JPS6286414A - Device for detecting obstacle against moving truck - Google Patents

Abstract

PURPOSE:To detect the presence or absence of contact to an obstacle by providing a power application state detection means flowing always a current through the series connection of conductors themselves to be a conduction path and detecting the power application state change at each end of a couple of conductors connected in series. CONSTITUTION:A light emitting diode D1 of a photoconductor 15 of a conduction state detection means detecting the power application state change between a couple of conductors 5A, 5B attended with the contact or non-contact of the conductors is connected between other end (b) of the conductor 5A and other end (c) of the conductor 5B, one end (d) of the conductor 5B is connected to a host controller 7 to form a couple of the conductors and the light emitting diode D1 as a series circuit and a current flows always from the host controller 7 to the conductors 5A, 5B and the light emitting diode D1. If a bamper 5 contacts an obstacle and is deformed, the conductors 5A, 5B are brought into contact and the power application to the light emitting diode D1 is interrupted and the collector and emitter of a phototransistor Q1 are interrupted. Thus, the contact against the obstacle is sensed.

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention is applicable to a mobile vehicle used for automatically transporting various tools, workpieces, etc. to a desired station in a factory, for example. Obstacle detection device for a moving vehicle to perform processing such as automatically stopping when it comes in contact with the object.
This invention relates to an obstacle detection III device for a moving vehicle, which is equipped with contact-type obstacle detection switches placed side by side in an open state so as to be closed when touched.

[Conventional technology]

The above-mentioned mobile vehicle is provided with a bumper made of a flexible resin product, a so-called soft bumper, from the viewpoint of its aesthetic appearance and shock absorption properties when it comes into contact with an obstacle. The obstacle detection device may include, for example, a pair of conductors disposed within the soft bumper along the width direction of the vehicle body, so that the soft bumper deforms upon contact with the obstacle. A contact-type obstacle detection switch is provided in which the pair of conductors is closed and the pair of conductors function as contacts of a normally open switch, and the pair of conductors is closed. By detecting the obstacle every time, the obstacle can be detected regardless of the position of the obstacle on the vehicle body width JH.

[Problem that the invention seeks to solve]

However, the conventional contact-type obstacle detection switch described above is configured to sense contact with an obstacle by detecting the closing operation of a pair of conductors that function as contacts of a normally open switch. Therefore, if the wiring to the pair of conductors breaks or the conductor itself breaks, the switch may not operate even if an obstacle comes into contact with the bumper.
There is a risk that it will not be possible to detect that it has been activated.

- As a means of configuring it to operate safely when a wire break occurs, a normally closed switch is used, and the switch is configured to open when it comes into contact with an obstacle. There is a way to obtain the same detection information as when the wire is in contact with the wire, so that it operates safely in the event of a wire breakage, but the pair of conductors described above is arranged along a fairly long range such as the width direction of the vehicle body. Because of this, the conductor portion that functions as a contact point is long, making it difficult to construct a normally closed switch due to its structure.

The present invention has been made in view of the circumstances described in -1-, and its l = 1 purpose is to use a contact type obstacle detection switch configured as a normally open switch. The point is to ensure safe operation even if a break occurs in the wiring to or in the pair of conductors themselves.

[Means for solving problems]

The characteristic configuration of the obstacle detection device for a mobile vehicle according to the present invention is that the pair of conductors are connected in series so that the conductors themselves serve as a current-carrying path, and the if (sub-connected The present invention is provided with an energization state detection means for detecting a change in energization state between each end of a pair of conductors, and its functions and effects are as follows.

[For production]

In other words, a pair of conductors that function as the contacts of a normally open switch are connected in series and a current is passed through them to prevent them from coming in contact with an obstacle.
The presence or absence of contact with an obstacle is detected by detecting the change in the energization state between the pair of conductors, which become conductive or non-conductive as they are not in contact.

〔Effect of the invention〕

Therefore, by connecting the above-mentioned pair of conductors in series so that they themselves become a current-carrying path, if a break occurs in the wiring to the pair of conductors or in the conductor itself, current will no longer flow between the pair of conductors, so the current will not flow between the pair of conductors. The same information as when contacting an obstacle is obtained from the condition detecting means, and if the running of the vehicle is controlled based on the information detected by this voltage change detecting means, not only when the obstacle comes into contact, but also when the contact occurs. Even if the wiring to the obstacle detection switch or the pair of conductors themselves are disconnected, the vehicle's running can be controlled safely.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIGS. 4 to 6, a mobile vehicle (A) equipped with a loading platform (1) that can be driven up and down is provided, and a plurality of load transfer stations (ST) are placed beside the traveling path of the mobile vehicle. It is located at the folded part, and the moving vehicle (A) is moved between each station with a distance of -1 to carry out the work of transporting each load.
・It is configured so that

The mobile vehicle (8) is provided with a pair of left and right flils (2) that can be independently driven by a pair of electric motors (M), and a pair of left and right caster-type idle wheels (3).
) are provided at the front and rear ends of the vehicle body, and the left and right propulsion wheels (2)
, (2>), the speeds of both the electric motors (M) and (M) are changed so that the rotational speeds of the two electric motors (M) and (M) are different from each other for steering.

Moreover, as shown in FIGS. 6 and 7, the mobile vehicle (A)
After step iii, a non-contact obstacle sensor (
S2) and a pair of conductors (5A) for forming contacts inside the front side of the bumper (5) formed of a flexible resin member (5C).

A contact type obstacle sensor (S1) is provided which is configured as a normally open type contact type obstacle detection switch (5B) arranged side by side in a state facing the roof tiles along the width direction of the vehicle body. Then, the non-contact obstacle sensor (S2) detects the moving vehicle (^
) by non-contactly detecting obstacles on the travel route of the sensor (S), and detecting the closing operation of the pair of conductors (5A) and (5B) that constitute the contact-type obstacle sensor (S,). It is designed to automatically stop running when it comes into contact with an obstacle. In FIG. 7, (5D) is a cover member that protects the surface of the resin member (5C).

Then, an electromagnetic induction conductor (4) for guiding the moving vehicle supplied with alternating current is provided on the running road side, and the moving vehicle (
On the A) side, a pair of pickup coils (61,) that detect the amount of lateral deviation with respect to the guiding conductor (4) by sensing the magnetic field induced from the guiding conductor (4);
Taxiway detection sensor (SP) equipped with (6R), (
SR), and travel control means for controlling the mobile vehicle (8) to automatically travel along this guiding conductor (4), so that the mobile vehicle (A) automatically travels between stations. It's Nishide.

In addition, a mark (Il1) for displaying travel control information such as a stop position of the moving vehicle (8) with respect to the station (ST), a branching start position at an intersection, and a deceleration travel start position.
), (IIlt), (Ill, ), and the inductive conductor (
4) It is provided on the nearby driving path -1-. The marks (m,), (m,), (m,) are formed by arranging a plurality of permanent magnets so as to generate magnetism in a pattern corresponding to each traveling control information.

As shown in FIG. 2, the taxiway detection sensor (SF)
, (SR) indicates that when the amount of lateral deviation of the moving vehicle (A) with respect to the guiding conductor (4) is zero, the pair of big amplifier coils (61) and (6R) are used for guiding in the left and right direction, respectively. Each pickup coil (4iL) is placed equidistantly from the conductor (4).

(6R) is provided with a detection circuit (6) and (6) that converts the alternating current voltage induced into a free current voltage.

The traveling means includes the taxiway detection sensor (S
P), (SR), a contact obstacle sensor (S1), and a non-contact obstacle sensor (S,) are provided at both the front and rear ends of the moving vehicle (8), and are used for displaying the travel control information. A mark sensor (
A host controller (7) and a taxiway detection sensor (SF
), A/D that digitizes the guidance path detection information from (SR) and detects the amount of lateral deviation with respect to the guidance conductor (4).
Conversion unit (8) and digital servo controller (9
) is provided on the mobile vehicle side,
Furthermore, the encoders (10) attached to the electric motors (M), (M) are connected to the digital servo controller (9), and the digital servo controller (9) is connected to the servo amplifier driver (11). is connected to the servo amplifier (12) for both electric motors (M), (M) via Both electric motors (M), (M
) while controlling the speed of the contact obstacle sensor (S1) and the non-contact obstacle sensor (S2).
Automatically decelerates the vehicle when detecting obstacles.
It is configured to stop once.

The taxiway detection sensors (SF), (SR), contact obstacle sensor (S), and non-contact obstacle sensor (S2) are the ones on the front side when moving forward, and the ones on the rear side when going backwards. Select tJ< so that ζ is used. or,
The mark sensor (Sln) detects the mark (IllI-R1) on either the left or right side of the traveling road with respect to the moving vehicle (A).
The one on the mark placement side is selected and used based on whether 3) is provided.

As shown in FIG. 1, the contact type obstacle sensor (S1)
In detail, the configuration of this contact obstacle sensor (
A pair of conductors (5^) that constitute S,).

Connect both conductors (5^) so that (5B) itself becomes a current-carrying path.
.

Electrodes are provided at each end (a, b), (c, d) of (5B), and one end (a) of one conductor (5A)
is grounded via a resistor (Il1), and the other end (b) of one conductor (5A) on this ground side and this one conductor (5A
) opposite the other end (b) of the other conductor (5B)
c) between the pair of conductors (5^) and (5B), a photo sensor serving as an energization state detection means for detecting a change in the energization state between both conductors (5A) and (5R) due to contact/non-contact between the pair of conductors (5^) and (5B); The light emitting diodes (n+) of the coupler (15) are connected in series, and one end (d) of the other conductor (5B) is connected to the host controller (7), and the pair of conductors (5^) , (5R) and the light emitting diode (D1) form a series circuit, and the pair of conductors (5A), (5B) are connected from the host controller (7) to the light emitting diode (D1).
And a current is made to flow through the light emitting diode (n1) at all times. Therefore, the pair of conductors (5A), (
5B) is not in contact with the light emitting diode (n
+) will always emit light, and the collector and emitter of the phototransistor (Q1) that receives the emitted light will maintain a conductive state (ON state). When the bumper (5) deforms backward due to contact with an obstacle, the pair of conductors (5A) and ('5B) come into contact and the light emitting diode F (IL) is no longer energized. This is so that the collector and emitter of the transistor (OI) change to the cut-off state (OFF state B).

Therefore, the phototransistor (port) of the photocoupler (15) connected to the host controller (7) is
Corresponding to contact/non-contact of the pair of conductors (5A) and (5B), it functions as a normally closed switch.In other words, the phototransistors (0, 5B) function as a normally closed switch. ) is detected as a change from the ON state to the OI "I" state, contact with an obstacle is sensed.

Therefore, if the wiring to the pair of conductors (5A) and (5B) or the conductor itself is disconnected, the photocoupler (15) will output the same detection information as when an obstacle comes into contact with it. Therefore, contact type obstacle sensor (S,
) was able to operate safely even if it failed. Furthermore, this conductor (5^).

Disconnection can also be detected by monitoring changes in the current flowing to (5B).

In addition, various control information such as destination data and turning data can be transmitted from the ground side to the moving vehicle, and various information such as station arrival data and intersection arrival data can be transmitted from the moving vehicle to the ground side. A pair of transmitters (
Optical IM communication type I [] equipped with a receiver (RX) and a light receiver (RX)
14s''Al (13), (14) on the moving side,
They are also provided at the station section l on the ground-1 side and in front of the intersection section. Then, the communication device (13) on the moving vehicle side is connected to the host controller (7).
- One ground side communication device (14) is respectively connected to the central control bag ff (C) as ground side equipment, thereby information input to the central control device (C) and information stored in advance. Based on various information such as, the moving vehicle (A) can automatically travel to a desired station (ST) while branching at an intersection.

The taxiway detection information from the pickup coils (6+, ), (6R) on the use side of the taxiway detection sensors (SF), (SR) is taken into the A/N converter (8), and the taxiway detection information is input to the A/N converter (8), and the taxiway detection information is input to the A/N converter (8). Coil (6L), (6
A deviation in the output voltage of R) and a steering control amount at which this deviation becomes zero are calculated, the steering control information is detected by reading the mark by the mark sensor (Sm), and the A/D converter (8) The steering control information is transmitted to the host controller (7), and the host controller (7) determines the presence or absence of an obstacle using both the obstacle sensors (S1) and (5), and also transmits the traveling speed information, turning information, FIiI Later Hakunaka et al.
+tif A/I) conversion unit ())) and digital 1
The digital servo controller 12-ra (9) transmits information to the host controller 12-ra (7), and also transmits information on whether the digital servo controller 1-ra (9) is running or not to the host controller 12-ra (7). L-Rollers (7), (8), and (9) are configured to control the travel of movement*(A) while exchanging information between them.However, the command information input section for the central control bag #(C) is Each stage engine (ST) is provided with an information human power department for the host controller (7), and the mobile vehicle (8)
Be prepared for this.

Next, based on the flowchart 1- shown in FIG. 3, the obstacle detection operation by the contact type obstacle sensor CS,) and the non-contact type obstacle sensor (S2) will be explained.

First, the operating state of the non-contact obstacle sensor (S2) on the traveling direction side is checked, and if the non-contact obstacle sensor (S2) is activated, the vehicle (A) is decelerated and the contact obstacle sensor is detected. Check whether the object sensor (S,) detects the presence of an obstacle.

If the contact obstacle sensor (S+) does not operate after the non-contact obstacle sensor (S2) has activated, check the operation of the non-contact obstacle sensor (S2) again, and The decelerated running state is maintained until the obstacle sensor (S2) returns to the non-operating state. If the non-contact obstacle sensor (S2) returns to the non-operating state during this time, the vehicle automatically returns to the normal running speed and performs normal running control.

If the contact type obstacle sensor (S1) is activated during the deceleration traveling, the vehicle temporarily stops traveling, waits until a predetermined period of time has elapsed, and then checks the operating state of the contact type obstacle sensor (S1) again. If the contact type obstacle sensor (S) remains in operation even after a predetermined period of time has elapsed, the vehicle is completely stopped and the travel control is terminated. In order to restart the vehicle after it has completely stopped, the vehicle must be restarted manually after a safety check.

On the other hand, if the contact type obstacle sensor (S1) has returned to the non-operating state after a predetermined period of time has elapsed, the vehicle resumes running at a slow speed and checks the operating state of the contact type obstacle sensor (S1) again. Then, the contact type obstacle sensor (S
+) is in the operating state, the complete stop processing is performed, and if the contact type obstacle sensor (S1) has returned to the non-operating state, after waiting for a further predetermined period of time, 11':
Then, the vehicle returns to the normal running speed and returns to the normal running control state.

[Another example]

In the above embodiment, a pair of conductors (5A), (5
1(), a photocoupler (15) is used as an energization state detection means for detecting a change in energization state between 1(), but instead of this photocoupler (15), for example, a pair of conductors (5A), A switch means such as a relay may be connected in series 17 between both conductors so that when (51'1) comes into contact, the current flow is cut off.

Also, each end (b) of the pair of conductors (5^), (51 circles)
).

(c) is connected in series with a voltage drop element such as a resistor that generates a voltage drop by an im current, and configured to detect changes in voltage across the voltage drop element and changes in current flowing through the voltage drop element itself. Good too.

[Brief explanation of drawings]

The drawings show an embodiment of the obstacle detection device for a mobile vehicle according to the present invention, FIG. 1 is a main circuit diagram showing signal processing of a contact-type obstacle detection switch, and FIG. 2 is a configuration of the travel control device. 3 is a flowchart showing the operation of the travel control device when an obstacle detection is activated, FIG. 4 is an explanatory diagram showing the arrangement of the travel route, FIG. 5 is an overall side view of the moving vehicle, The figure is an overall front view of the moving vehicle, and FIG. 7 is an enlarged sectional view of the bumper.

Claims (1)

[Claims] A mobile vehicle equipped with a contact-type obstacle detection switch (S_1) in which a pair of contact-forming conductors (5A) and (5B) are placed side by side in an open state so as to be closed upon contact with an obstacle. An obstacle detection device comprising: the pair of conductors (5A);
(5B) are connected in series so that the conductors themselves serve as current-carrying paths to constantly flow a current, and each end (b), ( c.
) energization state detection means (15) for detecting a change in energization state between
) Obstacle detection device for moving vehicles.