JP2503604B2 - Automatic guided vehicle - Google Patents
Automatic guided vehicleInfo
- Publication number
- JP2503604B2 JP2503604B2 JP63222818A JP22281888A JP2503604B2 JP 2503604 B2 JP2503604 B2 JP 2503604B2 JP 63222818 A JP63222818 A JP 63222818A JP 22281888 A JP22281888 A JP 22281888A JP 2503604 B2 JP2503604 B2 JP 2503604B2
- Authority
- JP
- Japan
- Prior art keywords
- guided vehicle
- automated guided
- automatic guided
- vehicle
- traveling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000001514 detection method Methods 0.000 claims description 17
- 230000003287 optical effect Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は無人搬送車に関し、特に非接触式の障害物検
出装置を有する無人搬送車に関する。TECHNICAL FIELD The present invention relates to an automated guided vehicle, and more particularly to an automated guided vehicle having a non-contact type obstacle detection device.
従来、この種の無人搬送車は、無人搬送車自体の管理
制御する制御装置，走行および操舵のための駆動装置，
入出力装置，外部との情報通信のための通信装置，およ
び光学式ガイドテープあるいは磁気ガイドテープなどを
読み取る認識装置などで構成される。また、さらに対人
安全確保のため、前後面のバンパ，側面バンパなどが設
けられておりその部位に接触すると搬送車は急速に停止
するようになっている。また、搬送車の走行方向に対し
て反射波検出式の超音波センサや光電センサ等の非接触
式のセンサを設置し走行方向に障害物を検知した場合は
減速し、接近していることをアラームなどにより警告し
ている。さらに最近では前記減速後さらに一定以上接近
した場合は搬送車が停止するようになっており、走行路
上の人、物に対しての安全措置が施されている。Conventionally, an unmanned guided vehicle of this type has a control device for managing and controlling the unmanned guided vehicle itself, a drive device for traveling and steering,
It is composed of an input / output device, a communication device for external information communication, and a recognition device that reads an optical guide tape or a magnetic guide tape. In addition, front and rear bumpers, side bumpers, etc. are provided to ensure personal safety, and the transport vehicle will stop rapidly if it comes into contact with those parts. In addition, a non-contact type sensor such as a reflected wave detection type ultrasonic sensor or photoelectric sensor is installed in the traveling direction of the transport vehicle, and when an obstacle is detected in the traveling direction, the vehicle decelerates and the approach is detected. Warnings such as alarms. More recently, when the vehicle further approaches a certain level after the deceleration, the transport vehicle is stopped, and safety measures are taken for people and objects on the road.
上述した従来の無人搬送車は、非接触式の超音波セン
サや光電センサは無人搬送車に取り付けられ固定される
が、第６図（ａ）及び（ｂ）のようにセンサの検知方向
はおおむね走行方向と平行で、走行路面に対して水平方
向に設定する。それぞれの検出感度は任意に設定はでき
るものの少なくとも走行中は変更ができない。この状態
で例えば第７図のような走行路がコーナーになってい
て、搬送車の前方に壁面などの物体が走行路に対して著
しく近接して配置されている場合などは搬送車が方向転
換する前に壁面を障害物として誤認するため減速そして
停止してしまう欠点がある。In the above-mentioned conventional automated guided vehicle, the non-contact type ultrasonic sensor or photoelectric sensor is attached and fixed to the automated guided vehicle, but the detection direction of the sensor is generally as shown in FIGS. 6 (a) and 6 (b). Set parallel to the direction of travel and horizontal to the road surface. Each detection sensitivity can be set arbitrarily, but cannot be changed at least during running. In this state, for example, when the traveling road as shown in FIG. 7 is a corner and an object such as a wall surface is placed in front of the traveling vehicle in a very close proximity to the traveling road, the traveling vehicle changes direction. Before doing so, it has the drawback of decelerating and stopping because it misidentifies the wall as an obstacle.
本発明の無人搬送車は、光学式ガイドテープあるいは
磁気ガイドテープによって走行路を決められ誘導走行す
る無人搬送車において、該走行路に対して搬送車の前方
に壁面などの物体が接近した場所に設けられた特定のマ
ークを検出することにより、該無人搬送車に設けられた
非接触式障害物検出装置の検出角度を伏角に切り換える
ものである。The unmanned guided vehicle of the present invention is an unmanned guided vehicle that guides and travels on a traveling path determined by an optical guide tape or a magnetic guide tape. By detecting the specific mark provided, the detection angle of the non-contact type obstacle detection device provided in the automatic guided vehicle is switched to the dip angle.
次に、本発明について図面を参照して説明する。 Next, the present invention will be described with reference to the drawings.
第１図は本発明の一実施例の無人搬送車のブロック構
成図、第２図は該一実施例の無人搬送車の側面図、第３
図は該一実施例の無人搬送車の走行路の平面図である。
無人搬送車１は走行路12を軌道中心11に沿って走行す
る。軌道中心には誘導用の光学式反射テープが布設され
ている。このとき無人搬送車の超音波センサは進行方向
水平方向に向いている。無人搬送車１が伏角にせよのマ
ーク31を検出すると、無人搬送車１は変向装置２を動作
させ、第２図に示すようにセンサの角度を伏角にする。
走行路のマーク31は誘導ガイドテープと同類のもので光
学的に区別できるようになっている。また、このマーク
31を検出したとき変向装置２を動作させ超音波センサ３
を一定角度だけ伏角にする動作はあらかじめ無人搬送車
１に登録しておく。第２図のように超音波センサ３が下
方を向くとその検出エリア４が下向きになり進行方向に
対して見かけ上検出エリアが減少したようになる。この
ため、第３図で無人搬送車１の前方にある壁面21を検知
しなくなり、無人搬送車は停止することなく走行路12を
軌道中心11の誘導テープに沿って走行することができ
る。さらに、走行し戻せのマーク32を検出すると、同様
に変更装置２を動作させ、超音波センサ３の向きを水平
方向に戻す。なお、第２図のような状態でも無人搬送車
１の前方近くに障害物があれば検知することになるの
で、無人搬送車１は減速停止する。FIG. 1 is a block diagram of an automated guided vehicle according to an embodiment of the present invention, FIG. 2 is a side view of the automated guided vehicle according to the embodiment, and FIG.
The drawing is a plan view of the traveling path of the automated guided vehicle of the embodiment.
The automatic guided vehicle 1 travels along a track 12 along a track center 11. An optical reflection tape for guidance is laid at the center of the track. At this time, the ultrasonic sensor of the automatic guided vehicle is oriented horizontally in the traveling direction. When the automatic guided vehicle 1 detects the mark 31 for the dip angle, the automated guided vehicle 1 operates the turning device 2 to set the angle of the sensor to the dip angle as shown in FIG.
The mark 31 on the traveling path is of the same kind as the guide tape, and is optically distinguishable. Also, this mark
When 31 is detected, the deflection device 2 is operated and the ultrasonic sensor 3
The operation to make the dip angle by a certain angle is registered in advance in the automatic guided vehicle 1. As shown in FIG. 2, when the ultrasonic sensor 3 faces downward, the detection area 4 thereof faces downward and the detection area apparently decreases in the traveling direction. Therefore, the wall surface 21 in front of the automated guided vehicle 1 in FIG. 3 is no longer detected, and the automated guided vehicle can travel along the guide tape at the center 11 of the track without stopping. Further, when the mark 32 indicating that the vehicle is ready to travel back is detected, the changing device 2 is similarly operated to return the direction of the ultrasonic sensor 3 to the horizontal direction. Even in the state as shown in FIG. 2, if there is an obstacle near the front of the automated guided vehicle 1, it will be detected, and the automated guided vehicle 1 will decelerate and stop.
第４図は本発明の参考例の無人搬送車のブロック構成
図、第５図は該参考例の無人搬送車の側面図である。こ
の参考例では超音波センサを3a,3bのように２個設け、
それぞれ検出感度を変えてあらかじめ設定しておく。通
常走行中はスイッチ５を検出エリアのひろい超音波セン
サ3a側に切り換え、伏角にせよのマーク31を検知したと
きスイッチ５を検出エリアの狭い超音波センサ3b側に切
り換えるようにする。スイッチ５は機械式スイッチ，電
子スイッチ，ソフトウェアスイッチなどを使用すること
ができる。この実施例では該一実施例の変向装置２のよ
うな駆動機構がなくなるため構造的に簡素化できる利点
がある。FIG. 4 is a block diagram of an automated guided vehicle of a reference example of the present invention, and FIG. 5 is a side view of the automated guided vehicle of the reference example. In this reference example, two ultrasonic sensors such as 3a and 3b are provided,
Change the detection sensitivity for each and set in advance. During normal traveling, the switch 5 is switched to the ultrasonic sensor 3a side having a wide detection area, and when the mark 31 due to the dip angle is detected, the switch 5 is switched to the ultrasonic sensor 3b side having a narrow detection area. The switch 5 can be a mechanical switch, an electronic switch, a software switch, or the like. In this embodiment, there is an advantage that the structure can be simplified because the drive mechanism like the deflection device 2 of the one embodiment is eliminated.
以上説明したように本発明は、走行路上の特定のマー
クを無人搬送車が読みとり、マークの意味する内容に従
って、障害物検知センサの検知領域を変えることができ
る非接触式障害物検出装置を設けることにより、本来障
害物ではない物体を誤認することがなくなり、誤認によ
る無人搬送車の無用な減速停止を防止することができる
効果がある。As described above, the present invention provides the non-contact type obstacle detection device capable of reading the specific mark on the traveling road by the automatic guided vehicle and changing the detection area of the obstacle detection sensor according to the meaning of the mark. As a result, it is possible to prevent an object that is not an obstacle from being mistakenly recognized, and to prevent unnecessary deceleration stop of the automatic guided vehicle due to the mistaken recognition.
第１図は本発明の一実施例の無人搬送車のブロック構成
図、第２図は該一実施例の無人搬送車の側面図、第３図
は該一実施例の無人搬送車の走行路の平面図、第４図は
本発明の参考例の無人搬送車のブロック構成図、第５図
は該参考例の無人搬送車の側面図である、第６図
（ａ），（ｂ）はそれぞれ従来の無人搬送車の平面図及
び側面図、第７図は従来の無人搬送車の走行路の平面図
である。 １……無人搬送車、２……変向装置、3,3a,3b……超音
波センサ、4,4a,4b……検出エリア、５……スイッチ、1
1……軌道中心、12……走行路、21……壁面、31……
“伏角にせよ”のマーク、32……“戻せ”のマーク。FIG. 1 is a block diagram of an automated guided vehicle according to an embodiment of the present invention, FIG. 2 is a side view of the automated guided vehicle of the exemplary embodiment, and FIG. 3 is a traveling path of the automated guided vehicle of the exemplary embodiment. FIG. 4 is a block diagram of an automated guided vehicle of a reference example of the present invention, FIG. 5 is a side view of the automated guided vehicle of the reference example, and FIGS. 6 (a) and 6 (b) are FIG. 7 is a plan view and a side view of a conventional automatic guided vehicle, and FIG. 7 is a plan view of a traveling path of the conventional automated guided vehicle. 1 ... Automated guided vehicle, 2 ... Directing device, 3,3a, 3b ... Ultrasonic sensor, 4,4a, 4b ... Detection area, 5 ... Switch, 1
1 …… Center of track, 12 …… Runway, 21 …… Wall, 31 ……
"Go to the dip" mark, 32 ... "Return" mark.
Claims (1)
ープによって走行路を決められ誘導走行する無人搬送車
において、該走行路に対して搬送車の前方に壁面などの
物体が接近した場所に設けられた特定のマークを検出す
ることにより、該無人搬送車に設けられた非接触式障害
物検出装置の検出角度を伏角に切り換えることを特徴と
する無人搬送車。1. An unmanned guided vehicle which guides and travels with a traveling path determined by an optical guide tape or a magnetic guide tape, wherein an object such as a wall surface is provided near the traveling path in front of the guided vehicle. An automatic guided vehicle, wherein a detection angle of a non-contact type obstacle detection device provided on the automatic guided vehicle is switched to a dip by detecting a specific mark.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63222818A JP2503604B2 (en) | 1988-09-05 | 1988-09-05 | Automatic guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63222818A JP2503604B2 (en) | 1988-09-05 | 1988-09-05 | Automatic guided vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0269806A JPH0269806A (en) | 1990-03-08 |
| JP2503604B2 true JP2503604B2 (en) | 1996-06-05 |
Family
ID=16788392
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63222818A Expired - Lifetime JP2503604B2 (en) | 1988-09-05 | 1988-09-05 | Automatic guided vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2503604B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR0182242B1 (en) * | 1995-04-19 | 1999-04-15 | 사토 후미오 | Device for delivering transaction medium among plural equipments, and cash processing system equipped with the same |
| JP7356829B2 (en) * | 2019-07-10 | 2023-10-05 | ヤンマーパワーテクノロジー株式会社 | automatic driving system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61265606A (en) * | 1985-05-21 | 1986-11-25 | Toyoda Autom Loom Works Ltd | Obstacle processor for unmanned carrying car |
-
1988
- 1988-09-05 JP JP63222818A patent/JP2503604B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0269806A (en) | 1990-03-08 |
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