JP3613548B2 - Automated guided vehicle system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention is provided with position detection marks installed at a plurality of locations on a predetermined traveling path, and the automatic guided vehicle detects each position detection mark and detects the traveling position of the own vehicle, and guides by the guiding means. The present invention relates to an automated guided vehicle system that is moved.
[0002]
[Prior art]
In general, the automatic guided vehicle is controlled by a control device and moves by being guided by a guiding means on a predetermined traveling path by a switch operation or the like to the control device by an operator. It is necessary to inform the control device where the transport vehicle is traveling.
[0003]
For this reason, position detection marks for recognizing the current position are provided at a plurality of preset positions on the floor. Usually, magnetic tapes with magnetism are used for the position detection marks. Then, the magnetism of the position detection mark made of a magnetic tape is detected by a magnetic sensor mounted on the automatic guided vehicle, and information indicating the detection is input to the control device to grasp the current position of the automatic guided vehicle.
[0004]
However, since only the position detection mark made of magnetic tape cannot obtain the absolute position of an automatic guided vehicle traveling in a warehouse, for example, and necessary information for performing the required transport control, it is difficult to obtain electronic information on the floor. Conventionally, a position detection mark composed of an ID tag such as an IC card composed of a circuit is installed in addition to the above-described position detection mark composed of a magnetic tape. In this case, the automatic guided vehicle passes a position detection mark made up of an ID tag, so that a 4-bit signal transmitted from the ID tag is received by a receiver provided in the automatic guided vehicle, and an absolute value based on the received signal is used. Information related to the position and other information necessary for transport control are input to the control device.
[0005]
By the way, as the guiding means for guiding the automatic guided vehicle, for example, there are a magnetic induction method and an electromagnetic induction method, and the former magnetic induction method is as shown in FIG. 7 which is a cc cross section in FIG. 6 and FIG. The coated magnetic derivative 3 formed by coating a long magnetic derivative 3B such as a magnetic tape with a vinyl chloride cover 3A is continuously or intermittently laid on the floor along a predetermined traveling path, and the automatic guided vehicle 1 is a system that travels while detecting the magnetism of the coated magnetic derivative 3 by the magnetic sensor mounted in 1.
[0006]
In FIG. 6, 1A is a wheel of the automatic guided vehicle 1, 2 is a covering position detection mark, and the covering position detection mark 2 is a dd cross section in FIG. A position detection mark 2B made of the above-mentioned magnetic tape or ID tag is covered with a vinyl chloride cover 2A.
[0007]
On the other hand, in the latter electromagnetic induction system, as shown in FIG. 9, an induction wire 5 is embedded in the floor along a predetermined traveling path, and a high-frequency current is passed through the induction wire 5. This is a system in which the pickup coil mounted in 1 travels while detecting the magnetic field generated in the induction wire 5 by the flow of the high-frequency current. Also in this case, the covering position detection marks 2 are installed at a plurality of predetermined locations on the floor.
[0008]
In the magnetic induction method, the above-described guiding means is constituted by the coated magnetic derivative 3 and the magnetic sensor, and in the electromagnetic induction method by the induction wire 5 and the pickup coil. The automatic guided vehicle 1 is guided and determined by this guiding means. The vehicle travels automatically on the travel route, detects the covering position detection mark 2 during the travel, and inputs information such as the current position to the control device. Furthermore, when the automatic guided vehicle 1 reaches the pick-up position where the package should be delivered, the automatic guided vehicle 1 stops and delivers the package.
[0009]
[Problems to be solved by the invention]
However, in the above-described automatic guided vehicle system, as shown in FIG. 8, the covering position detection mark 2 is installed by being adhered to the floor 4 by the double-sided tape 2 </ b> C provided on the back surface side of the covering position detection mark 2. Although this covering position detection mark 2 is thin, it protrudes from the floor 4 by about 2.7 mm. Therefore, the covering position detection mark 2 is easily damaged by being stepped on the automatic guided vehicle 1, the manned forklift, the hand cart, and the person. Therefore, there has been a problem that complicated pasting work is required.
[0010]
Furthermore, since the covering position detection mark 2 is installed just on the passing line of the wheel 1A of the automatic guided vehicle 1, the automatic guided vehicle 1 gets over the step of the covering position detection mark 2, and vibrations are generated when it gets over. There was also the inconvenience that the unmanned transport vehicle 1 collapsed.
[0011]
On the other hand, in the automatic guided vehicle system adopting the magnetic induction method, as shown in FIG. 8, like the covering position detection mark 2, it is adhered to the floor 4 by the double-sided tape 3 </ b> C provided on the back side of the covering magnetic derivative 3. Since the coated magnetic derivative 3 is laid, the coated magnetic derivative 3 protrudes from the floor 4 by about 2.7 mm, and the same problem as the problem related to the coated position detection mark 2 described above occurs.
[0012]
On the other hand, in the automatic guided vehicle system adopting the electromagnetic induction method, as shown particularly in FIG. 10 which is an ee cross section in FIG. 9, a concave groove 5 </ b> A is formed in a predetermined portion of the floor 4 in order to bury the induction wire 5. Since it is necessary to process the groove 5A, it takes time to construct the concave groove 5A, and there is a problem that it is not easy to change the layout accompanying the change of the traveling path of the automatic guided vehicle 1.
[0013]
The problem to be solved by the present invention is to make it possible to form a substantially flat and stepless traveling path with a simple configuration.
[0014]
[Means for Solving the Problems]
In order to solve the above-described problems, the present invention includes position detection marks installed at a plurality of locations on a predetermined traveling path, and the automatic guided vehicle detects each position detection mark and travels on its own vehicle. In the automatic guided vehicle system that is guided and moved by the guiding means while detecting the position, a floor material having a thickness substantially equal to each position detection mark is laid on the travel path, and each position of the floor material is set. It is characterized in that a notch is formed at a position corresponding to the installation position of the detection mark.
[0015]
According to such a configuration, since the installation position of each position detection mark is known in advance, a notch is formed at a position corresponding to the installation position of the position detection mark on the flooring. By sequentially extending the floor material wound in a roll shape so as to match the installation position of each position detection mark, the floor material can be easily laid along the traveling path.
[0016]
At this time, since the flooring has the same thickness as each position detection mark, the position detection mark is not damaged and the position detection mark is not damaged because the position detection mark does not protrude and a substantially flat travel path is formed. There is no need to cover the detection mark itself with a vinyl chloride cover, and complicated maintenance work such as periodic replacement of the position detection mark as in the prior art becomes unnecessary. Furthermore, since there is no step in the travel path, it is possible to prevent the unloading of the automatic guided vehicle.
[0017]
In the present invention, the guiding means includes a magnetic derivative installed on the travel path and a magnetic sensor provided in the automatic guided vehicle to detect the generated magnetism of the magnetic derivative, and the magnetic material of the flooring A cutout portion is formed at a position corresponding to the installation position of the derivative, and the magnetic derivative is inserted into the cutout portion.
[0018]
In this way, even when the automated guided vehicle is guided by the magnetic induction method, the magnetic derivative of the guiding means is inserted into the cutout portion of the flooring, so the magnetic derivative is installed without protruding from the upper surface of the flooring. It is possible to prevent the magnetic derivative from being damaged without covering the magnetic derivative with the vinyl chloride cover, and also to generate vibration when the automatic guided vehicle passes over the magnetic derivative. Can be prevented.
[0019]
Moreover, the automatic guided vehicle system of the present invention is characterized in that the floor material has conductivity. Furthermore, it is desirable that the flooring has a thickness substantially equal to that of the magnetic derivative.
[0020]
In this way, even when static electricity is generated due to the rotational friction force generated between the wheels and the floor during the traveling of the automatic guided vehicle, the static electricity can be released to the ground through the wheels and the conductive floor material during the traveling. In addition, by making the thickness of the magnetic derivative of the guiding means and the floor material almost the same, it is possible to form a substantially flat traveling path without any steps, and reliably prevent damage to the magnetic derivative and collapse of the automated guided vehicle. can do.
[0021]
Further, in the automatic guided vehicle system of the present invention, the guide means detects an induction wire installed in the traveling path and through which an electric current flows, and a magnetic field provided in the automatic guided vehicle and generated by the current to the induction wire. The flooring is laid on both sides of the induction wire.
[0022]
In this way, it is possible to install the guiding wire of the guiding means without protruding from the upper surface of the floor material even when the automatic guided vehicle is guided by the electromagnetic induction method, and the conventional wire burying Therefore, the time and labor required for forming the travel path can be greatly simplified as compared with the case where the concave grooves are formed.
[0023]
Furthermore, since floor materials are only laid on both sides of the induction wire, the layout can be changed very easily even if it is necessary to change the traveling path of the automatic guided vehicle.
[0024]
Moreover, the automatic guided vehicle system of the present invention is characterized in that the flooring has non-conductivity. At this time, the flooring may have a thickness substantially equal to the diameter of the induction wire.
[0025]
In this way, since the flooring material is non-conductive, eddy current does not flow through the flooring material even when the magnetic field generated by the high-frequency current flow through the induction wire is linked to the flooring material, and stable induction It is possible to reliably guide the automatic guided vehicle by forming a magnetic field. At this time, if an eddy current flows through the flooring material, the magnetic field generated by the eddy current weakens the magnetic field generated by the induced high-frequency current or distorts the distribution of the magnetic field, causing trouble in driving guidance. However, such inconvenience can be prevented by making the flooring non-conductive.
[0026]
Furthermore, by making the diameter of the induction wire of the induction means and the thickness of the floor material substantially the same, it is possible to form a substantially flat running path without a step, and the induction wire is not stepped on and damaged, The unloading of the automatic guided vehicle due to the step can be reliably prevented.
[0027]
In addition, the automatic guided vehicle system of the present invention is characterized in that the flooring is given a predetermined coloring. In this case, by coloring the flooring, it becomes possible for the operator to easily recognize that it is a traveling path of the automatic guided vehicle, and safety can be improved.
[0028]
DETAILED DESCRIPTION OF THE INVENTION
(First embodiment)
A first embodiment when the present invention is applied to an automatic guided vehicle system employing a magnetic induction system will be described with reference to FIGS. 1 to 3. However, FIG. 1 is a partial exploded perspective view, FIG. 2 is a perspective view showing the overall configuration, and FIG. 3 is a cross-sectional view taken along the line aa of FIG.
[0029]
As shown in FIG. 1, the position detection mark 7A made of a magnetic tape or ID tag and the magnetic derivative 8A made of a magnetic tape have the same or slightly larger thickness and can be wound into a roll. A flooring 6 having flexibility, load resistance enough to withstand the load of the automatic guided vehicle 1 and conductivity is prepared.
[0030]
The floor material 6 is formed with notches 7B for insertion of the respective position detection marks 7A for each position corresponding to the installation positions of the respective position detection marks 7A, and also corresponds to the installation positions of the respective magnetic derivatives 8A. A cutout portion 8B for insertion of each magnetic derivative 8A is formed for each position.
[0031]
At this time, since the installation positions of the respective position detection marks 7A and the respective magnetic derivatives 8A are known in advance, the respective notches are provided at positions corresponding to the respective installation positions of the respective position detection marks 7A and the respective magnetic derivatives 8A of the flooring 6. 7B and each cutout part 8B are formed, respectively, and the flooring 6 is wound into a roll shape so as to be easily transported.
[0032]
Then, as shown in FIGS. 1 and 2, the cutout portions 7B and the cutout portions 8B are wound in a roll shape so as to match the respective installation positions of the position detection marks 7A and the magnetic derivatives 8A. As shown in FIG. 3, the position detection marks 7A and the magnetic derivatives 8A are respectively inserted into the cutout portions 7B and the cutout portions 8B, as shown in FIG. 7A and each magnetic derivative 8A are bonded and fixed to the floor 4 with double-sided tape. The flooring 6 is preferably grounded with a dedicated ground wire, and the flooring 6 itself is preferably bonded and fixed to the floor 4 with an adhesive or double-sided tape.
[0033]
Here, the length of the cutout 8B is set to, for example, 1 m equal to the length of the magnetic derivative 8A, and the interval between the adjacent cutouts 8B is set to 50 mm, for example, equal to the interval between the adjacent magnetic derivatives 8A. Also, the thickness of the flooring 6 is slightly larger than the thickness of the position detection mark 7A and the magnetic derivative 8A (= 1.6 mm) (= about 2.0 mm) as shown in FIG. The width of the automatic guided vehicle 1 is slightly wider than that of the automatic guided vehicle 1 with an allowance. Furthermore, the flooring 6 is colored in red, for example, so that the operator can confirm by color that the automatic guided vehicle 1 is a traveling path.
[0034]
By the way, as described above, it is desirable to use a material having load resistance, flexibility and conductivity, for example, a product name “IC Floor / SKY-9W” manufactured by Achilles Co., Ltd. for the flooring 6.
[0035]
Therefore, according to the first embodiment, since the flooring 6 has the same thickness as each position detection mark 7A and each magnetic derivative 8A, each position detection mark 7A and each magnetic derivative 8A is separated from the upper surface of the flooring 6. A substantially flat travel path can be formed without protruding.
[0036]
Therefore, the position detection marks 7A and the magnetic derivatives 8A are not damaged, and it is not necessary to cover the position detection marks 7A and the magnetic derivatives 8A themselves as in the prior art. Complicated maintenance work such as periodic replacement of the detection mark 7A and each magnetic derivative 8A becomes unnecessary.
[0037]
Furthermore, since there is no step on the travel path, vibration of the automatic guided vehicle 1 does not occur when passing through the step, and the unloading of the automatic guided vehicle 1 can be prevented.
[0038]
Further, since the flooring 6 has conductivity, static electricity generated by the rotational friction force generated between the wheel 1A of the automatic guided vehicle 1 and the flooring 6 can be released to the ground through the wheel 1A during traveling. Therefore, accumulation of static electricity on the vehicle body can be prevented in advance.
[0039]
Furthermore, by coloring the flooring 6 in red, an operator can easily recognize that the traveling path of the automatic guided vehicle 1 is achieved, and safety can be improved.
[0040]
In addition, since the cutout portion 7B and the cutout portion 8B can be processed in advance at a place different from the construction (laying) site of the flooring 6, the construction period at the construction (laying) site can be shortened compared to the conventional case. In addition, even if there is a change in the layout of the traveling path of the automatic guided vehicle 1, it is possible to easily cope with this by preparing a new flooring 6 separately.
[0041]
Needless to say, the length of the cutout portion 8B and the formation interval of the adjacent cutout portions 8B are not limited to the above-mentioned numerical values, respectively. Any distance may be used as long as it can travel within the required travel guidance accuracy without detecting the magnetism of the magnetic derivative 8A. The distance may be longer than 50 mm, or shorter than 50 mm. It may be configured with an interval, and may not have an interval. However, when the interval is set, the flooring material is easy to handle without breaking apart, and the workability is good.
[0042]
Moreover, although it is characterized by having electroconductivity as a material used as the flooring 6, when the countermeasure against static electricity is fully taken in the automatic guided vehicle 1, or when generation | occurrence | production of static electricity does not become a problem, A non-conductive floor material 6 may be used.
[0043]
Moreover, although the above-mentioned 1st Embodiment has demonstrated the case where the one flooring 6 was laid in the floor 4, according to the relationship with the laying space, two or more flooring 6 is continuously attached. Needless to say, it may be laid.
[0044]
Further, in the first embodiment, the case where the flooring 6 is colored red is described, but it is needless to say that the coloring is not limited to red and may be any color.
[0045]
(Second Embodiment)
A second embodiment in which the present invention is applied to an automated guided vehicle system employing an electromagnetic induction method will be described with reference to FIGS. 4 and 5. 4 is a perspective view showing the overall configuration, and FIG. 5 is a cross-sectional view taken along line bb of FIG. 4 and 5, the same reference numerals as those in FIGS. 1 to 3 and 9 denote the same or equivalent parts.
[0046]
As shown in FIG. 4, in the present embodiment, floor materials 10 and 10 are laid on both sides of the induction wire 5 on the traveling path, and the floor materials 10 and 10 correspond to the installation positions of the position detection marks 7A. A cutout portion 7B for insertion of each position detection mark 7A is formed for each position, and each cutout portion 7B is wound in a roll shape so as to match the installation position of each position detection mark 7A. The floor materials 10 and 10 are sequentially extended to both sides of the induction wire 5, and then, as shown in FIG. 5, each position detection mark 7A is inserted into each notch portion 7B, and each position detection mark 7A is attached to the double-sided tape. Adhere to the floor 4 and fix.
[0047]
At this time, as shown in FIG. 5, it is desirable that the thicknesses of the flooring materials 10 and 10 are equal to the diameter of the induction wire 5 and the thickness of each position detection mark 7A. In addition, the flooring materials 10 and 10 may be made of a non-conductive material having flexibility that can be wound in a roll shape and load resistance that can sufficiently withstand the load of the automatic guided vehicle 1.
[0048]
Therefore, according to the second embodiment, as in the first embodiment described above, the position detection marks 7A and the induction wires 5 hardly protrude from the upper surfaces of the flooring materials 10 and 10, and a substantially flat traveling path is formed. Since it can be formed, there is no need to cover each position detection mark 7A itself as in the prior art, and complicated maintenance work such as regular replacement of each position detection mark 7A as in the prior art becomes unnecessary. The load collapse of the automatic guided vehicle 1 can be prevented.
[0049]
In addition, it is not necessary to construct a ditch for embedding an electric wire as in the prior art, and the time and labor required for forming the travel path can be greatly simplified compared to the case of forming a ditch, and the induction wire Since the floor materials 10 and 10 are only laid on both sides of 5, the layout can be changed very easily even if it is necessary to change the traveling path of the automatic guided vehicle 1.
[0050]
Furthermore, since the floor materials 10 and 10 are non-conductive, a high-frequency current is passed through the induction wire 5 and a magnetic field generated in the induction wire 5 is detected by a pickup coil on the automatic guided vehicle 1 side. Even if the magnetic field generated by the flow of the air is interlinked with the flooring materials 10 and 10, eddy current does not flow through the flooring materials 10 and 10, and a stable guiding magnetic field is formed to ensure the automatic guided vehicle 1 Can be guided.
[0051]
At this time, if the flooring 10, 10 is colored, for example, in red, the operator can easily recognize that it is a traveling path of the automatic guided vehicle 1.
[0052]
In the second embodiment described above, the case where two flooring materials 10 and 10 are laid on both sides of the induction wire 5 is illustrated and described. However, a larger number of flooring materials 10 and 10 are laid. It doesn't matter.
[0053]
In the second embodiment described above, a case is described in which the thickness of the floor materials 10 and 10 is equal to the diameter of the induction wire 5 and the thickness of each position detection mark 7A. The thickness may be equal to or greater than the thickness of each position detection mark 7 </ b> A and the diameter of the induction wire 5. If it carries out like this, when the automatic guided vehicle 1 is a three-wheel or when an induction wire branches, it can prevent that the induction wire 5 is stepped on by a wheel and is damaged.
[0054]
The present invention is not limited to the above-described embodiments, and various modifications other than those described above can be made without departing from the spirit of the present invention.
[0055]
【The invention's effect】
As described above, according to the first aspect of the present invention, the position detection mark is not damaged because the position detection mark is not damaged, and the position detection mark itself is not damaged. The need to cover the cover with a vinyl chloride cover is no longer necessary, and there is no need for complicated maintenance work such as regular replacement of position detection marks as in the past. It is possible to prevent collapse and to provide a highly reliable automatic guided vehicle system.
[0056]
In addition, because the flooring can be processed in advance in a place different from the construction site, the construction period at the construction site can be shortened compared to the conventional method, and further, the automated guided vehicle can be run. Even if there is a change in the layout of the road, it is possible to easily cope with it by separately preparing a new flooring material.
[0057]
Furthermore, by color-coding the flooring, a person can easily identify the traveling course of the automated guided vehicle, and safety measures can be taken.
[0058]
According to the second aspect of the present invention, even when the automated guided vehicle is guided by the magnetic induction method, the magnetic derivative is used for inserting the magnetic derivative of the guiding means into the cutout portion of the flooring. It can be installed without protruding from the upper surface of the material, and it is possible to prevent the magnetic derivative from being damaged even if the magnetic derivative is not covered with the vinyl chloride cover. It is also possible to prevent the occurrence of vibrations when passing through.
[0059]
According to the invention described in claim 3, even when static electricity is generated due to the rotational friction force generated between the wheel and the floor during the traveling of the automatic guided vehicle, the wheel and the conductive floor during the traveling are generated. You can escape to the earth through the materials. Furthermore, as described in claim 4, by making the thickness of the magnetic derivative of the guiding means substantially the same as that of the flooring material, it is possible to form a substantially flat travel path without a step, and damage of the magnetic derivative or unmanned It is possible to reliably prevent the conveyance vehicle from collapsing.
[0060]
Further, according to the invention described in claim 5, even when the automatic guided vehicle is guided by the electromagnetic induction method, it is possible to install the guide wire of the guide means without protruding from the upper surface of the flooring. In addition, it becomes unnecessary to construct a ditch for embedding an electric wire as in the prior art, and the time and labor required to form the travel path can be greatly simplified as compared with the case where a ditch is formed.
[0061]
Furthermore, since floor materials are only laid on both sides of the induction wire, the layout can be changed very easily even if it is necessary to change the traveling path of the automatic guided vehicle.
[0062]
Further, according to the invention described in claim 6, even if the magnetic field generated by the flow of the high-frequency current to the induction wire is interlinked with the flooring material, the eddy current does not flow through the flooring material, and the stable induction It is possible to reliably guide the automatic guided vehicle by forming a magnetic field.
[0063]
Further, as described in claim 7, by making the diameter of the guide wire of the guide means substantially the same as the thickness of the flooring, it is possible to form a substantially flat travel path without a step, and the guide wire can be stepped on. In rare cases, it can be prevented from being damaged.
[0064]
According to the invention described in claim 8, by coloring the flooring, it is possible to easily recognize that the worker is a traveling path of the automatic guided vehicle, and to improve safety. It becomes possible.
[Brief description of the drawings]
FIG. 1 is a perspective view of a first embodiment of the present invention.
FIG. 2 is a perspective view showing the overall configuration of the first embodiment of the present invention.
FIG. 3 is a cross-sectional view of the first embodiment of the present invention.
FIG. 4 is a perspective view showing an overall configuration of a second embodiment of the present invention.
FIG. 5 is a cross-sectional view of a second embodiment of the present invention.
FIG. 6 is a perspective view of a conventional example.
7 is a cross-sectional view taken along line cc of FIG.
8 is a cross-sectional view taken along line dd in FIG.
FIG. 9 is a perspective view of another conventional example.
10 is a cross-sectional view taken along the line ee of FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Automatic guided vehicle 7A Position detection mark 8A Magnetic derivative | guide_body 5 Guide wire 6, 10 Floor material 7B Notch part 8B Notch part

Claims (8)

Provided with position detection marks installed at a plurality of locations on a predetermined traveling path, the automatic guided vehicle moves by being guided by the guiding means while detecting the position of the own vehicle by detecting each position detection mark. In the automated guided vehicle system,
A floor material having a thickness substantially equal to each position detection mark is laid on the travel path, and a notch portion is formed at a position corresponding to the installation position of each position detection mark on the floor material. Automated guided vehicle system. The guiding means includes a magnetic derivative installed on the travel path and a magnetic sensor provided on the automatic guided vehicle to detect the generated magnetism of the magnetic derivative, and corresponds to the installation position of the magnetic derivative on the flooring. The automatic guided vehicle system according to claim 1, wherein a cutout portion is formed at a position where the magnetic derivative is inserted, and the magnetic derivative is inserted into the cutout portion. The automatic guided vehicle system according to claim 2, wherein the flooring material has conductivity. The automatic guided vehicle system according to claim 2 or 3, wherein the flooring has a thickness substantially equal to that of the magnetic derivative. The induction means includes an induction wire that is installed in the travel path and through which current flows, and a coil that is provided in the automatic guided vehicle and detects a magnetic field generated by the current to the induction wire, and the flooring is the The automatic guided vehicle system according to claim 1, wherein the automatic guided vehicle system is laid on both sides of the induction wire. The automatic guided vehicle system according to claim 5, wherein the flooring material is non-conductive. The automatic guided vehicle system according to claim 5 or 6, wherein the flooring has a thickness substantially equal to the diameter of the induction wire. The automatic guided vehicle system according to any one of claims 1 to 7, wherein the flooring is given a predetermined coloring.

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