JP2512190Y2 - Unmanned work vehicle guidance device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a guide device for an unmanned work vehicle, and more particularly to a laying structure of a guide wire that forms a guide route for an unmanned work vehicle.

(Prior Art) In factories, warehouses, and the like, unmanned work vehicles are used to carry luggage. The unmanned work vehicle is guided and guided along a guide line laid on the work floor.

Conventionally, a method of laying a guide wire forming such a guide route for an unmanned work vehicle will be described with reference to FIGS. 5 and 6.

FIG. 5 is a pattern diagram of the guide wire laid on the work floor.

In the figure, the guide line for guiding the unmanned work vehicle is composed of a running line 1 and a work signal line 2 shown by thick lines.

The traveling line 1 guides an unmanned work vehicle, and is a direction of the traveling lane 1A extending from the loading place to the loading place side, the loading lanes 1B, 1C, 1D, and the unmanned working vehicle (not shown). Equipped with a turning lane 1E that changes the direction.

Further, these lanes are connected in series by routing lines 3a, 3b, 3c shown by broken lines so as to form a one-stroke writing pattern.

The ends of the traveling lane 1A and the trailing line 3c are connected to a guide signal generator (not shown) so that an unmanned work vehicle guide signal of a predetermined frequency generated from the guide signal generator is supplied to the entire traveling line 1.

A signaling line 2 shown in FIG. 5 supplies a signaling signal for determining the traveling route of the unmanned work vehicle on the traveling line 1.

The signal line 2 is wired at a suitable position in each lane 1A to 1E so as to intersect with each lane, and is connected in series by a routing line 4 shown by a one-dot chain line so as to form a one-stroke writing pattern.

Both ends of the routing line 4 of the signal line 2 are connected to an induction signal generator (not shown) having a frequency different from that of the signal generator of the traveling line 1.

When the guide wire having the above pattern is laid on the work floor surface, as shown in FIG. 6, the work floor surface (concrete floor) 5 is provided with a groove 6 corresponding to the traveling route of the unmanned work vehicle.
The guide wire corresponding to the running line 1 and the signaling line 2 is arranged in the groove 6, and then the filler 7 such as a synthetic resin is filled and buried.

(Problems to be solved by the invention) However, in the conventional guide wire laying method as described above, since the guide wire is completely buried in the work floor surface, even if there are a plurality of work patterns, Are all fixed to the work floor.

Therefore, if the pickup location or the loading location is changed,
It cannot be handled unless the guide wire is buried.

Such a conventional fixed-type guide wire laying method is effective when the pick-up place or the place of loading is fixed, such as in a factory or warehouse, but it can be used at a construction site where a building is under construction. In addition, various inconveniences occur when the loading place or the loading place changes frequently.

In other words, the location of loading and unloading of various materials and equipment at the construction site is frequently changed due to the progress of construction work and the convenience of other work. Forming and burying the guide wire requires a lot of manpower and time, and it is not easy to pick up, change the place of loading and move, and also there is a problem that removing the guide wire is troublesome.

The present invention has been made in view of the above points, and it is possible to easily change the loading / unloading place of an unmanned work vehicle, and to easily guide the unmanned work vehicle by expanding, reducing, or removing the taxiway. The purpose is to provide a device.

(Means for Solving the Problem) The invention of claim 1 will be described with reference to FIG. 1 and FIG. 2 showing an embodiment, and the invention will be explained with reference to a loading lane 1B, 1C, which faces a loading place. 1D and the loading lanes 1B, 1C, 1D and a guidance lane for an unmanned work vehicle in which a guidance wire is installed in a traveling lane 1A for driving an unmanned work vehicle between the pickup locations, the guidance wire having a different wiring pattern. 11a, 12a, 13a, 14a has a plurality of types of flat plate-shaped laying blocks 11, 12, 13, 14 having a guide wire 11a on the outer peripheral edge of each flat plate-shaped laying block 11, 12, 13, 14. , 12a, 13a, 14a are formed at the end portions of the connecting concave and convex portions 15a and 15b, and the concave and convex portions 15a and 15b are connected to the ends of the guide wires 11a, 12a, 13a and 14a. Terminal 1
6, each of the flat plate-shaped laying blocks selected according to the pattern of the loading lanes 1B, 1C, 1D and the traveling lane 1A
11,12,13,14, the loading lanes 1B, 1C, 1D and the loading lanes 1B, 1C, 1D on the work floor surface of the unmanned work vehicle while connecting the adjacent concavo-convex portions 15a, 15b to each other and connecting the adjacent contact terminals 16. Arranged along the traveling lane 1A to form taxiways for traveling and signaling, and select between the open ends of the loading lanes 1B, 1C, 1D and the traveling lane 1A according to the shape pattern between the open ends. By arranging the flat plate-shaped laying blocks 11 and 14 described above, the loading wires of the loading lane and the traveling lane are connected in series.

Further, the invention of claim 2 will be described with reference to FIGS. 3 and 4 showing an embodiment. According to the invention, the loading lanes 1B, 1C, 1D facing the loading place and the loading lane 1B will be described. , 1C, 1D and the unmanned work vehicle between the unloading place and the lane 1A for driving the unmanned work vehicle.A guide device for an unmanned work vehicle, wherein the guide wires 11a, 12a, 13a, 14a have different wiring patterns. It has a plurality of types of flat plate-shaped laying blocks 11, 12, 13, 14 embedded in each of the flat plate-shaped laying blocks 11, 12, 13, 14 of the guide wire 11a, 12a, 13a, 14a Contact terminals 1 that are formed at the end portions to form the concavo-convex portions 15a, 15b for coupling and the end portions of the guide wires 11a, 12a, 13a, 14a are connected to the concavo-convex portions 15a, 15b.
6, each of the flat plate-shaped laying blocks selected according to the pattern of the loading lanes 1B, 1C, 1D and the traveling lane 1A
11,12,13,14, the loading lanes 1B, 1C, 1D and the loading lanes 1B, 1C, 1D on the work floor surface of the unmanned work vehicle while connecting the adjacent concavo-convex portions 15a, 15b to each other and connecting the adjacent contact terminals 16. A guideway for traveling and signaling is formed by arranging along the traveling lane 1A, and the uneven portions 15a and 15b of the flat plate-shaped laying block 12 corresponding to the open end of the traveling guideway are provided with the buried guiding wire 12a. The flat plate-shaped connection block 20 in which the guide wire 20a connected to one end is embedded is coupled by the uneven portions 21a and 21b formed on this, and the guide cable 19 is connected to the other end of the guide wire 20a of the connection block 20. The guide cable 19 is laid on the work floor surface to form a guide path connected to the guide path formed by each of the flat plate-shaped laying blocks.

Further, according to the present invention, the thickness of the connecting block 20 is gradually reduced from the side where the flat plate-shaped laying block 12 is connected to the side opposite thereto.

(Operation) With the configuration of the above-mentioned claim 1, the flat plate-shaped laying blocks 11, 12, 13, 14 selected according to the patterns of the loading lanes 1B, 1C, 1D and the traveling lane 1A are provided with the concavo-convex portions 15a adjacent to each other. , 15b are connected to each other and the adjacent contact terminals 16 are connected to each other, by simply arranging them along the loading lanes 1B, 1C, 1D and the traveling lane 1A on the work floor surface of the unmanned work vehicle for one-stroke operation. Since it is possible to form a guiding path for signaling and contact terminals are provided on the coupling uneven portions of the flat plate laying block, it is possible to connect the adjacent flat plate laying blocks to each other by simply joining the adjacent uneven portions. A buried guide wire can be connected. Moreover, it is possible to easily lay the taxiway for unmanned work vehicles on the work floor and remove it from the work floor, and the place for picking up and placing equipment is frequently changed like at a construction site. In this case, the loading / unloading place of the unmanned work vehicle can be easily changed correspondingly, and the reduction / enlargement thereof can be facilitated.

Further, according to the constitution of claim 2, the same effect as in the case of the above-mentioned claim 1 can be obtained, and since the connecting block is added, the guide cable can be connected to the guide path composed of the planar laying block. By laying the guide cable on the work floor, the traveling lane and the loading lane of the unmanned work vehicle can be more easily configured.

Further, in the present invention, the thickness of the connecting block 20 is gradually reduced from the side where it is connected to the flat plate laying block 12 to the opposite side, so that the unmanned work vehicle to the taxiway made up of the flat laying block is reduced. There is no big impact when getting on and off the car, and it is possible to drive an unmanned work vehicle safely.

Embodiment An embodiment of the present invention will be described below with reference to the accompanying drawings.

1 and 2 show an embodiment of an unmanned work vehicle guidance device according to the present invention. FIG. 1 is a schematic perspective view of the guidance device, and FIGS. 2 (a) and 2 (b) are guidance. It is the top view and side view of a line laying block.

In FIG. 1, a guideway for an unmanned work vehicle (not shown) indicated by reference numeral 10 is a straight-line laying block 11 in which a guide wire 11a is embedded in a straight line, and a cross in which a guide wire 12a is embedded in a cross shape. It is composed of a large number of combinations of a laying block 12, a T-shaped laying block 13 in which a guide wire 13a is embedded in a T-shape, and an L-shaped (for corner) laying block 14 in which a guide wire 14a is laid in an L-shape. .

The taxiway is constructed by connecting these laying blocks 11 to 14 continuously and planarly along a predetermined guidance pattern line on the work floor surface 5.

Then, in a state in which the respective laying blocks are coupled, the embedded guiding wire forms a guiding route in which the guiding wires are connected in a single stroke.

Each of the laying blocks 11, 12, 13 and 14 is formed in a square shape from a synthetic resin plate material having a predetermined surface area, a predetermined thickness and a predetermined strength on which one unmanned work vehicle can comfortably ride. .

In addition, each of the laying blocks 11 to 14 as described above is provided with a coupling convex portion 15a and a coupling concave portion 15b located in the middle portion of each side as shown in FIGS. 2 (a) and 2 (b). 15a
The coupling concave portion 15b is for planarly joining other adjacent blocks.

A buried guide wire 12a (only the laying block 12 is shown in FIG. 2, but the same applies to the other laying blocks 11, 13 and 14) is provided on the side surface of the connecting convex portion 15a as the guide wire of the adjacent block. Contact terminals 16 are provided for electrical connection.

The guide route formed by connecting the laying blocks 11 to 14 is composed of a traveling line 1 and a work signal line 2, of which the traveling line 1 is from the unloading place as in the conventional case shown in FIG. Running lane 1A extending to the storage side and loading lane
1B, 1C, 1D and turning lane 1E are provided.

Further, the work signal line 2 is wired so as to intersect at a predetermined position of each lane 1A to 1E, as in the case shown in FIG.

Both ends of the running line 1 and the work signal line 2 are extended to the outside of the block as shown by the one-dot chain line, and the extension ends thereof have connectors 17a and 17b for connecting with an induction signal generator or another induction line. And 18a and 18b, respectively.

In the present embodiment configured as described above, when laying a taxiway, first, each laying block 11 to 14
Arranged on the work floor surface 5 in the pattern shown in the figure. This operation is easily performed by connecting the connecting convex portion and the connecting concave portion.

Next, fix the periphery of the arranged blocks to the work floor with anchor pins or bolts, and then connect the connectors.
17a, 17b and 18a, 18b are connected to the guide wires of other sheet members or their respective guide signal generators.

The guided traveling of the unmanned work vehicle on the taxiway 10 is performed by picking up the guiding signal emitted from the traveling line 1 by the receiver mounted on the unmanned work vehicle.

In addition, the route to each loading lane 1B to 1D is pre-programmed in a microcomputer for operation control mounted on the unmanned work vehicle, and this route program reads a barcode attached to luggage or the like. Selected by.

The running route from the running lane 1A to the loading lanes 1B, 1C, 1D is determined by detecting the guidance signal emitted from the work signal line 2 while executing the selected route program.

For example, if the loading place for the luggage loaded on the unmanned work vehicle is the loading lane 1B, select the route program corresponding to the loading lane 1B from the bar code attached to the luggage, etc. Driving lane with the car directed to the loading area
Automatically drive along 1A.

When the receiver on the unmanned work vehicle receives the guidance signal from the signal line 2 that intersects with the traveling lane 1A, the traveling lane
Branch point P ₁ from 1A to each loading lane 1B to 1C (see Fig. 1)
Is given to the drive unit of the unmanned work vehicle.

When the guidance signal from the signal line 2 is received again as the vehicle travels to the left, it commands the vehicle to travel to the right at the next branch point P ₂ .

When the guidance signal from the signal line 2 is received on the loading lane 1B, it is determined that the loading place is reached, and the unmanned work vehicle enters the loading operation.

Also, when unloading at the end of the loading lane 1B, if the loading side of the luggage is behind the running direction of the unmanned work vehicle, first run to the direction changing lane 1E to change the direction, Drive to storage lane 1B.

When changing the loading place, separate the connector from other guide wires, remove the anchor pins or bolts, and then separate the laying blocks 11 to 14 and stack them in an amount that is easy to transport. Move to the laying place.

And at other laying sites, each laying block 11-14
Are arranged on the work floor surface 5 while being connected to, for example, the pattern shown in FIG. 1, and the periphery of the arrangement block is fixed to the floor surface by anchor pins or bolts.

After that, the connector is connected to another induction wire or an induction signal generator. This completes the movement of the laying place.

As described above, in this embodiment, the guideway 10 is constructed by arranging and connecting the laying blocks 11 to 14 in which the guide wires of four different patterns are buried along the guide route of the unmanned work vehicle. Therefore, it is possible to easily change the loading and unloading place of the unmanned work vehicle, and laying and removing it can be done easily in a short time, especially for transporting materials and equipment at construction sites. Will be suitable.

Further, since the taxiway 10 is formed by combining the laying blocks 11 to 14 according to the guidance route, it is easy to expand and reduce the loading / loading place, and the management when not in use is also possible. It will be easier.

Furthermore, the running line 1 and the signaling line 2 which form the taxiway
By providing a connector at the lead-out end, it becomes easy to connect and disconnect with other induction wires or induction signal generators.

3 and 4 show another embodiment of the present invention.

In this embodiment, the same parts as those in FIG. 1 are designated by the same reference numerals, and the description of the structure will be omitted.

That is, the point that is greatly different from FIG. 1 is that a taxiway portion 10A including a loading lane 1B composed of a running line 1 and a work signal line 2 and a turning lane 1E is configured by a combination of laying blocks 11 to 14, The traveling lane 1A and the loading lanes 1C and 1D consisting of only one are constructed by a guide cable 19 such as a captyre cable or an IV cable laid directly on the work floor surface 5.

In order to connect the induction cable 19 to the taxiway portion 10A,
A connecting block 20 is provided which is connected to the laying block 12.

The connecting block 20 is formed from a rectangular synthetic resin plate material as shown in FIGS. 4 (a) and 4 (b), and the guide wire 20a is embedded in the interior thereof in a straight line, and the laying block 12 is also provided. A coupling convex portion 21a and a coupling concave portion 21b are formed on the coupling end side with.

Further, on the side surface of the coupling convex portion 21a, a contact terminal 22 for connecting the embedded guide wire 20a to the contact terminal 16 of the coupling convex portion 15a of the laying block 12 is formed, and further, at the other end of the embedded guide wire 20a. Is connected to a connector 23 for connecting the induction cable 19.

Furthermore, the connecting block 20 has a structure in which the thickness is gradually reduced from the coupling convex portion 21a or the coupling concave portion 21b toward the connector 23 side, whereby the unmanned work vehicle gets on and off the laying block 12. To facilitate.

In this other embodiment of the present invention, the same operation and effect as the embodiment of FIG. 1 can be obtained, and by adding the connecting block 20, the guide cable 19 can be directly attached to the work floor surface. The unmanned work vehicle driving lane 1A
It is even easier to lay down the loading lanes 1C and 1D.

Also, there is no big impact when getting on and off the unmanned work vehicle on the taxiway part 10A consisting of the laying blocks 11 to 14,
Allows safe driving of unmanned work vehicles.

In the above embodiment, the guide wire laying at the loading / unloading place was described, but it can be applied to all cases of forming the guide travel route of the unmanned work vehicle, and the guide wire pattern is also used in the embodiment. It is not limited to one.

In addition, the pattern of the guide wire embedded in the laying block,
The shape and connection structure of the laying block are not limited to those in the above embodiment.

(Effect of the Invention) As described above, according to the present invention, each flat plate-shaped laying block selected according to the pattern of the loading lane and the traveling lane is connected to adjacent contact portions and adjacent contact terminals. It is possible to form a single-stroke guideway for traveling and signaling by simply arranging it along the loading lane and the traveling lane on the work floor of the unmanned work vehicle while connecting the Since the connecting uneven portion is provided with the contact terminal, the buried guide wire of the adjacent flat plate-shaped laying block can be connected only by connecting the adjacent uneven portions. Moreover, it is possible to easily lay the taxiway for unmanned work vehicles on the work floor and remove it from the work floor, and the place for picking up and placing equipment is frequently changed like at a construction site. Even if it is, you can easily change the loading / unloading place of the unmanned work vehicle,
The reduction / enlargement becomes easy.

Further, according to the present invention, since the connection block is added, the guide cable can be connected to the guide path formed by the flat laying block, and by laying this guide cable on the work floor surface, the unmanned work vehicle can be The running lane and the loading lane can be more easily configured.

Further, according to the present invention, the thickness of the connecting block is gradually reduced from the connection side with the flat plate laying block to the opposite side thereof, so that the unmanned work vehicle for the taxiway including the flat laying block can be provided. There is no big impact when getting on and off, and it is possible to safely drive an unmanned work vehicle.

[Brief description of drawings]

1 is a schematic perspective view of a guiding device according to the present invention, FIG. 2 (a) is a plan view of a laying block, FIG. 2 (b) is a side view thereof, and FIG. 3 is another embodiment of the present invention. FIG. 4 (a) is a plan view of a connecting block, FIG. 4 (b) is a side view thereof, and FIG. 5 is a guide wire pattern diagram for explaining a conventional guide wire laying method. FIG. 6 is a cross-sectional view showing a conventional guide wire installation state. In the figure, 1 is a running line, 2 is a work signal line, 10 is a taxiway, and 11,1
2, 13, 14 are laying blocks, 11a, 12a, 13a, 14a are guide wires, 19
Is a connection block.

Claims (3)

(57) [Scope of utility model registration request] 1. A guide device for an unmanned work vehicle, comprising guide lines installed in a loading lane facing a loading place and a traveling lane for running the unmanned work vehicle between the loading lane and the loading place. It has a plurality of types of flat plate laying blocks in which guide wires with different wiring patterns are embedded, and at the outer peripheral edge of each flat plate laying block, an uneven portion for coupling is formed at the end of the guide wire. A contact terminal to which the end of the guide wire is connected is provided in the uneven portion, and the flat plate-shaped laying blocks selected according to the pattern of the loading lane and the traveling lane are connected to adjacent uneven portions. In addition, connecting the adjacent contact terminals and arranging along the loading lane and the traveling lane on the work floor surface of the unmanned work vehicle to form a guideway for traveling and signaling, and further, the loading lane and the traveling lane. Between the open ends of the A guide device for an unmanned work vehicle, wherein guide lines of a loading lane and a traveling lane are connected in series by arranging each of the flat plate-shaped laying blocks selected according to the shape pattern. 2. A guide device for an unmanned work vehicle, comprising a loading lane facing a loading place and a guide line in a traveling lane for running the unmanned work vehicle between the loading lane and the loading place. It has a plurality of types of flat plate laying blocks in which guide wires with different wiring patterns are embedded, and at the outer peripheral edge of each flat plate laying block, an uneven portion for coupling is formed at the end of the guide wire. A contact terminal to which the end of the guide wire is connected is provided in the uneven portion, and the flat plate-shaped laying blocks selected according to the pattern of the loading lane and the traveling lane are connected to adjacent uneven portions. And, while connecting adjacent contact terminals, they are arranged along the loading lane and the traveling lane on the work floor of the unmanned work vehicle to form a guideway for traveling and signaling, and the open end of this traveling guideway is formed. Of flat plate laying block equivalent to A flat plate-shaped connecting block in which a guide wire to be connected to one end of the buried guide wire is embedded in the uneven portion is connected by the uneven portion formed on this, and an induction cable is connected to the other end of the guide wire of this connecting block. A guideway for an unmanned work vehicle, wherein the guide cable is laid on the work floor surface to form a guideway connected to the guideway formed by the flat plate-shaped laying blocks. 3. The guiding apparatus for an unmanned work vehicle according to claim 2, wherein the thickness of the connecting block is gradually reduced from the side where the flat plate-shaped laying block is connected to the side opposite to the side where the flat block is laid.