the running posture is tilted is shown. By the step S1, the inclination of the traveling posture of the transport vehicle 1 is detected by the magnetic sensor 15 that operates the track detection unit 6. Then, the angle command of the transport vehicle 1 is read, and the angle difference between the angle command and the attitude angle of the transport vehicle 1 detected by the trajectory detection unit 6 is calculated.

  Next, the steering angle and speed of each drive unit 4 are calculated by step S2 and step S3, and the drive motor 10 of each drive unit 4 is controlled by steps S4 to S6, so that it is shown in FIG. In this way, the speed of the drive motor 10 (see the white arrow in front of the drive wheels) is changed. In this case, the speed of the drive wheel 12 far from the track A is set higher than the speed of the drive wheel 12 close to the track A. By controlling the speed of the drive wheels 12 in this way, as shown in FIG. 13C, the drive unit 4 is turned around the support shaft 3 (see the arrow on each drive unit 4). As a result, As shown in FIG. 13D, the transport vehicle 1 is turned as indicated by an arrow, and its posture is matched with the direction of the track.

  In the above embodiment, the drive unit 4 has been described with respect to the automatic guided vehicle that can turn around the support shaft 3 protruding from the lower surface of the vehicle and can change the direction of the driving force applied to the vehicle. However, it may be an automatic guided vehicle that advances or turns the vehicle based on the differential of the pair of drive wheels without turning on the lower surface of the vehicle. It may be a drive device that can be driven by a drive motor and is rotatably mounted at the center of the vehicle.

  In the present embodiment, the following effects can be achieved.

  (A) A plurality of track detection sensors 15 are arranged on the floor surface on which the track A is laid, surrounding the central portion in the plane direction of the vehicle, for example, in an annular shape, and the track A is laid on the floor surface. At least two track detection sensors 15 separated in the laying direction of the vehicle are always detected, and based on the coordinates of the pair of track detection sensors 15 that detect the track A, the posture (orientation) of the running vehicle Can be determined. Therefore, it becomes possible to control the posture (orientation) of the vehicle by the drive unit 4 or to set the posture of the vehicle at an arbitrary angle with respect to the track A, even in a narrow traveling area. It is possible to enter and travel with a traveling posture suitable for the vehicle. In addition, both the detection function for following the track A of the vehicle and the detection function for attitude control are satisfied, so that the cost is low. In addition, since the posture can be changed while traveling, it can be changed to the desired posture while traveling until it reaches the required point. Compared with the case of changing the posture, the cycle time until the transfer of the conveyed product can be shortened.

  (A) When the drive device 4 that can arbitrarily set the drive direction with respect to the vehicle is provided and the vehicle is moved forward or backward along the track A, the drive direction of the drive device 4 is set forward or backward along the track A. When the vehicle is caused to travel along the track A by the driving device based on the detection signal from the track detection sensor 15 positioned in the front-rear direction of the vehicle, and the vehicle is traversed along the track A, the track A Control means for causing the drive device 4 to travel along the track A without turning the vehicle based on detection signals from the track detection sensors 15 located on both sides of the vehicle in the lateral direction. 7, the vehicle can travel along the track A by the same track detection means even when traversing.

  (C) The controller 7 as the control means, when tilting the vehicle along the track, detects the track located on both sides of the vehicle in the diagonal direction along the track A as the driving direction of the driving device 4. By driving the vehicle 4 along the track A without turning the vehicle based on the detection signal from the sensor 15, the vehicle can be driven along the track by the same track detection means even during skew. it can.

  (D) When the vehicle is rotated on the spot A on the spot A, the controller 7 serving as the control means includes a pair of track detection sensors 15 that detect the path A with the driving direction of the driving device 4 as the rotation direction of the vehicle. By sequentially moving to the track detection sensor 15 adjacent in the rotation direction, the vehicle attitude can be stopped at an arbitrary rotation angle during on-the-spot rotation by detecting the rotation angle of the vehicle, and always detecting the track. Therefore, the probability of derailment is reduced.

  (E) As the drive device 4, the vehicle is driven independently on both the front and rear sides of the vehicle, the axle shaft 11 disposed so as to be rotatable about the support shaft 3 disposed in the vertical direction, and both ends of the axle shaft 11. The vehicle is configured to include drive wheels 12 driven by a motor 10, and the vehicle is moved forward or backward with the front and rear axle shafts 11 as left and right directions of the vehicle, and the vehicle is traversed with the front and rear axle shafts 11 as front and rear directions of the vehicle. Thus, the vehicle can be moved in the front-rear direction and the lateral direction without changing the vehicle posture.

  (F) As the driving device 4, the vehicle is driven independently on both the front and rear sides of the vehicle, the axle shaft 11 disposed so as to be rotatable around the support shaft 3 disposed in the vertical direction, and both ends of the axle shaft 11. The vehicle is configured to include drive wheels 12 driven by the motor 10, and the vehicle is skewed with the front and rear axle shafts 11 orthogonal to the traveling direction without changing the vehicle posture in the skew direction. Can be moved.

  (G) As the driving device 4, the vehicle is driven independently on both the front and rear sides of the vehicle, the axle shaft 11 disposed so as to be rotatable around the support shaft 3 disposed in the vertical direction, and both ends of the axle shaft 11. The front axle shaft 11 is configured to include a drive wheel 12 driven by a motor 10 and the front and rear axle shafts 11 are in the front-rear direction of the vehicle. And the rear axle shaft 11 are positioned on the opposite sides to rotate the vehicle in place, so that the in-situ rotation can be realized without difficulty.

  (H) On the front side and the rear side of the vehicle, the axle shaft 11 is arranged so as to be rotatable around the support shaft 3 arranged in the vertical direction, and is driven by the drive motor 10 independently at both ends of the axle shaft 11. If the posture of the vehicle with respect to the track A is detected by the plurality of track detection sensors 15 and the detected posture is different from the commanded posture, the difference is determined. Based on this, the corrected rotation angles around the support shaft 3 of the drive devices 4 on the front side and the rear side are calculated, and the rotation speeds of the respective drive motors 10 are increased or decreased so as to be the calculated corrected rotation angles. Is rotated around the support shaft 3 to correct the posture of the vehicle with respect to the track A, so that the vehicle posture can be corrected while traveling.

The side view of the automatic guided vehicle which shows one Embodiment of this invention. Similarly, a bottom view of the automatic guided vehicle. Explanatory drawing which shows operation | movement of the drive unit and caster wheel of an automatic guided vehicle. Explanatory drawing which shows an example of track detection units, such as a magnetic tape. Explanatory drawing explaining operation | movement of an orbit detection unit. The bottom view of the vehicle on the branch road which shows another example of a track detection unit. The bottom view of the vehicle in turning which shows another example of a track detection unit. The system block diagram of traveling control of a conveyance vehicle. Explanatory drawing which shows the state in which a conveyance vehicle traces the linear track comprised with the magnetic tape by a track detection unit, and travels. Explanatory drawing which shows the state which the conveyance vehicle turns on the track | truck comprised with the magnetic tape by the track | orbit detection unit. Explanatory drawing which shows the state in which a conveyance vehicle traces the branch track comprised with the magnetic tape by a track detection unit, and travels. The control flowchart of attitude | position control performed by a controller for every fixed time. Explanatory drawing which shows the change (A)-(D) of the attitude | position state of a conveyance vehicle which changes by execution of angle control of a conveyance vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Automatic guided vehicle 2 Car body 3 Support shaft 4 Drive device, drive unit 5 Castor wheel 6 Track detection unit 7 Controller 10 Drive motor 11 Axle, axle shaft 12 Drive wheel 15 Magnetic sensor, track detection sensor

Claims (5)

A plurality of track detection sensor, arranged to surround the central portion of the planar direction of the vehicle, no human that is always detected to the laying trajectory on the floor, the track detection sensor of the at least two locations spaced in the laying direction of the track A transport vehicle ,
A driving device capable of arbitrarily setting a driving direction with respect to the vehicle;
When moving the vehicle forward or backward along the track, the forward or backward direction along the track is the driving direction of the driving device, and the vehicle is set to the track based on the detection signal from the track detection sensor positioned in the front-rear direction of the vehicle. Along the drive device,
When traversing the vehicle along the track, the lateral direction along the track is the drive direction of the drive device, and the track is not turned around based on detection signals from the track detection sensors located on both sides of the vehicle in the lateral direction. Control means for running along the drive unit,
When the vehicle is rotated in place on the track, the control means sets the driving direction of the driving device as the rotation direction of the vehicle, and a pair of track detection sensors for detecting the track are sequentially set as track detection sensors adjacent in the rotation direction. An automatic guided vehicle that detects a rotation angle of a vehicle by moving . The driving device includes an axle shaft rotatably arranged around a support shaft arranged in the vertical direction on the front side and the rear side of the vehicle, and driving driven by a drive motor independently at both ends of the axle shaft. Comprising a ring,
2. The vehicle according to claim 1, wherein the front axle shaft and the rear axle shaft are positioned opposite to each other across a center position in the left-right direction of the vehicle, and the vehicle is rotated on the spot . Automated guided vehicle. 3. The automatic guided vehicle according to claim 1, wherein the plurality of track detection sensors are arranged in an annular shape so as to surround a central portion in a plane direction of the vehicle. A plurality of track detection sensors are arranged on the floor surface on which the track is laid so as to surround a central portion in the plane direction of the vehicle, and the track laid on the floor surface is separated from at least two locations in the track laying direction. It is a control method of an automatic guided vehicle that is detected by a track detection sensor and travels along the track.
When the vehicle moves forward or backward, the vehicle travels along the track based on detection signals of the track detection sensors located on the vehicle front side and the vehicle rear side,
When traversing the vehicle, the vehicle travels along the track based on the detection signals of the track sensors located on both sides of the vehicle in the lateral direction of the plurality of track detection sensors,
A control method for an automatic guided vehicle characterized in that, when the vehicle rotates on the spot, the rotation angle of the vehicle is detected by sequentially moving the detection positions of the plurality of track detection sensors to adjacent track detection sensors. . On the front side and the rear side of the vehicle, there are an axle shaft arranged so as to be rotatable around a support shaft arranged in the vertical direction, and driving wheels driven by a drive motor independently at both ends of the axle shaft. With a drive,
Detecting the posture of the vehicle with respect to the track by the plurality of track detection sensors;
When the detected posture is different from the commanded posture, a corrected rotation angle around the support shaft of the front and rear drive devices is calculated based on the difference,
Claims wherein so as to be calculated correction rotation angles increase or decrease the rotational speed of each drive motor of each axle shaft is rotated around the support shaft, characterized in that so as to correct the posture of the vehicle with respect to the track 5. A method for controlling an automatic guided vehicle according to 4 .