JPH01267707A - Unmanned carrier - Google Patents

Abstract

PURPOSE:To prevent two unmanned carriers in a confluent part from being simultaneously stopped by stopping the action of an obstacle detector to be operated towards an upstream side in locating the unmanned carrier in the course of a cross or confluence. CONSTITUTION:When an unmanned carrier 1 does not detect an unmanned carrier 2 at the time of the approach to a confluent part, the carrier 1 travels as it is. Since the traveling speed of the carrier 1 in the confluent part (curved part) is low, when the carrier 1 is located in the midst of a confluent part 21d, the carrier 2 may approach a confluent part 22b. Consequently, the carrier 2 is stopped by detecting the carrier 1 in detection areas 5aa and 5ba. At such a time, when the carrier 1 operates the detection area 5ab, it is stopped by detecting the carrier 2, and two carriers are made to stop. In order to prevent it, the action of the detection area 5ba is stopped in the confluent part. Thus, both of two carriers will not be made inoperable.

Description

DETAILED DESCRIPTION OF THE INVENTION [Minute hand for use on C-cooker] The present invention relates to collision prevention particularly at one merging point in a facility equipped with a plurality of automatic guided vehicles.

[Conventional technology]

The automatic guided vehicle reads a guidance tape or the like installed on the ground and travels along the guidance tape or the like. It also recognizes the current location by reading marks etc. installed on the ground.
This creates confluence and divergence.

It is possible to recognize the curved position of the curved portion (Japanese Unexamined Patent Publication No. 62-65109).

The automatic guided vehicle is equipped with an optical obstacle detection device at the l1ff end to prevent it from colliding with other vehicles at merging points, branching points, etc.

In conventional devices, the obstacle detection area is uniformly widened at the merging section, as described in Japanese Patent Laid-Open No. 189511/1983.

[Problem to be solved by the invention]

The above-mentioned conventional technology does not take into consideration the method of setting an obstacle detection area for the curved section at the merging section, and when traveling on the curved section, other moving objects that have entered the vicinity of the flowing section are detected, There was a problem that the two machines could not work together.

Honto Akira's purpose is as above! ! ! 41. The aim is to prevent two automatic guided vehicles from becoming inoperable, that is, to allow one automatic guided vehicle to continue traveling.

[Means to solve the problem]

The present invention provides an automatic guided vehicle with an unmanned pull-in rate of 1N in front of a position where it intersects or merges with the traveling path of another unmanned guided vehicle.
By doing so, the optical obstacle detection device is operated toward the upstream side of the travel path, and then by positioning in the middle of the front ml intersection or merging, the optical obstacle detection device is operated toward the upper ri side. The present invention is characterized in that fih and t of the obstacle detection device It are stopped.

[For production]

Before entering the merging section A, a prominent area is set up toward the upstream side of the merging section on the lth travel path, and it is confirmed that there are no other automatic guided vehicles entering the merging section. I, the unmanned person who will stop the operation of this detection area and then enter it! Prevent detection of e-vehicle transportation.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1 to 4. Automatic guided vehicle 1.2 is on the running path (guidance tape) 23,2
21. :Equipped with the same equipment as before to run along the line. The running path 21 has a straight section 21a and a curve fII'12.
1b, straight part 21c, curved part (total tAL R6) 21
d, and the straight part 21e to l1IN? x contact Hi L
It is something. The running route n is from the straight section 22a to the curved section 2.
1 d in a tangential manner, forming a merging portion 22b.

Further, the automatic guided vehicle 1.2 has optical obstacle detection lengths W15a and 5b installed on the left and right sides of the 1llT end so as to face forward. The obstacle detection device consists of a light projector and a light receiver, and is known per se. Each obstacle used here'8
The detection devices 5a and 5b are two sets of a light projector and a light receiver in one unit. - A device consisting of a set of emitter and receiver is called a detector. The obstacle detection area of the 1st detector is a″c, and it faces the medium heat section on one side of the gri. Obstacle detection! Detection area a of Jt positions 5a and 5b
, a detects whether or not there is an obstacle on the O1i side of the automatic guided vehicle. The obstacle detection area of the second detector is b″C′A11.It faces diagonally in the 1Iit direction, and can detect the side DJ side of the automatic guided vehicle 1.2. They can be operated individually or simultaneously.The arrangement of the detection areas is opposite in the obstacle detection devices 5a and 5b.When either detection area detects an obstacle, The automatic guided vehicle enters a stop operation.Hereinafter, the detection area will be shown by attaching a detection area 8°b to the obstacle detection devices 5a and 5b.

In FIG. 1, obstacle detection areas at various positions on the travel road will be explained. The unmanned conveyance rate l is the straight W part 21a
In this case, the detection areas are 5aa and 5ba.

Automated guided vehicle 1 travels toward curve 21 b and turns to curve 4I.
When the mark 31 indicating that it is iIlfls 21b is detected, the detection area is set to 5aa and 5bb and the 5 curved part 21
Obstacles in front of the travel path b are detected.

When passing through the curved part 21b and reaching the straight part 21c, the detection areas are set to 5aa and 5ba. In order to prevent the detection of unnecessary obstacles due to the operation of the detection area 5bb, the unmanned transport Iμ! Even before the curve 52ib ends, the detection areas are set to 5aa and 5ba. This switching is performed depending on the distance or time from the detection of the mark 31. The distance is Wb 11 connected to the running wheels! Find it with it. Alternatively, switching is performed by the steering angle of the steering wheel. When using the steering angle,
Switching is performed when the angle (absolute m) becomes smaller than a predetermined value. This switching determines the size of the detection area of the obstacle detection devices 5a, 5b based on the radius of the curved portion, the range of the travel path, etc.

When arc n indicating that it is in front of the confluence part 21a is detected, the detection area is changed to 52b, 5aa,
5 bat and sbb. The detection area 5ab is for detecting the presence or absence of the automatic guided vehicle 2 attempting to enter the merging portion 22b. Detection areas 5aa and 5ba are for detecting the presence or absence of an automatic guided vehicle 2 that fits in any direction. Is outstanding area 5bb aF? 621d, Z!
Unmanned iron feeder at the end of b1. This is to detect the presence or absence of 2.

When the automatic guided vehicle 1 enters the junction 121d to a predetermined position, the operation of the detection areas 5ab and 5ha is stopped.

Depending on the situation, the operations of detection areas 5ab and Saa may be stopped. Detection area 5ab at confluence 21d
(and 5aa) operation is stopped using the time, distance, and steering angle from the mark. When using the steering angle, the steering angle is switched when the angle (absolute value) becomes larger than a predetermined value.

When the automatic guided vehicle l approaches the end of the merging fi (curved portion) 21d, the detection areas are changed to 5aa and 5h, similar to the curve 521b.
Make it a. The following is similar to the straight line ff1 (21a, 21c).

In the automatic guided vehicle 1, the curved part 21b and the merging part 21d
The classification can be determined based on the shape of the marks 31 and 32 and the number of counts of the marks 31 and 32.

On the other hand, the unmanned delivery vehicle 2 has a detection area of 5aa,
It is set to 5ba.

In this way, in each of the songs 1421b and 21d, obstacles in the direction of the curve are detected. For this reason, it is possible to recognize the necessary parts further away.

Therefore, it is possible to prevent the vehicle from stopping due to detection of an object that is not an obstacle.

At the confluence section 21d, the detection area 5ab is first operated and then stopped. The reason for this will be explained.

At the time of entering the merging section 21d, the detection area 5ab is operated to detect the presence or absence of the automatic guided vehicle 2 entering the merging section 22b. If automatic guided vehicle 2 exists, automatic guided vehicle l
stops running and continues to stop until no detection is detected.

If the automatic guided vehicle 2 is not detected at the time of entering the merging section, the automatic guided vehicle 2 continues to travel. Since the traveling speed of the automatic guided vehicle 1 at the merging section (curved section) is low, when the automatic guided vehicle 1 encounters the merging section 21d midway through the merging section 21d, the automatic guided vehicle 2 enters the merging section 22b. Sometimes.

The automatic guided vehicle 2 has detection areas 5 aa, 5 h a
Detects the automatic guided vehicle l and stops it. At this time, if the automatic guided vehicle l is operating the detection area 5ab.

The automatic guided vehicle 2 is detected and stopped. That is, the two automatic guided vehicles 2 will stop. In order to prevent this, the operation of the detection area 5 ha is stopped within the AB.

FIG. 3 is a flowchart of the operation of the obstacle detection device for the automatic guided vehicle I described above. mark! By detecting this, a part a of step s1 is reached. By detecting the mark 31, it becomes the curved part of step S5. Step 813. θ of s17°819 is the steering angle. θ1
．． θ2. θ3 is a predetermined value. θ2 is slightly lower than the maximum value of the normal steering angle.

The same applies to cross-shaped intersections. However, in this case, since the vehicle is traveling in a straight line, it is sufficient to operate all detection areas at the start of the intersection, and then operate only the financial strength detection area.

FIG. 4 shows a single obstacle detection device 5, which includes three sets of detectors.

〔Effect of the invention〕

According to the present invention, it is possible to appropriately detect obstacles between two automatic guided vehicles at a merging section, and it is effective to prevent both vehicles from stopping.

[Brief explanation of the drawing]

Figure f51 is an explanatory diagram showing the relationship between automatic guided vehicles, their positions, and obstacle detection areas, Figure 2 is an explanatory diagram showing the detection equipment IJA of unmanned guided vehicles, and Figure 3 is an explanatory diagram showing the relationship between automatic guided vehicles and their positions and obstacle detection areas. Detector-C
FIG. 4 is a flowchart showing the operation of FIG. 4, and is a diagram showing another embodiment of the obstacle detection device. 1.2... Automatic guided vehicle, 5, 5a, 5b... Curved book detection device 'a, 5aa, 5ab, 5ha, 5bb. 51-53...Detection area, 21d, song, confluence agent patent attorney Katsuo Ogawa-, Sai1 figure 42 figure 44 figure, 5/-jj---matching area

Claims (1)

[Claims] 1. An automated guided vehicle that is equipped with an optical obstacle detection device and that stops traveling when the device detects an obstacle, with respect to a traveling path on which other automated guided vehicles are traveling. By positioning the automatic guided vehicle in front of the crossing or merging position, the optical obstacle detection device is operated toward the upstream side of the travel path, and then the automatic guided vehicle is positioned in front of the crossing or merging position. The automatic guided vehicle is characterized in that the operation of the obstacle detection device operating toward the upstream side is stopped by doing so.