JP2002328721A - Automated guided vehicle facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent runaway or any dangerous operation due to the failure or disconnection of an address sensor by providing the self-diagnostic function of the address sensor. SOLUTION: In this vehicle 1 automatically traveling while recognizing its own position by detecting a magnetic tape 10 for traveling arranged along a traveling path according to an instruction signal, and detecting magnetic tapes 9a-9d for addresses by first - fourth address sensors 16a-16d, a sensor check address 21 in which the magnetic tapes 9a-9d for addresses for inspecting all the first - fourth address sensors 16a-16d are installed is arranged at the prescribed position of the traveling path, and the controller of the vehicle 1 is provided with a sensor check judging part for judging whether or not all the first - fourth address sensors 16a-16d are normally operated at the time of detecting the sensor check address 21.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic guided vehicle facility for automatically traveling and transporting a load while detecting an identification member arranged to be readable along a traveling route according to a command signal from a commander. About.

[0002]

2. Description of the Related Art A conventional automatic guided vehicle receives a command signal from a command device and travels on a floor along a travel route (for example, a reflection tape for optical guidance or a magnetic tape for magnetic guidance). , Automatic detection, etc.), detect the address identification member located in the middle of the traveling route, confirm the self-position, travel to the destination and reach the specified load. It is configured to carry.

[0003]

However, for example, when an address identification member is detected by a plurality of address sensors, for example, if one address sensor fails to function due to a disconnection or a failure, the failed address sensor will be activated. As the output of (1), a detection signal fixed at ON or OFF is output, and an address detected during traveling may be erroneously detected. As a result, there is a risk that the transport vehicle may stop, turn, or carry cargo at locations other than the command location, which may cause dangerous operations.

The present invention solves the above problems and provides an automatic guided vehicle facility capable of preventing runaway or dangerous operation due to a failure or disconnection of an address sensor by providing a self-diagnosis function of the address sensor. The purpose is to do.

[0005]

According to a first aspect of the present invention, there is provided a vehicle driving apparatus comprising: a driving signal detecting unit configured to detect a driving object arranged along a driving route by a command signal; In an automatic guided vehicle facility that automatically travels while detecting its own position by detecting the identification member placed in the vehicle, a sensor check in which identification members for inspecting all the address detection means are laid at predetermined positions on the traveling route An address is provided, and the control device of the transport vehicle is provided with a sensor check means for determining whether or not all the address detection means are operating normally when the sensor check address is detected.

[0006] According to the above configuration, the vehicle has a self-diagnosis function that can detect whether or not all the address detection means are functioning normally by detecting the sensor check address while the vehicle is traveling. However, as a result, an address detected during traveling due to a failure or disconnection of the address detection means is erroneously detected, and a dangerous operation such as stopping, turning, or loading and unloading the carrier at a place other than the command location is performed. Can be prevented.

According to a second aspect of the present invention, the address detecting means comprises a plurality of address sensors arranged at predetermined intervals in the width direction at the bottom of the carrier and capable of detecting the identification member on the floor side. The check address is a check command symbol laid on the floor at an upstream position in the traveling direction, and an address check in which identification members are laid on the floor corresponding to all the address sensors at a predetermined distance downstream from the check command symbol. And symbols.

According to the above configuration, the sensor check address can be formed simply by laying the identification member on the floor corresponding to all the address detecting means, and the sensor check address can be easily installed and expanded.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Here, an embodiment of an automatic guided vehicle facility according to the present invention will be described with reference to FIGS.

In this automatic guided vehicle facility, as shown in FIGS. 1 and 2, the transport vehicle 1 is mounted on a bottom of a bogie main body 2 on which a transfer device 3 such as a fork or a roller conveyor for transferring a load is mounted. The traveling device 4 is arranged at four corner positions. These traveling devices 4 are driven by a steering motor 6 by a control signal from a steering control unit (steering control means) 12 of a control device 11.
And a steering mechanism that steers the traveling wheel 5 around the vertical steering axis V in the vertical direction, and the traveling motor 7 by operating the traveling motor 7 in accordance with a control signal from the traveling control unit (travel control means) 13. A traveling magnetic tape (traveling derivative) 10 having a traveling mechanism that is driven to rotate, and laid on the floor F along the traveling path.
Guidance sensors (magnetic sensors) 8F and 8R, which are traveling guide detecting means for detecting right and left at front and rear positions of the front and rear traveling wheels 5 and outputting the deviation amount to the steering control unit 12.
The steering control unit 12 controls the steering motor 6 on the basis of the detection signal, and controls the traveling of the transport vehicle 1 along the traveling magnetic tape 10.

At the bottom of the bogie main body 2, a plurality (four in the figure) of first to fourth address sensors (magnetic sensors) 9a to 9 which are a plurality of address detecting means are provided at regular intervals in the width direction.
d, and the address magnetic tapes (identification members) 9a to 9d laid on the arrangement lines L1 to L4 parallel to the running magnetic tape 10 are readable.

As shown in FIG. 3, the control device 11
In addition to the steering control unit 12 and the travel control unit 13, an address detection unit 14 that reads and identifies detection signals of the first to fourth address sensors 9a to 9d to determine an address,
When a sensor check address 21 described later is detected,
A sensor check determination unit 15 that determines whether the first to fourth address sensors 14a to 14d are functioning normally and outputs a sensor pass / fail signal to the traveling control unit 13 is provided.

As shown in FIG. 4, at a predetermined position on the floor F on the traveling route on which the carrier 1 travels, the first to fourth
A sensor check address 21 for self-diagnosis of the address sensors 14a to 14d is provided. The sensor check address 21 is located at an upstream position in the traveling direction, for example, on the arrangement lines L1 and L4.
a, 9d laid down, and all the first to fourth address sensors 16a to 21a downstream from the check command symbol 21a by a predetermined command distance L1.
16d, two sets of sensor check symbols 2 laid on the floor F with addressing magnetic tapes 9a to 9d laid on the laying lines L1 to L4 at check distances L2.
1b and 21c.

In the above configuration, a command device (not shown)
When the command value is transmitted to the traveling control unit 13 and the steering control unit 12 of the control device 11 by wireless transmission or the like, the carrier 1 travels along the traveling magnetic tape 10 toward the commanded address. If the sensor check address 21 is found during traveling, the check command symbol 21a
And the first to fourth address sensors 16a to 16d from the distance L1 obtained from the rotation speed of the wheels, the running speed and the time until the next addressing magnetic tape 9a to 9d is detected.
Is sent to the sensor check determining unit 15. Then, in the sensor check determination unit 15, the first to fourth address sensors 16a to 16d use the sensor check symbols 21b composed of two sets of addressing magnetic tapes 9a to 9d,
21c is detected, and when all the first to fourth address sensors 16a to 16d detect the addressing magnetic tapes 9a to 9d and are turned on, it is confirmed that they are functioning normally. On the other hand, when an off state is detected in which even one part is not detected, it is determined that the first to fourth address sensors 16a to 16d are not functioning normally. Then, a sensor pass / fail signal is sent from the sensor check determination unit 15 to the travel control device 13, and in the case of a sensor failure, the transport vehicle 1 is emergency stopped and notified to the administrator by a display lamp or a display device.

According to the above-described embodiment, every time the vehicle passes the sensor check address 21 during traveling, the first to first sensors are automatically set.
Since the self-diagnosis of the fourth address sensors 16a to 16d can be performed, the load at the time of maintenance can be reduced. Thereby, the first to fourth address sensors 16a
Runaway or dangerous operation of the transport vehicle 1 due to erroneous detection of ~ 16d can be prevented beforehand.

[0016]

As described above, according to the first aspect of the present invention, when the carrier detects the sensor check address during traveling, all the address detection means function normally in the sensor check means. A self-diagnosis function that can determine whether or not the address is detected erroneously during traveling due to a failure or disconnection of the address detection means, the carrier stops or turns at a place other than the command location, It is possible to prevent a dangerous operation such as carrying out cargo handling beforehand.

According to the second aspect of the present invention, a sensor check address can be formed simply by laying an identification member on the floor surface in correspondence with all the address detecting means, so that it can be easily installed and expanded. can do.

[Brief description of the drawings]

FIG. 1 is a bottom view of a guided vehicle, showing an embodiment of an automatic guided vehicle facility according to the present invention.

FIG. 2 is a side view of the carrier.

FIG. 3 is a configuration diagram showing a control device of the carrier.

FIG. 4A is an explanatory diagram showing a sensor check address of the carrier equipment, and FIG. 4B is an explanatory diagram showing a waveform detected by an address sensor.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Conveyor vehicle 2 Bogie main body 3 Transfer device 4 Traveling device 5 Traveling wheel 6 Steering motor 7 Traveling motor 8F, 8R Travel guidance sensor 9a-9d Magnetic tape for addressing 10 Magnetic tape for traveling 11 Control device 12 Steering control Unit 13 Travel control unit 14 Address detection unit 15 Sensor check unit 16a to 16d Address sensor 21 Sensor check address 21a Check command symbol 21b, 21c Sensor check symbol

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3D032 CC20 DA88 DA90 EC22 GG07 5H301 AA01 BB05 CC06 EE06 FF04 HH01 MM04 MM09

Claims (2)

[Claims] An automatic traveling is performed while detecting a traveling derivative arranged along a traveling route by a command signal, and detecting an identification member arranged on the traveling route by a plurality of address detecting means to recognize a self-position. In an automatic guided vehicle facility, a sensor check address provided with identification members for inspecting all address detection means is provided at a predetermined position of the traveling route, and when the sensor check address is detected in the control device of the carrier, And an automatic guided vehicle facility provided with a sensor checking means for determining whether or not all address detecting means are operating normally. The address detecting means comprises a plurality of address sensors arranged at predetermined intervals in the width direction at the bottom of the transport vehicle and capable of detecting an identification member on the floor surface side. A check command symbol laid on the floor at the upstream position, and an address check symbol laid on the floor with an identification member corresponding to each of the address sensors at a predetermined distance downstream from the check command symbol. The automatic guided vehicle facility according to claim 1, wherein: