JP2007052705A - Guidance system for automated guided vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To guide an automated guided vehicle appropriately even through a course prepared on an iron plate surface or rough surface. <P>SOLUTION: An automated guided vehicle guidance system 10 for moving an automated guided vehicle C along a predetermined course R has a light receiver mounted on the automated guided vehicle C and comprising many light receiving sensors arranged in a width direction of the automated guided vehicle C, a light source 20 configured to radiate light to central light receiving sensors positioned in the center of the width direction of the light receiver while the automated guided vehicle C travels along the course R, and a control device for guiding the automated guided vehicle C in the direction where the light is radiated to the central light receiving sensors, if the light is radiated to any light receiving sensor of the light receiver other than the central light receiving sensors when the automated guided vehicle C deviates from the course R. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a guide device for an automatic guided vehicle for causing the automatic guided vehicle to travel along a predetermined course.

Various induction devices for the above-described automatic guided vehicle have been proposed.
For example, as shown in FIG. 8, a guiding device for an automatic guided vehicle described in Patent Document 1 includes a magnetic guide tape 102 provided on a road surface Fr along a course R of the automatic guided vehicle C, and an automatic guided vehicle. And a magnetic detector 104 attached to C. The automatic guided vehicle C travels across the magnetic guide tape 102, and the magnetic detector 104 is disposed at a position directly above the magnetic guide tape 102. The magnetic detector 104 includes a large number of magnetic sensors (not shown) arranged side by side in the vehicle width direction of the automatic guided vehicle C, and the magnetic sensor located directly above the magnetic guide tape 102 can detect magnetism. It is configured as follows. For this reason, the position shift of the automatic guided vehicle C in the left-right direction with respect to the magnetic guide tape 102 can be detected by the position of the magnetic sensor that detects the magnetism of the magnetic guide tape 102. While the automatic guided vehicle C is traveling, steering is always performed in a direction in which the magnetic sensor located in the center of the magnetic detector 104 detects the magnetism of the magnetic guide tape 102.

JP 2003-233421 A

However, for example, when the road surface Fr is formed of an iron plate or the like, the magnetic flux of the magnetic guide tape 102 passes through the iron plate or the like, and therefore the magnetic flux does not reach the magnetic detector 104 of the automatic guided vehicle C. For this reason, the magnetism of the magnetic guide tape 102 cannot be detected by the magnetic detector 104 of the automatic guided vehicle C.
Further, when there is an uneven surface such as an unpaved road surface Fr, the distance between the magnetic guide tape 102 and the magnetic detector 104 (magnetic sensor) of the automatic guided vehicle C changes irregularly. The device 104 cannot detect the magnetism of the magnetic guide tape 102 accurately.
Therefore, when the road surface Fr is an iron plate or the like, or when the road surface Fr is uneven, the guidance device including the magnetic guide tape 102 and the magnetic detector 104 cannot be used.

  The present invention has been made to solve the above-described problems, and the problem to be solved by the present invention is an automatic guided vehicle even on a road surface made of iron plate or a course provided on an uneven road surface. It is to be able to induce well.

The above-described problems are solved by the inventions of the claims.
The invention of claim 1 is a guide device for an automatic guided vehicle for causing the automatic guided vehicle to travel along a predetermined course, and is attached to the automatic guided vehicle, and the width direction of the automatic guided vehicle is In a state where the light receiving device composed of a large number of light receiving sensors arranged side by side and the automatic guided vehicle traveling along the course, light is transmitted to the central light receiving sensor located at the center in the vehicle width direction of the light receiving device. When light is irradiated to a light receiving sensor other than the central light receiving sensor of the light receiver in a process in which the light source configured to be irradiated and the automatic guided vehicle are removed from the course, light is emitted to the central light receiving sensor. And a control device that guides the automatic guided vehicle in an irradiation direction.

  According to the present invention, the automatic guided vehicle travels along a course while controlling so that light from a light source is applied to a central light receiving sensor of a light receiver. For this reason, unlike the conventional method of guiding the automatic guided vehicle with the magnetic guide tape and the magnetic sensor, the automatic guided vehicle can be guided even on the course provided on the road surface made of iron plate or the uneven surface. It becomes like this.

According to the invention of claim 2, the light of the light source is irradiated on the road surface from above along the course of the automatic guided vehicle, and the light receiving sensor of the light receiver is installed at a position where the light from above can be detected. It is characterized by that.
Thus, since the automatic guided vehicle is guided by the light irradiating the road surface from above, there is no influence of the unevenness of the road surface. Moreover, since the course of the automatic guided vehicle can be changed by changing the light irradiation position, the course can be easily changed.

According to invention of Claim 3, it has the light-shielding board in which the translucent part of the shape equivalent to the reduction | decrease shape of the course of an automatic guided vehicle was formed, and the light of a light source is passed through the translucent part of the said light-shielding plate. Then, the road surface is irradiated while expanding so as to expand the light transmitting portion, and the course of the automatic guided vehicle is formed by the irradiated light.
For this reason, if a plurality of light shielding plates having a plurality of patterns of light-transmitting portions are prepared, the course of the automatic guided vehicle can be changed quickly.

According to the invention of claim 4, the light receiving sensor of the light receiver is installed at a position where light from the front can be detected, and the first light source that irradiates light to the light receiving sensor of the light receiver from the front, obliquely forward A second light source capable of irradiating light to the light receiving sensor of the light receiver, and when the automatic guided vehicle reaches the predetermined position by being guided by the light of the first light source, The automatic guided vehicle is curved in the direction of the second light source by blocking the light of the first light source and irradiating the light receiving sensor of the light receiver from obliquely forward with the second light source. To do.
In this way, since the automatic guided vehicle is curved by changing the irradiation angle of the light irradiated from the front, the traveling of the automatic guided vehicle can be controlled even in an environment where light cannot be irradiated from above.

  According to the present invention, the automatic guided vehicle can be guided even on an iron plate road surface or an uneven road surface.

(Embodiment 1)
Hereinafter, based on FIG. 1 to FIG. 3, a guide device for an automatic guided vehicle according to Embodiment 1 of the present invention will be described. Here, FIG. 1 is a schematic perspective view of a light projecting unit in the guide device for an automatic guided vehicle according to the first embodiment, and FIG. 2 is a plan view and a perspective view showing a light receiver side of the automatic guided vehicle. Moreover, FIG. 3 is a schematic plan view (A figure) showing the structure of an automatic guided vehicle, and a schematic plan view (B figure) of a light receiver.
As shown in FIG. 1, the guidance device 10 for an automated guided vehicle according to the present embodiment is a device that travels the automated guided vehicle C along a predetermined course R using an optical signal. A light projecting unit 20 is provided at the upper position.

<Light Projecting Unit 20 of Guiding Device 10>
As shown in FIG. 1, the light projecting unit 20 is configured to be supported on a ceiling portion of a factory via a gantry (not shown). The light projecting unit 20 includes a laser-type projector 22 that is positioned downward, and a course pattern film 24 that forms the course R of the automatic guided vehicle C with the light from the projector 22. The course pattern film 24 is a light shielding plate provided with a translucent portion 24s having a shape equal to the reduced shape of the course R of the automatic guided vehicle C, and is positioned horizontally at a position where the light from the light projector 22 is irradiated (directly below position). Has been. For this reason, after the light from the projector 22 is passed through the light transmitting portion 24s of the course pattern film 24, the light is irradiated onto the road surface Fr while spreading so as to enlarge the light transmitting portion 24s, and the unmanned conveyance is performed by the irradiated light. A course R of the car C is formed.
Here, a plurality of types of course pattern films 24 are prepared, and a plurality of courses R can be set by replacing the course pattern films 24.
When the course R of the automatic guided vehicle C is provided outdoors, for example, a pole may be erected and the light projecting unit 20 may be supported by the upper end of the pole.
That is, the light projector 22 of the light projecting unit 20 corresponds to the light source of the present invention, and the coarse pattern film 24 corresponds to the light shielding plate of the present invention.

<Light receiver 30 of guidance device 10>
As shown in FIGS. 2A and 2B, the light receiver 30 of the guidance device 10 is attached to the roof front portion of the automatic guided vehicle C so as to receive light from the light projecting unit 20 from above. . As shown in FIG. 3B, the light receiver 30 includes a large number of light receiving sensors 32 (No1 to No16) arranged in a line at equal intervals. The light receiver 30 is positioned with respect to the automatic guided vehicle C so that the light receiving sensors 32 (No1 to No16) are arranged along the vehicle width direction of the automatic guided vehicle C. Further, the center position of the light receiver 30 (the boundary portion between the No. 8 and No. 9 light receiving sensors 32) is aligned with the center line L of the automatic guided vehicle C. For this reason, in the state where the No. 8 and No. 9 light receiving sensors 32 detect the light from the projector 22 while the automatic guided vehicle C is traveling, as shown in FIG. The course R almost overlaps.
As shown in FIG. 3B, for example, when the No6 light receiving sensor 32 detects the light from the projector 22, the center line L of the automatic guided vehicle C is shifted from the course R to the left by the dimension W0. I understand that. Further, for example, in the state where the No13 light receiving sensor 32 detects the light from the projector 22, it can be seen that the center line L of the automatic guided vehicle C is shifted from the course R to the right by the dimension W1. That is, the position shift in the width direction (left-right direction) of the automatic guided vehicle C with respect to the course R can be grasped by the position of the light receiving sensor 32 that detects the light of the projector 22.
That is, the No. 8 and No. 9 light receiving sensor 32 at the center position of the light receiver 30 corresponds to the central light receiving sensor of the present invention.

<Configuration outline of automatic guided vehicle C>
Next, an outline of the configuration of the automatic guided vehicle C will be described.
As shown in FIG. 3A, the automatic guided vehicle C includes a steering device 2 for steering left and right front wheels 4f and 4r, drive devices 5f and 5r for rotating left and right rear wheels 7f and 7r, A steering device 2 and a control device 9 for controlling the drive devices 5f and 5r are provided. The control device 9 grasps the lateral displacement of the automatic guided vehicle C with respect to the course R from the position of the light receiving sensor 32 that detects the light from the projector 22, and the steering device 2 and the drive device in a direction to eliminate the positional displacement. 5f and 5r are controlled.

<Running operation of the automatic guided vehicle C using the guidance device 10>
Next, the traveling operation of the automatic guided vehicle C using the guidance device 10 will be described.
First, the course pattern film 24 corresponding to the desired course R is selected, and the course pattern film 24 is set at a predetermined position as shown in FIG. In this state, when light is irradiated from the projector 22, the light is transmitted through the light transmitting portion 24 s of the course pattern film 24, and is applied to the road surface Fr while spreading so as to enlarge the light transmitting portion 24 s. And the course R of the automatic guided vehicle C is formed by the irradiated light.
When the automatic guided vehicle C starts operation in a state where the light from the projector 22 is irradiated on the No13 light receiving sensor 32 of the light receiver 30, for example, as shown in FIG. In response to the ON signal 32, the dimension W1 (rightward misalignment amount) from the No13 light receiving sensor 32 to the center line L of the automatic guided vehicle C is stored. Then, the control device 9 controls the steering device 2 and the drive devices 5f and 5r in a direction that decreases the rightward displacement amount W1. That is, the front wheels 4r and 4f are steered leftward by the steering device 2, and the rotation speed of the rear wheels 7r and 7f is controlled, so that the automatic guided vehicle C moves forward obliquely leftward.

When the rightward displacement amount W1 decreases and the No. 8 and No. 9 light receiving sensors 32 at the center of the light receiver 30 detect the light from the light projector 22, as shown in FIG. The center line L of the transport vehicle C and the course R almost overlap each other, and the automatic guided vehicle C travels along the course R. Further, when the automatic guided vehicle C is moved to the left side from the course R by a right curve or the like and, as shown in FIG. 3B, for example, the No6 light receiving sensor 32 detects the light from the projector 22, as described above. The control device 9 controls the steering device 2 and the drive devices 5f and 5r in a direction to decrease the leftward displacement amount W0. That is, the front wheels 4r and 4f are steered rightward by the steering device 2, and the rotation speed of the rear wheels 7r and 7f is controlled, so that the automatic guided vehicle C moves forward diagonally to the right.
In this way, the control device 9 controls the steering device 2 and the drive devices 5f and 5r while controlling the steering device 2 and the drive devices 5f and 5r so that the light from the projector 22 is irradiated to the No8 and No9 light receiving sensors 32 at the center of the light receiver 30. Run C along course R.

<Advantages of the guidance device 10 according to this embodiment>
Thus, according to the guidance device 10 of the automatic guided vehicle C according to the present embodiment, the automatic guided vehicle is controlled so that the light of the projector 22 is irradiated to the No. 8 and No. 9 light receiving sensors 32 at the center position of the optical receiver 30. This is a method of running C along a course R. For this reason, unlike the conventional method of guiding the automatic guided vehicle with the magnetic guide tape and the magnetic sensor, the automatic guided vehicle C is guided even on a course made of iron plate or an uneven road surface. become able to.
Further, since the automatic guided vehicle C is guided by the light irradiated on the road surface Fr from above, it is not affected at all by the unevenness of the road surface Fr. Moreover, since the course R of the automatic guided vehicle C can be changed by changing the light irradiation position, the course can be easily changed.
In addition, since a plurality of course pattern films 24 on which a plurality of patterns of translucent portions 24s are formed are prepared, it is possible to quickly change the course of the automatic guided vehicle C.

(Embodiment 2)
Hereinafter, based on FIGS. 4-7, the guidance apparatus of the automatic guided vehicle which concerns on Embodiment 2 of this invention is demonstrated. The guidance device for an automatic guided vehicle according to the present embodiment is a method for controlling the traveling of the automatic guided vehicle by irradiating the light of the projector to the light receiver of the automatic guided vehicle from the front or obliquely forward. Here, FIG. 4 is a schematic perspective view showing a guide device for an automatic guided vehicle according to the present embodiment, FIGS. 5 and 6 are plan views showing a state in which the automatic guided vehicle curves to the left, and FIG. 7 shows a left side of the automatic guided vehicle. It is a top view showing a mode that light is irradiated to a light receiver when making a curve.

<Configuration of guiding device for automatic guided vehicle>
The guidance device for an automated guided vehicle according to the present embodiment includes three projectors 41, 42, and 43 that irradiate light to the automated guided vehicle that has reached the curve of the course R. As shown in FIG. 4, the three projectors 41, 42, and 43 (first to third projectors) are configured to irradiate a narrow vertical beam. The light receiver 30 that receives light from the first to third light projectors 41, 42, and 43 has the same configuration as the light receiver 30 described in the first embodiment, and is attached to the upper front surface of the automatic guided vehicle C.

  As shown in FIG. 5A, the first light projector 41 is configured to be able to irradiate light from the front to the light receiver 30 of the automatic guided vehicle C that is traveling straight along the course R. . As shown in FIG. 5B, the second projector 42 is configured to be able to irradiate light from the left front side at 45 ° to the automatic guided vehicle C approaching the curve entrance of the course R. Further, as shown in FIG. 6A, the third projector 43 can irradiate light from the left front of the automatic guided vehicle C facing the direction of the second projector 42 at the curve exit of the course R by 45 ° obliquely. It is configured as follows.

Further, as shown in FIG. 5B, a first position sensor 45 that detects that the automatic guided vehicle C has reached the curve entrance of the course R is installed in the vicinity of the course entrance of the course R. Further, in the vicinity of the curve exit of the course R, a second position sensor 47 for detecting that the automatic guided vehicle C has reached the curve exit of the course R is installed as shown in FIG.
Signals from the first position sensor 45 and the second position sensor 47 are input to a light source switching device (not shown) and used to switch the first to third projectors 41, 42, and 43. That is, when the light source switching device receives the arrival signal of the automatic guided vehicle C from the first position sensor 45, the light source switching device switches the light source from the first projector 41 to the second projector 42 (see FIG. 5B). When the arrival signal of the automated guided vehicle C is received from the second position sensor 47, the light source switching device switches the light source from the second projector 42 to the third projector 43 (see FIG. 6A).

<Running operation of the automated guided vehicle using the guidance device of the present embodiment>
A traveling operation of the automatic guided vehicle using the guidance device of the present embodiment will be described.
As shown in FIG. 5A, when the light from the first projector 41 is irradiated to the light receiver 30 of the automatic guided vehicle C, the light from the first projector 41 is No8, No9 at the center of the light receiver 30. The control device 9 controls the steering device 2 and the drive devices 5f and 5r of the automatic guided vehicle C in the direction in which the light receiving sensor 32 is irradiated. Thereby, the automatic guided vehicle C moves forward in the direction of the first projector 41 along the light of the first projector 41 (see FIG. 5A). In this way, when the automatic guided vehicle C reaches the curve entrance of the course R as shown in FIG. 5B, the first position sensor 45 operates and the arrival signal of the automatic guided vehicle C is changed to the light source switching device. Is input. Accordingly, the light source switching device switches the light source from the first projector 41 to the second projector 42. That is, the light from the first projector 41 is blocked and the light from the second projector 42 is irradiated to the light receiver 30.

  As shown in FIG. 5B and FIG. 7A, the automatic guided vehicle C is connected to the first projector 41 in a state where the light of the second projector 42 is irradiated to the light receiver 30 from the left front at an angle of 45 °. When trying to move forward in the direction as it is, the light irradiation position of the second projector 42 gradually shifts to the left as the automatic guided vehicle C moves forward. That is, the automatic guided vehicle C is deviated from the course R on the right side. In this state, for example, when the No12 light receiving sensor 32 of the light receiver 30 detects the light from the second light projector 42, the control device 9 causes the steering device 2 and the drive devices 5r and 5f to decrease the rightward displacement amount W4. To control. That is, the front wheels 4r and 4f are steered leftward by the steering device 2, and the rotational speed of the rear wheels 7r and 7f is controlled, so that the automatic guided vehicle C rotates leftward in the direction of the second projector 42. . Then, when the automatic guided vehicle C reaches the curve exit of the course R, as shown in FIG. 6A, the second position sensor 47 operates and an arrival signal of the automatic guided vehicle C is input to the light source switching device. Is done. Thus, the light source switching device switches the light source from the second projector 42 to the third projector 43 (see FIG. 6B).

As shown in FIG. 7B, the automatic guided vehicle C tries to move forward in the direction of the second projector 42 in a state where the light of the third projector 43 is irradiated to the light receiver 30 from the left front at an angle of 45 °. Then, as the automatic guided vehicle C moves forward, the light irradiation position of the third projector 43 gradually shifts to the left. As described above, for example, when the No12 light receiving sensor 32 of the light receiver 30 detects the light of the third light projector 43, the control device 9 causes the steering device 2 and the drive device 5r, By controlling 5f, the automatic guided vehicle C rotates counterclockwise in the direction of the third projector 43 (see FIG. 6C).
That is, the light source switching device sequentially switches the first projector 41 to the third projector 43 and rotates the light irradiation angle to the left by 45 °, thereby causing the automatic guided vehicle C to follow the light and total 90 °. You can rotate left.
In addition, if the light of the 2nd light projector 42 and the 3rd light projector 43 is made to irradiate with respect to the light receiver 30 from diagonally 45 degrees right front, the automatic guided vehicle C will be in the direction of the 2nd light projector 42 and the 3rd light projector 43. It is also possible to rotate right.

<Advantages of the guidance device according to this embodiment>
As described above, since the automatic guided vehicle C can be curved by changing the irradiation angle of the light irradiated from the front, the traveling of the automatic guided vehicle C can be controlled even in an environment where light cannot be irradiated from above. It becomes like this.

<Modification>
In addition, this invention is not limited to the said embodiment, The change in the range which does not deviate from the summary of this invention is possible. For example, in the present embodiment, the light receiver 30 including the No1 to No16 light receiving sensors 32 is illustrated, but the number of the light receiving sensors 32 constituting the light receiver 30 can be changed as appropriate.
Moreover, although the example which fixes the light projector 22 was shown in Embodiment 1, the light projector 22 is moved along the course R, and it is also possible to drive the automatic guided vehicle C so as to follow the light of the light projector 22. It is.
In addition, although the example which makes one unmanned conveyance vehicle C drive along the course R was shown, it is also possible to drive a plurality of automatic guided vehicles C to one course R. It is also possible to stop a plurality of automatic guided vehicles C all at once by blocking light from the projector 22 and the like.
Moreover, although the laser type projector 22 was illustrated, it is also possible to use the projector 22 which can irradiate light other than a laser beam.

It is a schematic perspective view of the light projection part in the guidance device for automatic guided vehicles concerning Embodiment 1 of the present invention. It is the top view (A figure) and perspective view (B figure) showing the light receiver side in the guidance device for automatic guided vehicles. It is the model top view (A figure) showing the structure of an automatic guided vehicle, and the model top view (B figure) of a light receiver. It is a model perspective view showing the guidance device of the automatic guided vehicle concerning Embodiment 2 of the present invention. It is a top view (A figure, B figure) showing a mode that an automatic guided vehicle curves to the left. It is a top view (A figure, B figure, C figure) showing a mode that an automated guided vehicle curves to the left. It is a top view (A figure) (B figure) showing a mode that light is irradiated to a light receiver when an automatic guided vehicle curves to the left. It is a model perspective view showing the guidance device of the conventional automatic guided vehicle.

Explanation of symbols

C Automated guided vehicle Fr Road surface R Course 20 Projecting unit 22 Projector (light source)
24 course pattern film (shading plate)
24s Translucent part 30 Light receiver 32 Light receiving sensor (No1-No16)
No8, No9 light receiving sensor (central light receiving sensor)
41 1st light projector 42 2nd light projector 43 3rd light projector 45 1st position sensor 47 2nd position sensor

Claims (4)

A guide device for an automated guided vehicle for causing the automated guided vehicle to travel along a predetermined course,
A light receiver that is attached to the automatic guided vehicle and includes a plurality of light receiving sensors arranged in the vehicle width direction of the automatic guided vehicle;
A light source configured to irradiate light to a central light receiving sensor located in the vehicle width direction center of the light receiver in a state where the automatic guided vehicle is traveling along the course;
When the light of the light source is irradiated to a light receiving sensor other than the central light receiving sensor of the light receiver in the process in which the automatic guided vehicle is removed from the course, the light of the light source is irradiated to the central light receiving sensor in the direction of irradiation. A control device for guiding the automatic guided vehicle;
A guide device for an automated guided vehicle, characterized by comprising: A guide device for an automated guided vehicle according to claim 1,
The light from the light source is applied to the road surface from above along the automatic guided vehicle course.
A guiding device for an automatic guided vehicle, wherein the light receiving sensor of the light receiver is installed at a position where light from above can be detected. A guidance device for an automated guided vehicle according to claim 2,
It has a light-shielding plate on which a translucent part having the same shape as the reduced shape of the automatic guided vehicle course is formed,
After the light from the light source is passed through the light-transmitting portion of the light shielding plate, the light is applied to the road surface so as to expand the light-transmitting portion, and the irradiated light forms the course of the automatic guided vehicle. An induction device for an automated guided vehicle. A guide device for an automated guided vehicle according to claim 1,
The light receiving sensor of the receiver is installed at a position where light from the front can be detected,
A first light source for irradiating light to the light receiving sensor of the light receiver from the front;
A second light source capable of irradiating light to the light receiving sensor of the light receiver from diagonally forward,
When the automatic guided vehicle reaches the predetermined position after being guided by the light of the first light source, the light of the first light source is blocked, and the light receiving sensor of the light receiver is obliquely forward from the second light source. A guide device for an automated guided vehicle, wherein the automated guided vehicle is curved in the direction of the second light source by irradiating light onto the guided vehicle.

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