JP2018132791A - Carrier - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a carrier capable of preventing erroneous running and runaway even when a failure occurs in a guide or a guide sensor.SOLUTION: While traveling along a magnetic guide G constituted by alternately arranging magnetic tapes N and magnetic tapes S, an automatic guided vehicle 1 acquires a value of an N pole memory 52a, which is the distance that an N pole sensor 6 has detected the magnetic tape N, and a value of an S pole memory 52b, which is the distance that an S pole sensor 7 has detected the magnetic tape S. When these values are all 0, or when either one is larger than 100 mm + margin α, it is determined that the magnetic tapes N and S cannot be alternately detected by the N pole or S pole sensors 6 and 7, an error output is made to stop the automatic guided vehicle 1. Therefore, erroneous running and runaway of the automatic guided vehicle 1 can be prevented in advance.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a transport vehicle, and more particularly, to a transport vehicle that can prevent misrun or runaway even when a problem occurs in a guide or a guide sensor.

  2. Description of the Related Art Conventionally, an automated guided vehicle that loads and travels a transported object in a factory or the like is known. Patent Document 1 discloses an automatic guided vehicle 11 that automatically travels along a guideline 22 laid on a travel path. The guideline 22 is composed of a magnetic tape that is alternately magnetized to the N pole and the S pole at a predetermined pitch, and a guide sensor 23 that detects the guideline 22 is provided at the bottom of the automatic guided vehicle 11. The automatic guided vehicle 11 steers based on the detection signal of the guide sensor 23 and travels along the guideline 22.

JP 2001-5525 A

  However, since the guide sensor detects a weak magnetic flux density, its mounting position is a position that is close to several centimeters from the road surface of the traveling path on which the guide (magnet) is disposed. For this reason, if there are obstacles such as pebbles on the travel path, the guide sensor may collide with the pebbles and break down.

  If the guide sensor breaks down, the guide detection signal will continue to be output even if the guide is not detected, and conversely, the guide non-detection signal will continue to be output even though the guide is detected. To do. In the former case, there is a risk that the automatic guided vehicle may escape due to the failed guide sensor continuously detecting a guide that should not exist. On the other hand, in the latter case, since the failed guide sensor cannot detect the guide, the automatic guided vehicle stops traveling urgently and cannot operate after the stop.

  Furthermore, since the guide sensor is configured to incorporate a plurality of magnetic detection switches, even if some switches fail, the automatic guided vehicle may be able to continue running without being aware of the failure. In such a case, the automatic guided vehicle may misrun.

  In addition, with respect to the guide disposed on the road surface of the traveling road, in the case of the type of guide to be attached, the guide may be peeled off or the guide attaching position may be shifted. In addition, if the runway is a concrete floor, the reinforcing steel bars may be magnetized, resulting in hindrance to guidance. Further, some aggregates that reinforce concrete contain a magnetic material, and some reduce the magnetic flux density generated from a guide (magnet). Furthermore, the magnetic flux density of the guide may be lowered due to the influence of the solvent, oil and fat adhering to the guide, or when the guide is stepped on. In these cases as well, there is a risk of causing the automatic guided vehicle to malfunction.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a transport vehicle that can prevent erroneous runaway and runaway even when a failure occurs in a guide or a guide sensor.

  In order to achieve this object, the transport vehicle according to the present invention has a travel path in which first guides and second guides of different types from the first guides are alternately arranged in the first and second guides. A first guide sensor capable of detecting a first guide provided on the travel path, a second guide sensor capable of detecting a second guide provided on the travel path, and the transport Steering control means for controlling steering of the transport vehicle based on detection results by the first and second guide sensors so that the vehicle travels along the first and second guides, and the first and second And determining means for determining that the first and second guides cannot be detected alternately by the guide sensor.

  The first and second guides each include at least a long guide and a short guide having different lengths, and the length of the first guide or the short guide and the length of the second guide are included in the travel path. Alternatively, the short guides are alternately arranged based on a predetermined rule, so that the first and second guides are provided on the travel path including bar code information, and the transport vehicle Based on the detection results by the first and second guide sensors, reading means for reading the barcode information formed by the first and second guides, and controlling the traveling of the transport vehicle according to the reading results by the reading means. Traveling control means.

  When the transport vehicle according to claim 1 travels along a travel path in which first guides and second guides are alternately arranged, the first and second guides are traveled along the first and second guides. Based on the detection result by the guide sensor, the steering of the transport vehicle is controlled by the steering control means. If the first and second guide sensors cannot be detected alternately by the first and second guide sensors while the transport vehicle is traveling, it is determined that there is an abnormality by the determination means.

  Here, in the case where the first and second guide sensors cannot be alternately detected by the first and second guide sensors, at least one of the first or second guide sensors fails and the failed guide sensor detects the guide. It may disappear or continue to be detected. In addition, although the first and second guide sensors are not broken, a part of the first or second guide disposed on the travel path is peeled off, misaligned, or functions for some reason. May be reduced. If the carriage continues to run in these cases, it will cause a runaway and will not escape the runaway.

  On the other hand, according to the transport vehicle of the first aspect, since it is determined that the first and second guides cannot be detected alternately by the first and second guide sensors during traveling, it is determined as abnormal. When there is a problem with the guide sensor, or when there is a problem with the first or second guide, it is determined that they are abnormal, and it is possible to prevent the transport vehicle from misrunning or running away.

  According to the conveyance vehicle of Claim 2, in addition to the effect which Claim 1 has, there exists the following effect. The first and second guides each have at least a long guide and a short guide having different lengths, and the length or the short guide of the first guide and the length or the short guide of the second guide are predetermined on the travel path. The first and second guides are provided on the travel path including bar code information by being alternately arranged based on the above rule. According to the transporting vehicle of the second aspect, the barcode information formed by the first and second guides is read by the reading unit based on the detection results by the first and second guide sensors.

  Here, when there is a problem with the first or second guide sensor, or when there is a problem with the first or second guide, the barcode information formed by the first and second guides cannot be read. However, since the traveling control means controls the traveling of the transport vehicle according to the reading result of the bar code information, if the bar code information cannot be read, it is determined that there is some abnormality, and the transport vehicle misruns or runs away. There is an effect that it can be prevented.

  In addition, since the travel control means controls the travel of the conveyance vehicle according to the reading result of the bar code information, the bar code information includes the position information of the travel path and the travel control information. With the guide, there is an effect that it is possible to give an instruction for traveling control in addition to the traveling path guide. That is, there is an effect that the first and second guides can be used not only as a guide for the travel path but also as an instruction member for travel control. The travel control information includes instructions for temporarily stopping the transport vehicle, speed setting instructions, acceleration or deceleration instructions, rotation instructions, communication instructions with the management device, lamp lighting instructions, warning instructions, etc. It can be illustrated.

  According to the conveyance vehicle of Claim 3, in addition to the effect which Claim 2 has, there exists the following effect. The bar code information formed by the first and second guides on the travel path includes a start code that signifies the start of data, a data code that forms part or all of the data, and an end code that signifies the end of data. It is comprised. According to the transport vehicle of claim 3, when the barcode information cannot be read by the reading means or when the barcode information read by the reading means is not any of the start code, the data code, and the end code, the second determination is made. Since it is determined as abnormal by the means, there is an effect that it is possible to prevent the transport vehicle from running away or running away. In addition, since the bar code information includes a start code, a data code, and an end code, the data code representing the position information of the travel path and the travel control information is accurately recognized to accurately control the travel control. There is an effect that can be performed.

  According to the conveyance vehicle of Claim 4, in addition to the effect which Claim 2 or 3 has, there exists the following effect. When the start code and the end code are read by the reading means, the travel control means controls the travel of the transport vehicle based on the data code read between the start code and the end code. In other words, the travel of the transport vehicle is controlled after reading a series of codes from the start code to the end code. Therefore, the traveling of the transport vehicle can be controlled based on the data code read between the start code and the end code not only when moving in the forward direction but also when moving in the reverse direction. There is an effect.

  The reading means stores the traveling direction of the transport vehicle and analyzes the barcode information read in accordance with the traveling direction. When the traveling direction of the transport vehicle is unknown, the reading unit analyzes the read barcode information in both forward and reverse directions to determine whether the transport vehicle is traveling in the forward direction or in the reverse direction. It is only necessary to determine whether the vehicle is traveling and analyze the barcode information read in accordance with the traveling direction.

  According to the conveyance vehicle of Claim 5, in addition to the effect which any one of Claim 1 to 4 has, there exists the following effect. When the first or second guide sensor continues to detect the first or second guide for a first predetermined length or more, or the first and second guide sensors cannot detect the first and second guides for a second predetermined length or more. In addition, the determination means determines that the first and second guides are abnormal and cannot be detected alternately. That is, since the first or second guide sensor determines whether or not there is an abnormality based on the detection length or non-detection length of the first or second guide, there is an effect that the determination can be performed accurately. . The first predetermined length and the second predetermined length may be different lengths or the same length.

(A) is a side view of the automatic guided vehicle of one Embodiment of this invention, (b) is a top view of the automatic guided vehicle seen from the direction of arrow Ib of Fig.1 (a). It is a block diagram which shows the electrical structure of an automatic guided vehicle. It is a flowchart which shows a main process. (A) is a side view of the automatic guided vehicle in 2nd Embodiment, (b) is a figure which shows the magnetic tape which comprises the magnetic guide in 2nd Embodiment. (A) is a block diagram which shows the electrical structure of the automatic guided vehicle in 2nd Embodiment, (b) is the figure which showed typically the content of the code decoding table. It is a flowchart which shows the main process in 2nd Embodiment. It is a flowchart which shows the code analysis process in 2nd Embodiment.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. First, with reference to FIG. 1, the structure of the automatic guided vehicle 1 in this embodiment is demonstrated. FIG. 1A is a side view of the automatic guided vehicle 1 according to an embodiment of the present invention, and FIG. 1B is a plan view of the automatic guided vehicle 1 viewed from the direction of arrow Ib in FIG. is there. The direction of arrow F is the direction of travel when automatic guided vehicle 1 travels in the forward direction, and the direction of arrow B is the travel direction when automatic guided vehicle 1 travels in the reverse direction.

  The automatic guided vehicle 1 includes a vehicle body 2, wheels 3, a travel device 4, and a control device 5, and N pole magnetic guide detection sensors 6 (hereinafter “N poles”) are provided at both ends of the vehicle body 2 in the longitudinal direction. And an S pole magnetic guide detection sensor 7 (hereinafter abbreviated as “S pole sensor 7”). The vehicle body 2 is provided with a loading platform for placing a load on the upper surface thereof, and is formed flat over the entire length of the automatic guided vehicle 1. In the lower part of the vehicle body 2, four traveling devices 4 having four wheels 3 on the left and right sides of the vehicle body 2 are provided. Note that the number of the traveling devices 4 is not limited to four on the left and right sides of the vehicle body 2, and may be four or more on the left and right according to the length of the vehicle body 2, the weight of the load, and the like. But it ’s okay.

  Each traveling device 4 is configured such that power is applied independently from the rotation drive device 9 (FIG. 2), and the wheels 3 can rotate independently. Further, each traveling device 4 is configured to be powered independently from the steering drive device 10 (FIG. 2), and to be able to turn at an independent steering angle. Therefore, the automatic guided vehicle 1 can be caused to travel in the forward direction and the reverse direction, and can be turned and spun in a desired direction. Moreover, it is also possible to make all the traveling devices 4 travel transversely while maintaining the same steering angle.

  The N or S pole sensors 6 and 7 are sensors for detecting the magnetic guide G installed along the traveling path of the automatic guided vehicle 1. The N pole sensor 6 detects the N pole magnetism emitted from the magnetic guide G, and the S pole sensor 7 detects the S pole magnetism emitted from the magnetic guide G. Each of the N-pole or S-pole sensors 6 and 7 has a detection unit in which a plurality of sensor elements for detecting N-pole or S-pole magnetism are arranged in a line, and in any region of the detection unit, the N-pole or S-pole A detection result such as whether or not the magnetism is detected is output to the control device 5.

  The N pole and S pole sensors 6 and 7 are arranged in parallel at both ends in the longitudinal direction of the vehicle body 2. Specifically, the N-pole sensor 6 is provided on each side in the longitudinal direction of the vehicle body 2, and the S-pole sensor 7 is provided on the inner side of the N-pole sensor 6. Therefore, the N pole and S pole sensors 6 and 7 on the traveling direction side always detect the magnetic guide G first by the N pole sensor 6 regardless of whether the traveling direction is the forward direction or the reverse direction. In addition, the magnetic guide G is detected by the S pole sensor 7.

  Here, the magnetic guide G detected by the N pole or S pole sensors 6 and 7 will be described. The magnetic guide G is a belt-shaped member for guiding the automatic guided vehicle 1 to each station (hereinafter abbreviated as “ST”, not shown). The magnetic guide G has a magnetic tape N that emits N-pole magnetism to the automatic guided vehicle 1 and an S-pole magnet facing the upper surface, and the S-pole magnetism to the automatic guided vehicle 1 with respect to the travel path. The magnetic tape S to be emitted is alternately arranged along the traveling path, ST and ST are connected, and the automatic guided vehicle 1 is guided. In this embodiment, the length d of the magnetic tapes N and S is 100 mm.

  The members constituting the magnetic guide G are not limited to magnetic tape as long as they are uniformly charged with either the N pole or the S pole, and various materials such as magnets can be applied as appropriate. May be. Further, the length d of the magnetic tapes N and S is not limited to 100 mm, and may be configured to be 100 mm or less, or may be configured to be 100 mm or more.

  The control device 5 of the automatic guided vehicle 1 is a device for controlling each part of the automatic guided vehicle 1 and is disposed on the front end side of the vehicle body 2. The control device 5 acquires the distance at which the N-pole magnetism and the S-pole magnetism are detected from the magnetic guide G by the north pole or south pole sensors 6 and 7 on the traveling direction side. Then, depending on the distance, it is determined whether the magnetic tapes N and S are alternately detected by the N-pole and S-pole sensors 6 and 7 on the traveling direction side. Judging, the automatic guided vehicle 1 is stopped. Further, the position of the magnetic guide G detected by the detection unit in each of the N-pole or S-pole sensors 6 and 7 on the traveling direction side and the N-pole or S-pole sensors 6 and 7 on the opposite side to the traveling direction. The steering drive device 10 is driven according to the deviation, and the automatic guided vehicle 1 is steered.

  Next, the electrical configuration of the automatic guided vehicle 1 will be described with reference to FIG. FIG. 2 is a block diagram showing an electrical configuration of the automatic guided vehicle 1. The control device 5 of the automatic guided vehicle 1 includes a CPU 50, a flash memory 51, and a RAM 52, which are connected to an input / output port 54 via a bus line 53. The input / output port 54 includes an N-pole sensor 6, an S-pole sensor 7, a speed sensor 8 that detects the traveling speed (unit: km / h) of the automatic guided vehicle 1, a rotation drive device 9, and a steering drive device. 10 are connected to each other. The N-pole and S-pole sensors 6 and 7 are respectively installed at both ends in the longitudinal direction of the vehicle body 2, but in FIG. 2, they are collectively represented as one N-pole and S-pole sensors 6 and 7, respectively. .

  The CPU 50 is an arithmetic device that controls each unit connected to the bus line 53 and the input / output port 54. The flash memory 51 is a rewritable nonvolatile memory and stores a control program 51a. When the control program 51a is executed by the CPU 50, the main process of FIG. 3 is executed.

  The RAM 52 is a memory for the CPU 50 to store various work data, flags, etc. in a rewritable manner when the control program 51a is executed, and the distance (units) in which N pole magnetism is continuously detected by the N pole sensor 6. Is stored in the N pole detection distance memory 52a (hereinafter abbreviated as “N pole memory 52a”) and the distance (unit: mm) in which the S pole sensor 7 continuously detects the S pole magnetism. The non-detection counter 52c that counts the state in which no magnetism is detected by the S pole detection distance memory 52b (hereinafter abbreviated as "S pole memory 52b") and the N pole sensor 6 and the S pole sensor 7 on the traveling direction side. And are provided.

  The rotational drive device 9 is a device for rotationally driving the wheels 3, and includes eight rotational motors (not shown) for applying rotational driving force to the wheels 3, and instructions from the CPU 50 for the rotational motors. Are provided with a drive circuit and a drive source (both not shown) that are independently driven and controlled. The CPU 50 independently drives and controls each rotation motor, whereby each wheel 3 rotates independently.

  The steering drive device 10 is a device for steering and driving each wheel 3, eight steering motors (not shown) for applying a steering driving force to each wheel 3, and each of these steering motors from the CPU 50. A drive circuit and a drive source (both not shown) are provided that are independently driven and controlled based on a command such as a steering angle. The CPU 50 independently drives and controls each steering motor, so that each wheel 3 turns independently.

  Next, with reference to FIG. 3, the main process performed by CPU50 of the automatic guided vehicle 1 is demonstrated. The main process is repeatedly executed immediately after the automatic guided vehicle 1 is turned on. In the main process, first, it is determined from the traveling speed detected by the speed sensor 8 whether the automatic guided vehicle 1 is traveling (S1). When the automatic guided vehicle 1 is traveling, that is, when the traveling speed is higher than 0 km / h (S1: Yes), it is determined whether the traveling-side N-pole sensor 6 has detected N-pole magnetism (S2). ).

  When the N-pole sensor 6 on the traveling direction side detects N-pole magnetism (S2: Yes), the time difference between the time when the process of S3 or S4 was executed last time and the current time is obtained from the speed sensor 8. A value obtained by multiplying the traveling speed, that is, the traveling distance after the previous execution of the processing of S3 or S4 is added to the N-pole memory 52a (S3). As a result, the distance traveled since the N-pole sensor 6 detected the magnetic tape N is stored in the N-pole memory 52a. The time is counted by an interval interrupt process (not shown) every 1 ms.

  On the other hand, when the N pole sensor 6 on the traveling direction side does not detect N pole magnetism (S2: No), 0 is set in the N pole memory 52a (S4). As a result, the travel distance stored in the N-pole memory 52a after the N-pole sensor 6 detects the magnetic tape N is cleared.

  After the processes of S3 and S4, it is determined whether or not the south pole sensor 7 on the traveling direction side has detected the south pole magnetism (S5). When the magnetic field of the south pole on the traveling direction side is detected (S5: Yes), the travel distance after the previous execution of the process of S6 or S7 is added to the south pole memory 52b (S6). Thereby, the travel distance after the S pole sensor 7 detects the magnetic tape S is memorize | stored in the S pole memory 52b. In addition, since the calculation method of a travel distance is the same as the process of above-mentioned S3, the description is abbreviate | omitted.

  On the other hand, when the south pole sensor 7 on the traveling direction side does not detect the magnetism of the south pole (S5: No), 0 is set in the south pole memory 52b (S7). As a result, the travel distance stored in the south pole memory 52b after the south pole sensor 7 detects the magnetic tape S is cleared.

  After the processes of S6 and S7, it is confirmed whether the values of both the N pole memory 52a and the S pole memory 52b are 0 mm (S8). When both the value of the N pole memory 52a and the value of the S pole memory 52b are 0 mm (S8: Yes), 1 is added to the non-detection counter 52c (S9). After the process of S9, it is confirmed whether the value of the non-detection counter 52c is greater than 2000 (S10).

  When the value of the non-detection counter 52c is greater than 2000 (S10: Yes), that is, when the value of both the value of the N-pole memory 52a and the value of the S-pole memory 52b is 0 mm, Alternatively, when the S pole sensors 6 and 7 fail and always output a non-detection state, the automatic guided vehicle 1 escapes from the travel path or the magnetic tapes N and S are defective.

  The case where the magnetic tapes N and S are defective means that the magnetic force decreases due to the deterioration of the magnetic tapes N and S, and magnetism cannot be detected by the N pole or S pole sensors 6 and 7, or the automatic guided vehicle 1 or a worker is magnetized. The magnetic tapes N and S may be displaced from the traveling path by stepping on the guide G or the magnetic tapes N and S may be damaged due to peeling, and the magnetic tapes N and S may not exist on the traveling path. . In these cases, since the magnetic tapes N and S cannot be detected alternately, an error is output to the display device (not shown) of the automatic guided vehicle 1 (S11), and the surrounding workers are alerted, The automatic guided vehicle 1 is stopped (S12). Thereby, the malfunction of the automatic guided vehicle 1 due to a failure of the N-pole and S-pole sensors 6 and 7 and a failure of the magnetic tapes N and S can be prevented. Further, since the N-pole and S-pole memories 52a and 52b and the non-detection counter 52c determine whether the N-pole and S-pole sensors 6 and 7 are alternately detecting the magnetic tapes N and S, it is more accurate. Judgment can be made.

  On the other hand, when the value of the non-detection counter 52c is 2000 or less (S10: No), the process of S14 and later described below is performed, and the error output and the automatic guided vehicle 1 are not stopped. That is, if the N pole or S pole sensors 6 and 7 are normal, but the N pole magnetic sensor 6 is positioned on the magnetic tape S and the S pole magnetic sensor 7 is positioned on the magnetic tape N, the N pole and S Both the pole sensors 6 and 7 are not detected, and the value of the non-detection counter 52c becomes 1 or more and 2000 or less by the process of S9. In such a case, the error output and the automatic guided vehicle 1 are not stopped, so that an erroneous error output and the automatic guided vehicle 1 can be prevented from stopping.

  When the value of the non-detection counter 52c is larger than 2000, it is determined that the N-pole or S-pole sensors 6 and 7 are out of order. However, the present invention is not necessarily limited to this and is compared with the value of the non-detection counter 52c. The value may be 2000 or more, or 2000 or less, depending on the traveling speed of the automatic guided vehicle 1, the interval at which the N-pole sensor 6 and the S-pole sensor 7 are installed, or the like.

  In the process of S8, if the value of the N pole or S pole memory 52a, 52b is not 0 mm (S8: No), the magnetic tape N, S is detected by the N pole or S pole sensors 6, 7, so The detection counter 52c is set to 0 (S13).

  When the value of the non-detection counter 52c is 2000 or less in the process of S10, or after the process of S13, the value of the N pole or S pole memories 52a, 52b is margined to 100 mm (that is, the length d of the magnetic tape N, S). It is confirmed whether it is larger than the value obtained by adding α (S14). The margin α is a fluctuation value set in consideration of the detection error of the N-pole or S-pole sensors 6, 7, the traveling speed of the automatic guided vehicle 1, etc., and is about 10 mm.

  When the value of the N-pole or S-pole memory 52a, 52b is larger than the value obtained by adding the margin α to 100 mm (S14: Yes), the N-pole or S-pole sensors 6 and 7 fail and are always N-pole or S-pole. In this case, the magnetic tapes N and S cannot be detected alternately. Therefore, if the automatic guided vehicle 1 continues to travel as it is, there is a risk of erroneous running or running away. Therefore, in such a case, an error is output (S11), and the automatic guided vehicle 1 is stopped (S12).

  On the other hand, when the values of the N-pole and S-pole memories 52a and 52b are equal to or less than the value obtained by adding the margin α to 100 mm (S14: No), the magnetic field detected by the detection unit of the N-pole or S-pole sensors 6 and 7 In accordance with the position of the guide G, the steering drive device 10 is driven so as to correct the deviation in the vehicle width direction between the magnetic guide G and the automatic guided vehicle 1 (S15). Specifically, the center position of the detection unit in each of the N-pole or S-pole sensors 6 and 7 on the traveling direction side and the N-pole or S-pole sensors 6 and 7 on the opposite side to the traveling direction, and the detection unit The steering drive device 10 is driven according to the detected deviation from the position of the magnetic guide G.

  When both the value of the N pole memory 52a and the value of the S pole memory 52b are 0 mm and the value of the non-detection counter 52c is 2000 or less (that is, S8: Yes, S10: No), the N pole on the traveling direction side Alternatively, the magnetic tapes N and S are not detected by the S pole sensors 6 and 7, and the deviation from the position of the magnetic guide G cannot be normally obtained. Therefore, in such a case, the N-pole or S-pole sensors 6 and 7 on the traveling direction side drive the steering drive device 10 using a deviation from the latest position of the magnetic guide G that has been normally acquired.

  In addition, when both the N pole and S pole sensors 6 and 7 detect the magnetic guide G, such as the boundary between the magnetic tape N and the magnetic tape S in the magnetic guide G, the center position of each detection unit and the detection The steering drive device 10 is driven in accordance with the average value of the deviation from the position of the magnetic guide G detected by the section. In this case, it is not limited to the average value of the deviation between the center position of each detection unit and the position of the magnetic guide G detected by the detection unit, but a statistic other than the average value, for example, the maximum value or the minimum value Etc. may be applied as appropriate.

  After the process of S15, based on the preset traveling speed, the rotational drive device 9 is driven to drive the automatic guided vehicle 1 (S16). After the process of S16 or when the traveling speed is 0 km / h in the process of S1 (S1: No), the processes after S1 are repeated.

  As described above, the automatic guided vehicle 1 according to the present embodiment travels along the magnetic guide G in which the magnetic tapes N and S are alternately arranged, and the N pole sensor 6 detects the magnetic tape N at the distance. The value of a certain N-pole memory 52a and the value of the S-pole memory 52b, which is the distance at which the S-pole sensor 7 has detected the magnetic tape S, are acquired. When the value of the N pole memory 52a and the value of the S pole memory 52b are both 0 or any of them is larger than 100 mm + margin α, the magnetic tapes N and S are alternately switched by the N pole or S pole sensors 6 and 7. Therefore, it is determined that the automatic guided vehicle 1 cannot be detected, and an error is output to stop the automatic guided vehicle 1. Therefore, it is possible to prevent the automatic guided vehicle 1 from being erroneously run or runaway.

  Next, a second embodiment of the present invention will be described with reference to FIGS. In the first embodiment described above, the automatic guided vehicle 1 travels along the magnetic guide G, and the value of the N-pole memory 52a that is the distance at which the N-pole sensor 6 detects the magnetic tape N and the magnetic tape S are used. If the magnetic tapes N and S cannot be detected alternately according to the value of the S pole memory 52b, which is the distance detected by the S pole sensor 7, an error is output and the automatic guided vehicle 1 is stopped.

  On the other hand, in the second embodiment, barcode information including the position of ST and an operation command (travel control information) is incorporated in the magnetic guide G so that the automatic guided vehicle 100 travels along the magnetic guide G. Bar code information is acquired, and processing according to the analysis result of the bar code information is performed. In the second embodiment, the same parts as those in the first embodiment described above are denoted by the same reference numerals, and the description thereof is omitted.

  FIG. 4A is a side view of the automatic guided vehicle 100 in the second embodiment, and FIG. 4B shows magnetic tapes Na, Nb, Sa, and Sb constituting the magnetic guide G in the second embodiment. FIG. The magnetic guide G in the second embodiment is configured by alternately arranging magnetic tapes Na or Nb and magnetic tapes Sa or Sb.

  The magnetic tape Na or Nb is composed of a magnetic tape that emits N-pole magnetism to the automatic guided vehicle 100, and the magnetic tape Sa or Sb is composed of a magnetic tape that emits S-pole magnetism to the automatic guided vehicle 100. As shown in FIG. 4B, the length da of the magnetic tapes Na and Sa is 50 mm, and the length db of the magnetic tapes Nb and Sb is 100 mm.

  The length da is not limited to 50 mm, and may be 50 mm or less, or 50 mm or more. The length db is not limited to 100 mm as long as it is longer than the length da, and may be configured to be 100 mm or less, or may be configured to be 100 mm or more.

  The magnetic guide G incorporates barcode information represented by arranging magnetic tapes Na, Nb, Sa, and Sb according to the known Interleaved 2 of 5 (ITF) standard. Specifically, the magnetic tape Na corresponds to the “thin bar” in the ITF standard, and hereinafter, the magnetic tape Nb is “thick bar”, the magnetic tape Sa is “thin space”, and the magnetic tape Nb is “thick space”. Make it correspond. The magnetic tapes Na, Nb, Sa, and Sb associated in this way are arranged to represent codes in the ITF standard. As an example, the arrangement of the magnetic tapes Na, Sb, Na, Sa, Nb... Corresponds to a code “01” (hereinafter abbreviated as “ITF code 01” or the like) in the ITF standard. The barcode information is configured by combining a plurality of ITF codes.

  In the ITF standard, “thin bar” or “thick bar” and “thin space” or “thick space” are alternately arranged, so even in bar code information based on the ITF standard, the magnetic tape Na or Nb The magnetic tapes Sa or Sb are alternately arranged.

  The barcode information is arranged in the order of a start code S indicating the start of the barcode information, a data code D indicating the position of ST and an operation command, and an end code E indicating the end of the barcode information. As a result, the automatic guided vehicle 100 that has read the barcode information recognizes the start code S and the end code E as the beginning and end of the barcode information, respectively, and accurately recognizes the data code D that is in between, By using the data code D, the traveling control of the automatic guided vehicle 100 can be performed.

  Also, when the bar code information is read while the automatic guided vehicle 100 is traveling in the forward direction, the bar code information is analyzed in the order read by the control device 5, and each of the start code S, the data code D, and the end code E is detected. It is configured so that information can be obtained. When the bar code information is read while the automatic guided vehicle 100 travels in the reverse direction, the control device 5 analyzes the bar code information in the reverse order of reading, so that the start code S, the data code D , Each information of the end code E is acquired.

  The data code D is composed of an array of magnetic tapes representing ITF codes 00-99. Each of the start code S and the end code E is constituted by an array of magnetic tapes representing independent codes different from the ITF codes 00 to 99. Between the start code S and the end code E, one or a plurality of data codes D are arranged. The length L of one barcode information varies depending on the type or number of ITF codes included in the data code D, but the maximum length L is 1000 mm.

  The number of ITF codes of the data code D and the combination thereof constitute a plurality of bar code information. The automatic guided vehicle 100 that associates the barcode information with the ST position and the operation command and reads the barcode information during traveling performs processing according to the ST position and the operation command corresponding to the barcode information. Do.

  In addition, although the barcode information coded by ITF standard was illustrated, it is not necessarily limited to this, and other barcode coding standards such as “Code 2 of 5” and “Matrix 2 of 5” are applied. You may do it. Further, the length L of the barcode information is not limited to a maximum length of 1000 mm, depending on the length of the traveling path of the automatic guided vehicle 100, the arrangement of the ST, the position of the required ST, and the number of operation commands. The longest may be configured to be 1000 mm or more, or may be configured to be 1000 mm or less.

  Next, with reference to FIG. 5, the electrical configuration of the automatic guided vehicle 100 according to the second embodiment will be described. FIG. 5A is a block diagram showing the electrical configuration of the automated guided vehicle 100 in the second embodiment, and FIG. 5B is a diagram schematically showing the contents of the code decoding table 51b. The control device 5 of the automatic guided vehicle 100 according to the second embodiment stores the ITF code and the ST position and operation command corresponding to the ITF code in the flash memory 51 in association with each other. Is memorized.

  Further, the RAM 52 detects the distance (unit: mm) at which the bar code information is detected from the code detection distance memory 52d (hereinafter abbreviated as “code memory 52d”), and detection from the N-pole or S-pole sensors 6 and 7. And an acquisition code memory 52e for storing code symbols corresponding to the magnetic tapes Na, Nb, Sa, and Sb in the order of detection. The code symbols are represented by character strings “Na”, “Nb”, “Sa”, “Sb”, and correspond to the magnetic tapes Na, Nb, Sa, Sb, respectively.

  Next, the code decoding table 51b will be described with reference to FIG. The code decoding table 51b stores an ITF code 51b1 in which an ITF code is stored, an ST position (“ST1”, “ST2”,... “ST20”) represented by the ITF code, and an operation command. The decoded data 51b2 is stored in association with it. In the code decoding table 51b, the ST positions “ST1” to “ST20” correspond to the ITF codes 01 to 20, and the values of the ITF code 51b1 are represented as “01” to “20”. The operation command is represented by a combination of the ITF code 50 and the ITF codes 01 to 49, and the value of the ITF code 51b1 is represented as “50, 01” to “50, 49”. That is, the ITF code 50 is a symbol representing the start of an operation command in the value of the ITF code 51b1.

  The operation commands include “pause” for instructing the temporary stop of the automatic guided vehicle 100, “speed setting” for setting the traveling speed, “acceleration” / “deceleration” for acceleration / deceleration, and rotational movement. “Rotation” to instruct, “Communication” (not shown) which is a communication instruction between the automatic guided vehicle 100 and the management apparatus, “Lighting” (not shown) which is a lamp lighting instruction, and “Alarm which is a warning output instruction “NOP (No Operation)” in which the operation of the automatic guided vehicle 100 is not performed.

  The code decoding table 51b is a combination of a plurality of ST positions and operation commands, such as “ST1 + pause” in which pause is performed in ST1 and “pause + rotation” in which rotation is performed after the pause. It is good also as a structure memorize | stored.

  Next, the main processing in the second embodiment will be described with reference to FIGS. In the process of S2, if the N pole sensor 6 on the traveling direction side does not detect the N pole magnetism (S2: No), the N pole sensor 6 detects the N pole magnetism from the state where the N pole sensor 6 detects the N pole magnetism. It is confirmed whether or not the magnetism immediately after non-detection (S20).

  The case immediately after the N-pole sensor 6 detects that the N-pole magnetism is not detected (S20: Yes) is the case where the end of the magnetic tape Na or Nb detected by the N-pole sensor 6 is detected. Accordingly, the value of the N-pole memory 52a in this case is substantially the same as the length da or db of the magnetic tape Na or Nb. Therefore, in such a case, if the value of the N-pole memory 52a is equal to or smaller than the value obtained by adding the margin α to 50 mm (that is, the length da), it is determined that the magnetic tape Na is detected, and the code symbol is stored in the acquired code memory 52e. Add Na. When the value of the N pole memory 52a is larger than the value obtained by adding the margin α to 50 mm, it is determined that the magnetic tape Nb has been detected, and the code symbol Nb corresponding to the magnetic tape Nb is added to the acquired code memory 52e ( S21). Thereby, the code symbol Na or Nb is acquired from the travel distance after the N pole sensor 6 detects the magnetic tape Na or Nb.

  On the other hand, in the process of S20, when it is not immediately after the N pole magnetism is not detected (S20: No), the process of S21 is skipped. Then, after the processes of S20 and S21, the process of S4 is performed.

  In the process of S5, when the south pole sensor 7 on the traveling direction side does not detect the south pole magnetism (S5: No), the south pole sensor 7 detects the south pole magnetism from the state where the south pole sensor 7 detects the south pole magnetism. It is confirmed whether or not the magnetism immediately after non-detection (S22).

  The case immediately after the south pole magnetism is not detected by the south pole sensor 7 (S22: Yes) is the case where the end of the magnetic tape Sa or Sb detected by the south pole sensor 7 is detected. Accordingly, the value of the south pole memory 52b in such a case is substantially the same as the length da or db of the magnetic tape Sa or Sb. Therefore, in this case, if the value of the S pole memory 52b is equal to or smaller than the value obtained by adding the margin α to 50 mm (ie, the length da), it is determined that the magnetic tape Sa has been detected, and the code symbol is stored in the acquired code memory 52e. Add Sa. If the value of the S pole memory 52b is larger than the value obtained by adding the margin α to 50 mm, it is determined that the magnetic tape Sb has been detected, and the code symbol Sb is added to the acquired code memory 52e (S23). Thus, the code symbol Sa or Sb is acquired from the travel distance after the S pole sensor 7 detects the magnetic tape Sa or Sb.

  On the other hand, if it is not immediately after the S pole magnetism is not detected in the process of S22 (S22: No), the process of S23 is skipped. And the process of S7 is performed after the process of S22 and S23. Then, after the process of S15, a code analysis process is performed (S24).

  The code analysis process will be described with reference to FIG. In the code analysis process, first, it is confirmed whether the start code S and the end code E exist in the value of the acquired code memory 52e (S30). Specifically, when the automatic guided vehicle 100 is traveling in the forward direction, scanning is performed in the order in which the acquisition code memory 52e is read. On the other hand, when the automatic guided vehicle 100 is traveling in the reverse direction, the acquisition code is scanned. Scanning is performed in the reverse order of reading the memory 52e. As a result, it is confirmed whether or not both the code symbol arrays corresponding to the start code E and the end code S, that is, the code symbol arrays corresponding to the ITF codes 00 and 99, exist in the value of the acquired code memory 52e.

  In the process of S30, when the start code S and the end code E are present (S30: Yes), the acquisition code memory 52e is scanned to acquire an array of code symbols corresponding to the data code D, and the code symbol An ITF code corresponding to the data code D is obtained by converting the array based on the ITF standard (S31). When there are a plurality of data codes D, ITF codes corresponding to all the data codes D are acquired. In this process, the scanning direction of the acquisition code memory 52e is the same as that in S30.

  The value of the ITF code 51b1 in the code decoding table 51b that matches the ITF code acquired in the process of S31 is searched, and it is confirmed whether or not the corresponding decoded data 51b2 has been acquired (S32). In the process of S32, when the decoded data 51b2 can be acquired (S32: Yes), it is determined that the normal barcode information has been acquired, so the process corresponding to the value of the decoded data 51b2 is executed (S33). . Then, after the process of S33, in preparation for detection of the next barcode information, the value of the code memory 52d is set to 0, and the value of the acquired code memory 52e is cleared (S34).

  In the process of S30, when the start code S and the end code E do not exist in the value of the acquired code memory 52e (S30: No), when the barcode information is being read, or the start code S or the end code Since abnormal barcode information without E is read, in order to determine these, the value of the code memory 52d in which the distance of the barcode information is stored is 1000 mm (that is, the longest length of the barcode information). L) It is confirmed whether it is larger (S35).

  When the value of the code memory 52d is larger than 1000 mm (S35: Yes), it is determined that the read barcode information is abnormal barcode information in which the start code S or the end code E does not exist. In such a case, the position of the data code D in the barcode information cannot be specified, and the ITF code cannot be acquired from the data code D by the process of S31 described above. Therefore, in such a case, processing according to the barcode information (for example, rotational movement of the automatic guided vehicle 100) cannot be performed, and the work process may be affected. In such a case, an error is output to a display device (not shown) of the automatic guided vehicle 100 (S36), the surrounding workers are alerted, and the automatic guided vehicle 1 is stopped (S37).

  On the other hand, when the value of the code memory 52d is 1000 mm or less (S35: No), it is determined that the start code S and the end code E have not been read yet and the barcode information is being read. A value obtained by multiplying the time difference between the time when the process of the previous S38 is executed and the current time and the travel speed acquired from the speed sensor 8, that is, the travel distance after the execution of the process of the previous S38 is added to the code memory 52d. (S38), the processing of S31 to S37 is skipped. Thereby, the distance at which the barcode information is read is updated.

  Further, in S32, when there is no ITF code 51b1 value in the code decoding table 51b that matches the ITF code acquired in S31 (S32: No), it is not included in the code decoding table 51b. It is determined that an abnormal ITF code has been acquired. In such a case, if an abnormal ITF code is processed, an illegal operation command or the like is executed, and there is a possibility that the automatic guided vehicle 100 may malfunction, misrun, or run away. Therefore, in such a case, an error is output to the display device (not shown) of the automatic guided vehicle 100 (S36), the surrounding workers are alerted, and the automatic guided vehicle 1 is stopped (S37). .

  After the processes of S34 and S38, the code analysis process is terminated and the process returns to the main process of FIG. After the code analysis process of S24, the process of S16 is performed.

  As described above, according to the automatic guided vehicle 100 of the second embodiment, the magnetic guide G is configured by alternately arranging the magnetic tape Na or Nb and the magnetic tape Sa or Sb. The magnetic guide G incorporates bar code information represented by the ITF standard. Therefore, when it becomes impossible to alternately detect the magnetic tape Na or Nb and the magnetic tape Sa or Sb by the N pole and S pole sensors 6 and 7, an error is output and the automatic guided vehicle 1 is stopped. Thus, it is possible to prevent the automatic guided vehicle 1 from erroneously running or running away.

  Further, the code symbols corresponding to the magnetic tape Na, Nb, Sa, Sb detected while the automatic guided vehicle 100 is running are added to the acquired code memory 52e by the N-pole or S-pole sensors 6, 7. Then, an ITF code corresponding to the data code D is acquired from the value of the acquired code memory 52e, and when the ITF code matches the value of the ITF code 51b1 of the code decoding table 51b, the value of the decoded data 51b2 is determined. Processing based on the ST position and operation command is performed. As a result, the magnetic tape Na, Nb, Sa, Sb can be used not only as a guide for the traveling path for the automatic guided vehicle 100 but also as an instruction member for traveling control in the automatic guided vehicle 100.

  Further, when the start code S and the end code E do not exist in the value of the acquired code memory 52e, or the ITF code of the code decoding table 51b that matches the ITF code corresponding to the data code D in the value of the acquired code memory 52e. If the value 51b1 does not exist, it is determined that abnormal bar code information or data code D has been acquired, so that an error is output and the traveling of the automatic guided vehicle 100 is stopped. Thereby, since the automatic guided vehicle 100 does not operate with abnormal bar code information or the data code D, it is possible to prevent the automatic guided vehicle 100 from malfunctioning, misrunning, or running away due to execution of an illegal operation command or the like.

  In addition, an ID tag sensor or the like for acquiring ST position information and operation command information is not required for the automatic guided vehicle 100, and for transmitting such information to the traveling path of the automatic guided vehicle 100 as well. An ID tag or the like is also unnecessary. Therefore, not only the manufacturing cost of the automatic guided vehicle 100 can be reduced, but also the cost of the entire system of the automatic guided vehicle 100 including the travel path can be reduced.

  Although the present invention has been described based on the embodiments, the present invention is not limited to the above-described embodiments, and various improvements and modifications can be easily made without departing from the spirit of the present invention. Can be inferred.

  In the said embodiment, although demonstrated using the automatic guided vehicle 1100 as an example of a conveyance vehicle, it is not necessarily restricted to this, For example, you may apply this invention to a unit carrier.

  In the above embodiment, the automatic guided vehicle 1,100 is provided with two magnetic guide detection sensors, the N pole sensor 6 and the S pole sensor 7, so that the magnetic guide G is detected. However, the present invention is not necessarily limited to this, and one magnetic guide detection sensor that distinguishes and detects the N-pole magnetism emitted from the magnetic guide G and the S-pole magnetism is provided, and the magnetic guide detection sensor provides a magnetic guide. It is good also as a structure which each detects the magnetism of the N pole of S, and a S pole.

  In the above-described embodiment, the N-pole sensor 6 is provided on each end in the longitudinal direction of the vehicle body 2, and the S-pole sensor 7 is provided on the inner side of each N-pole sensor 6. However, the configuration is not necessarily limited to this, and the S-pole sensor 7 may be provided on both ends in the longitudinal direction of the vehicle body 2 and the N-pole sensor 6 may be provided on the inside thereof.

  In the above embodiment, the magnetic guide G travels on the magnetic tapes N, Na, Nb that emit N-pole magnetism to the automatic guided vehicle 1100 and the S-pole magnetic tapes S, Sa, Sb that emit S-pole magnetism. It was set as the structure which arranges alternately along a road. However, the present invention is not necessarily limited thereto, and either an N-pole or S-pole magnetic tape and markers having reflectances and colors different from those of the traveling path are alternately arranged along the traveling path, and the automatic guided vehicle 1, 100 is provided with a sensor for detecting the marker, and the distance between the N-pole or S-pole detected from the N-pole or S-pole sensors 6 and 7 and the sensor for detecting the marker and the distance between the markers. From these, the state of the N-pole or S-pole sensor 6, 7 and the sensor for detecting the marker, or the state of the magnetic tape and the marker may be determined.

  In this case, in the automatic guided vehicle 100 according to the second embodiment, the code symbol is set according to the length of the magnetic tape of either the N pole or the S pole and the length of the marker, and based on the ITF standard. Arrange these. Then, the corresponding code symbol is acquired from the detected distance of N pole or S pole and the distance of the marker and added to the acquired code memory 52e, and the value of the acquired code memory 52e is analyzed by the code analysis processing of S24. Just do it. In addition, as a sensor which detects a marker, the camera which can identify a traveling path and a marker, an infrared sensor, etc. are illustrated.

1,100 Automated guided vehicle
6 N-pole magnetic guide detection sensor (first guide sensor)
7 S pole magnetic guide detection sensor (second guide sensor)
N Magnetic tape (first guide)
Na magnetic tape (short guide of the first guide)
Nb magnetic tape (first guide long guide)
S Magnetic tape (second guide)
Sa magnetic tape (second guide short guide)
Sb magnetic tape (second guide long guide)
S8, S14 determination means S15 steering control means S16 travel control means S31 reading means S30, S32 second determination means

Claims (5)

In a transport vehicle that travels along the first and second guides on a travel path in which first guides and second guides of different types are arranged alternately,
A first guide sensor capable of detecting a first guide provided on the travel path;
A second guide sensor capable of detecting a second guide provided on the travel path;
Steering control means for controlling steering of the transport vehicle based on detection results by the first and second guide sensors so that the transport vehicle travels along the first and second guides;
A transport vehicle comprising: a determination unit that determines that the first and second guides are abnormal when the first and second guide sensors cannot be detected alternately. The first and second guides each have at least a long guide and a short guide having different lengths.
The first or second guide of the first guide and the second guide of the second guide are alternately arranged on the travel path based on a predetermined rule. 2 guides are provided including barcode information,
Reading means for reading bar code information formed by the first and second guides based on detection results by the first and second guide sensors;
The transport vehicle according to claim 1, further comprising a travel control unit that controls travel of the transport vehicle according to a result of reading by the reading unit. The bar code information formed on the travel path by the first and second guides includes a start code that indicates the start of data, a data code that forms part or all of the data, and an end that indicates the end of the data. With a cord,
A second determination unit configured to determine that an abnormality occurs when the barcode information cannot be read by the reading unit or when the barcode information read by the reading unit is not one of the start code, the data code, and the end code; The transport vehicle according to claim 2, wherein: The bar code information formed on the travel path by the first and second guides includes a start code that indicates the start of data, a data code that forms part or all of the data, and an end that indicates the end of the data. With a cord,
The travel control unit controls the travel of the transport vehicle based on the data code read between the start code and the end code when the start code and the end code are read by the reading unit. The transport vehicle according to claim 2, wherein the transport vehicle is a thing.   When the first or second guide sensor continues to detect the first or second guide for a first predetermined length or longer, or the first and second guide sensors cause the first and second guides to be longer than a second predetermined length. 5. The transport vehicle according to claim 1, wherein when the detection is impossible, the determination unit determines that the first and second guides cannot be detected alternately and determines that the abnormality is detected.

Images