JP6076292B2 - Automatic guided vehicle, control device and control method thereof - Google Patents

Description

  The present invention relates to an automatic guided vehicle configured to travel along a guide belt installed on a floor and configured to travel in a reverse direction after stopping at a station.

  Japanese Patent No. 5030119 (Patent Document 1) describes an automatic guided vehicle that travels while detecting a travel guide provided on a road surface. The automatic guided vehicle described in the publication carries a load from one station to another by performing a so-called switchback that reverses the traveling direction by 180 degrees.

  In the automatic guided vehicle, the caster is inverted at a relatively early stage after the switchback by intentionally tilting the posture of the automatic guided vehicle when switching back. Thereby, the automatic guided vehicle can arrive at another station in an appropriate posture.

Japanese Patent No. 5030119

  However, in the above-described automatic guided vehicle, since the posture of the vehicle body needs to be intentionally inclined, the automatic guided vehicle may interfere with the station when the switchback is performed. In order to avoid interference with the station, it is sufficient to secure a sufficient distance between the automatic guided vehicle and the station, but the delivery performance of the package deteriorates.

  The present invention has been made in view of the above, and provides a technique that contributes to both avoidance of interference with a station and delivery of luggage in an automatic guided vehicle that travels in a reverse direction after stopping at a station. For the purpose.

  The positioning device of the present invention employs the following means in order to achieve the above-described object.

According to a preferred embodiment of the automatic guided vehicle according to the present invention, an automatic guided vehicle is configured that travels along a guide belt installed on the floor and travels in a reverse direction after stopping at the station. The automatic guided vehicle includes a vehicle body, a pair of drive units arranged in a line along the traveling direction, a universal wheel arranged at four corners of the vehicle body, a sensor arranged in a pair at each of the pair of drive units, And a control device configured to control the drive unit based on positional deviation information from the sensor. The pair of drive units have a pair of drive wheels that are driven independently, and are configured to be turnable with respect to the vehicle body. In addition, the sensor is configured to detect a positional shift with respect to the guide band of the automatic guided vehicle. When the control device reverses the traveling direction, the automatic guided vehicle tilts the posture of the automatic guided vehicle toward the reverse traveling direction and the side opposite to the side where the station is arranged with respect to the guide band. after controlling a pair of drive units such that no skew, the AGV along the guide band to control a pair of driving units so that the vehicle travels. Here, the “vehicle body” in the present invention is a concept including a cart body integrated with the automatic guided vehicle in addition to the automatic guided vehicle body to which a pair of drive units are attached. As the aspect "for controlling a pair of drive units so that the automatic guided vehicle runs along the guide zone" in the present invention, the automatic guided after AGV is obliquely without tilting the orientation of the AGV In the case where the vehicle is not displaced with respect to the guide belt, a mode in which the pair of drive units is controlled to maintain the state is applicable, and the automatic guided vehicle tilts without tilting the posture of the automatic guided vehicle. when the AGV after row is misaligned with respect to the induction zone, a pair so that the positional displacement controls a pair of driving units so that the zero immediately thereafter becomes the positional deviation becomes zero other embodiments for controlling the drive unit, a predetermined distance or a predetermined time along the guide bands AGV while maintaining the positional deviation after the skew without AGV inclines the attitude of the AGV Is the row, then, it controls the pair of drive units such that the positional deviation becomes zero, suitably includes a thereafter embodiment the positional deviation controlling the pair of driving units so as to be zero.

According to the present invention, when the automatic guided vehicle is inverted, the automatic guided vehicle is configured to be inclined without tilting the automatic guided vehicle toward the direction away from the station. The reversal of the free wheel can be promoted without tilting. Moreover, the swinging direction of the vehicle body caused by the reversal of the universal wheel is a direction away from the station. Thereby, the advancing direction of the automatic guided vehicle can be favorably reversed while preventing the automatic guided vehicle from interfering with the station. Further, the automatic guided vehicle can be stopped closer to the station as compared with the configuration in which the automatic guided vehicle is tilted when the traveling direction of the automatic guided vehicle is reversed. Thereby, the delivery property of the load between the automatic guided vehicle and the station can be improved. Of course, after the automatic guided vehicle is skewed without inclining the posture of the automatic guided vehicle, the automatic guided vehicle is configured to travel along the guide band, so that it is stable even after the traveling direction is reversed. An automated guided vehicle can be driven.

According to the further form of the automatic guided vehicle which concerns on this invention, a control apparatus controls a pair of drive unit so that an automatic guided vehicle may stop in the state which shifted | deviated to the side by which the station was arrange | positioned regarding the induction band. Then, when reversing the traveling direction, the control device controls the pair of drive units so that the automatic guided vehicle tilts without tilting the posture of the automatic guided vehicle until the positional deviation becomes zero.

According to the present embodiment, since the automatic guided vehicle is brought close to the station and stopped, it is possible to improve the delivery of luggage between the automatic guided vehicle and the station. Also, when reversing the direction of travel, the automatic guided vehicle that is displaced to the side where the station is located with respect to the guide band is simply tilted without tilting the automatic guided vehicle so that the positional deviation is zero. Because it is good, it is possible to realize both the avoidance of interference with the automatic guided vehicle station and the ability to deliver packages with simple control.

According to the further form of the automatic guided vehicle which concerns on this invention, a control apparatus controls a pair of drive unit so that an automatic guided vehicle may stop in the state which shifted | deviated to the side by which the station was arrange | positioned regarding the induction band. In addition, when the control device reverses the traveling direction, the automatic guided vehicle does not tilt the automatic guided vehicle until the position of the guide band is shifted to the side opposite to the side where the station is disposed. After the pair of drive units are controlled to run obliquely, the pair of drive units are controlled so that the positional deviation becomes zero. Then, the control device controls the pair of drive units so that the automatic guided vehicle travels along the induction band in a state where the positional deviation is zero.

According to the present embodiment, since the automatic guided vehicle is brought close to the station and stopped, it is possible to improve the delivery of luggage between the automatic guided vehicle and the station. Further, when reversing the direction of travel, the unmanned conveying the automatic guided vehicle station has displaced in the arranged side with respect to the induction period, until the station is arranged side with respect to the induction zone being displaced on the opposite side Since the vehicle is inclined without tilting the vehicle, reversal of the free wheel can be effectively promoted.

According to a further embodiment of the automatic guided vehicle according to the present invention, the control device, the I'm a radio person transport vehicle without tilting the attitude of the AGV that were skewed AGV is for induction zone Controls a pair of drive units so that the automated guided vehicle travels a predetermined distance or for a predetermined time along the guide band in a state where the position is shifted to the side opposite to the side where the station is disposed. To do.

  According to this embodiment, by setting the distance or time at which the universal wheel can be completely reversed as the predetermined distance or time, the universal wheel can be completely reversed during the predetermined distance or time. Thereby, a position shift can be returned to zero in the state where the automatic guided vehicle was stabilized.

  According to the further form of the automatic guided vehicle which concerns on this invention, a control apparatus is a pair based on the positional offset information from the sensor which becomes the front side of a advancing direction among a pair of sensors arrange | positioned at each of a pair of drive device. The drive unit is configured to be controlled.

  According to this embodiment, it is possible to quickly detect a positional shift of the drive unit with respect to the guide band and reflect it in the control of the drive unit. Thereby, the more stable driving | running | working of an automatic guided vehicle is realizable.

According to a preferred embodiment of the control device for the automatic guided vehicle according to the present invention, the automatic guided vehicle is controlled so as to travel along the guide belt installed on the floor, and the traveling direction is reversed after stopping at the station. A control device for the automatic guided vehicle is configured to control the automatic guided vehicle so as to travel. The AGV control apparatus, when reversing the traveling direction of the automatic guided vehicle, the unmanned automated guided vehicle toward the opposite side of the station with respect to inverting the traveling direction and the induction period is arranged side After the vehicle is skewed without tilting , the automatic guided vehicle is caused to travel along the guide band.

According to the present invention, when the automatic guided vehicle is reversed, the automatic guided vehicle is inclined in the reverse traveling direction and opposite to the side where the station is disposed with respect to the guide band. The inversion of the free wheel can be promoted without tilting the position of the transport vehicle. Moreover, the swinging direction of the vehicle body caused by the reversal of the universal wheel is a direction away from the station. Thereby, the advancing direction of the automatic guided vehicle can be favorably reversed while preventing the automatic guided vehicle from interfering with the station. Also, the automatic guided vehicle can be brought closer to the station and stopped when compared with the configuration in which the posture of the automatic guided vehicle is tilted when the traveling direction of the automatic guided vehicle is reversed. Thereby, the delivery property of the load between the automatic guided vehicle and the station can be improved. Of course, after the automatic guided vehicle is skewed without inclining the posture of the automatic guided vehicle, the automatic guided vehicle is configured to travel along the guide band, so that it is stable even after the traveling direction is reversed. An automated guided vehicle can be driven.

According to a preferred embodiment of the automatic guided vehicle control method of the present invention, the automatic guided vehicle is controlled so as to travel along the guide belt installed on the floor, and the traveling direction is reversed after stopping at the station. It is comprised so that an automatic guided vehicle may be controlled. The The AGV control method, when reversing the traveling direction of the automatic guided vehicle, the unmanned automated guided vehicle toward the opposite side of the station with respect to inverting the traveling direction and the induction period is arranged side The transport vehicle is tilted without tilting . Then, after the automatic guided vehicle is skewed, the automatic guided vehicle is caused to travel along the induction band.

According to the present invention, when the automatic guided vehicle is reversed, the automatic guided vehicle is tilted in the reverse direction of travel and toward the side opposite to the side where the station is disposed with respect to the guide band. Since it is the structure which carries out slanting without turning, the inversion of a free wheel can be accelerated | stimulated, without inclining the attitude | position of an automatic guided vehicle. Moreover, the swinging direction of the vehicle body caused by the reversal of the universal wheel is a direction away from the station. Thereby, the advancing direction of the automatic guided vehicle can be favorably reversed while preventing the automatic guided vehicle from interfering with the station. Also, the automatic guided vehicle can be brought closer to the station and stopped when compared with the configuration in which the posture of the automatic guided vehicle is tilted when the traveling direction of the automatic guided vehicle is reversed. Thereby, the delivery property of the load between the automatic guided vehicle and the station can be improved. Of course, after the automatic guided vehicle is skewed without inclining the posture of the automatic guided vehicle, the automatic guided vehicle is configured to travel along the guide band, so that it is stable even after the traveling direction is reversed. An automated guided vehicle can be driven.

  ADVANTAGE OF THE INVENTION According to this invention, the technique which contributes to coexistence with avoidance of an interference with a station and a package delivery property can be provided in the automatic guided vehicle which reverses the advancing direction after stopping at a station.

It is a lineblock diagram showing the outline of the composition of automatic guided vehicle 1 concerning an embodiment of the invention. It is an enlarged view which shows driving sensor RS and marker sensor MS in an enlarged manner. 5 is a flowchart showing an example of a switchback control routine executed by the electronic control unit 50 when the automatic guided vehicle 1 according to the embodiment of the present invention switches back. It is explanatory drawing which shows a mode that the automatic guided vehicle 1 which concerns on embodiment of this invention has stopped at station ST. It is explanatory drawing which shows the mode of driving | running | working sensor RS when the automatic guided vehicle 1 which concerns on embodiment of this invention stops at station ST. It is explanatory drawing which shows the state which turned the drive unit 10 when the automatic guided vehicle 1 which concerns on embodiment of this invention starts switchback. It is explanatory drawing which shows the state in which the automatic guided vehicle 1 which concerns on embodiment of this invention skewed in the direction away from station ST. It is explanatory drawing which shows the state which returned the turning angle of the drive unit 10 to zero degree, when the automatic guided vehicle 1 concerning embodiment of this invention inclines toward the station ST side. It is explanatory drawing which shows the mode of traveling sensor RS when the turning angle of the drive unit 10 is returned to zero degree. It is explanatory drawing which shows the state which the automatic guided vehicle 1 which concerns on embodiment of this invention skewed toward the station ST side. It is explanatory drawing which shows the state which the automatic guided vehicle 1 concerning embodiment of this invention completed switchback. It is a flowchart which shows an example of the switchback control routine of a modification.

  Next, the best mode for carrying out the present invention will be described using examples.

  FIG. 1 is a configuration diagram showing an outline of the configuration of an automatic guided vehicle 1 according to an embodiment of the present invention. As shown in FIG. 1, the automatic guided vehicle 1 according to the present embodiment includes a vehicle body 2, a pair of drive units 10 </ b> F and 10 </ b> R that are turnably attached to the vehicle body 2, and casters attached to four corners of the vehicle body 2. 4FL, 4FR, 4RL, 4RR, a battery 6 mounted on the vehicle body 2, a carriage 8 connected to the vehicle body 2, and an electronic control unit 50 for controlling the entire automatic guided vehicle 1 are provided. The automatic guided vehicle 1 corresponds to the “automatic guided vehicle” in the present invention, the vehicle body 2 and the carriage 8 correspond to the “vehicle body” in the present invention, and the pair of drive units 10F and 10R correspond to the “pair of automatic vehicles” in the present invention. It is an example of the implementation structure corresponding to a "drive unit." The casters 4FL, 4FR, 4RL, and 4RR correspond to the “universal wheel” in the present invention, and the electronic control unit 50 is an example of an implementation configuration corresponding to the “control device” in the present invention.

  As shown in FIG. 1, the vehicle body 2 is configured in a box shape with the lower part opened, and a pair of drive units 10F, 10R and casters 4FL, 4FR, 4RL, 4RR are attached to the lower part and electronic control is performed. The unit 50 is accommodated. On the upper surface of the vehicle body 2, there are provided a panel operation unit (not shown) for operating the automatic guided vehicle 1, a hook pin for pulling the carriage 8, a mounting unit for mounting the battery 6, and the like. The panel operation unit includes various push buttons for starting, stopping and emergency stopping of the automatic guided vehicle 1, indicator lights for displaying the state of the automatic guided vehicle 1, the traveling speed and the traveling program of the automatic guided vehicle 1, etc. It consists of an operation panel for various settings. The hook pin is configured to automatically move up and down by an actuator (not shown).

  As shown in FIG. 1, a non-contact type obstacle sensor OS that detects an obstacle in the traveling direction is provided on the front surface of the vehicle body 2. Further, on the front surface of the vehicle body 2, a communication device (not shown) for communicating with peripheral equipment and other automatic guided vehicles is provided.

  As shown in FIG. 1, the pair of drive units 10 </ b> F and 10 </ b> R are arranged in a line in a direction along the longitudinal direction of the vehicle body 2 (the vertical direction in FIG. 1). A motor (not shown) accommodated, a pair of drive wheels 14L and 14R driven by the motor, a turning shaft 16 that supports the drive units 10F and 10R to be turnable with respect to the vehicle body 2, and a pair of travel sensors RS And a pair of marker sensors MS. The pair of drive wheels 14L and 14R corresponds to the “pair of drive wheels” in the present invention, and the travel sensor RS is an example of an implementation configuration corresponding to the “sensor” in the present invention. Further, the aspect in which the pair of drive units 10F and 10R are arranged in a line in the direction along the longitudinal direction of the vehicle body 2 is an example of an implementation configuration corresponding to “arranged in a line along the traveling direction” in the present invention. is there.

The pair of drive units 10F and 10R are turned with respect to the vehicle body 2 when the drive wheels 14L and the drive wheels 14R are driven at different rotational speeds by a motor. That is, when the rotational speed of the drive wheel 14L is slower than the rotational speed of the drive wheel 14R (including the case where the rotational directions of the drive wheel 14L and the drive wheel 14R are opposite to each other), the pair of drive units 10F, 10R 2 is turned in the direction of the drive wheel 14L (left turn in the case of the traveling direction (arrow D direction) in FIG. 1), and conversely, the rotational speed of the drive wheel 14R is slower than the rotational speed of the drive wheel 14L ( A pair of drive units 10F and 10R turn in the direction of the drive wheel 14R relative to the vehicle body 2 (including the direction of travel in FIG. 1 (the direction of arrow D)), including the case where the rotation directions of the drive wheel 14L and the drive wheel 14R are opposite to each other. ) In the case of right turn).

  When the rotational speeds of the drive wheels 14L and 14R are equal (constant speed), the pair of drive units 10F and 10R do not turn with respect to the vehicle body 2 and are orthogonal to the axles of the drive wheels 14L and 14R. The automatic guided vehicle 1 is run.

  As shown in FIG. 1, the travel sensors RS are disposed in pairs at the front and rear end portions (vertical end portions in FIG. 1) of each of the pair of drive units 10 </ b> F and 10 </ b> R. As shown in FIG. 2, each of the pair of travel sensors RS includes three detectors RSL, RSC, RSR arranged in parallel to the axial direction of the axles of the drive wheels 14L, 14R, and is laid on the floor surface. The guide band 80 is detected. The travel sensor RS detects a displacement of the drive units 10L and 10R with respect to the induction band 80 based on on / off signals from the three detection units RSL, RSC, and RSR.

  In the present embodiment, each drive unit 10L is based on only on / off signals from the three detection units RSL, RSC, RSR of the travel sensor RS on the front side in the traveling direction of the automatic guided vehicle 1 among the pair of travel sensors RS. , 10R with respect to the guide band 80 is detected. In the present embodiment, the travel sensor RS is configured as a magnetic sensor, and the guide band 80 is configured by a magnetic tape or a reflective tape. A traveling track of the automatic guided vehicle 1 is configured by the guide band 80. The guide band 80 is an example of an implementation configuration corresponding to the “guide band” in the present invention.

  As shown in FIG. 1, the marker sensor MS is disposed at the front and rear ends (vertical ends in FIG. 1) of each of the pair of drive units 10 </ b> F and 10 </ b> R. As shown in FIG. 2, one marker sensor MS is disposed on each side of the travel sensor RS with the travel sensor RS interposed therebetween. That is, four marker sensors MS are arranged in total, two at the front end of each drive unit 10F, 10R and two at the rear end. The marker sensor MS is configured to detect a marker M laid near the induction band 80. In the present embodiment, the marker sensor MS is configured as a magnetic sensor.

As shown in FIG. 1, the carriage 8 includes casters 8 FL, 8 FR, 8 RL, and 8 RR at four corners. The casters 8 FL, 8 FR, 8 RL, and 8 RR are configured as universal wheels that support the weight of the carriage 8 and the weight of the cargo loaded on the carriage 8 and change directions following the traveling direction of the automatic guided vehicle 1. and it has CAS data 8 FL, 8 FR, 8 RL , 8 RR is an example of embodiment corresponds to "free wheel" in the present invention.

  The electronic control unit 50 is configured as a microprocessor centered on a CPU. In addition to the CPU, a ROM that stores a processing program, a RAM that temporarily stores data, an input / output port and a communication port (not shown), It has. The electronic control unit 50 includes a positional deviation signal from the travel sensor RS, a command signal from the marker sensor MS, a delivery completion signal from the station ST, and a signal necessary for managing the battery 6, for example, between terminals of the battery 6 A voltage between terminals from a voltage sensor (not shown) installed in the terminal, a current applied to a motor detected by a current sensor (not shown), and the like are input via an input port. The electronic control unit 50 outputs a drive signal to the motor via the output port. In the present embodiment, the output of the drive signal to the motor is performed based on a positional deviation signal from the travel sensor RS on the front side in the traveling direction of the automatic guided vehicle 1 out of the pair of travel sensors RS.

  The automatic guided vehicle 1 thus configured has a transverse mode that travels in a direction orthogonal to the longitudinal direction of the vehicle body 2 in a longitudinal direction of the vehicle body 2 in addition to a forward / reverse mode that travels in the direction along the longitudinal direction of the vehicle body 2. On the other hand, the vehicle travels along the guide band 80 while switching the skew mode that travels along the direction of inclination. In any mode, basically, the drive units 10L, 10R are driven by the electronic control unit 50 so that all of the three detection units RSL, RSC, RSR of the traveling sensor RS on the front side in the traveling direction detect the induction band 80. The rotational speeds of the drive wheels 14L and 14R are controlled.

  Next, the operation of the automatic guided vehicle 1 configured as described above, particularly the operation when traveling while switching back after stopping at the station ST will be described. FIG. 3 is a flowchart showing an example of a switchback control routine executed by the electronic control unit 50 when the automatic guided vehicle 1 according to the embodiment of the present invention switches back.

  In the present embodiment, as shown in FIG. 4, automatic guided vehicle 1 stops in a state where it is displaced toward station ST with respect to guide band 80. That is, as shown in FIG. 5, the automatic guided vehicle 1 includes a detection unit RSL disposed on the opposite side of the station ST side from the three detection units RSL, RSC, RSR of the traveling sensor RS on the front side in the traveling direction. The detection unit RSC arranged at the center is in the on state, and only the detection unit RSR arranged on the station ST side stops in the off state.

The stop operation of the automatic guided vehicle 1 to the station ST is such that the marker sensor MS on the right side, which is the front side in the traveling direction of the drive unit 10F, is more than the station ST in the traveling direction of the automatic guided vehicle 1 (arrow D direction in FIG. 4). The automatic guided vehicle starts by detecting the marker M laid on the near side (FIG. 2), and the automatic guided vehicle 1 is not inclined toward the station ST so that only the detection unit RSR is turned off. after a 1 is skew running, only the detection section RSR is stopped by running straight along the guide band 80 to the automatic guided vehicle 1 while maintaining the off state.

  In this way, the automatic guided vehicle 1 stops in a state where the automatic guided vehicle 1 is displaced toward the station ST with respect to the guide band 80, so that the automatic guided vehicle 1 can be stopped in a state of being closer to the station ST. Thereby, the delivery property of the load between the automatic guided vehicle 1 and the station ST can be improved.

  In such a stopped state, the package is delivered from the automatic guided vehicle 1 to the station ST side or from the station ST side to the automatic guided vehicle 1. When the delivery of the parcel is completed, a delivery completion signal is transmitted from the station ST side. When the transfer completion signal is received by the electronic control unit 50, the electronic control unit 50 executes a switchback control routine. In addition, switchback is prescribed | regulated as operation | movement which reverses the advancing direction of the automatic guided vehicle 1. FIG.

  When the routine is executed, the CPU of the electronic control unit 50 first sets the travel sensor RS that detects the guidance band 80 and the marker sensor MS that detects the marker M to the front side in the traveling direction ( After the traveling direction is reversed from each traveling sensor RS and each marker sensor MS which has been the upper side in FIG. 4, the traveling direction is switched to each traveling sensor RS and each marker sensor MS which is the front side in the traveling direction (lower side in FIG. 6). (Step S100), reading of the misalignment signal from each travel sensor RS is started (Step S102).

  Subsequently, of the driving wheels 14L and 14R of the driving units 10F and 10R, the driving wheel (driving wheel) on the opposite side to the side where the station ST is arranged in the traveling direction after reversal (direction of arrow D in FIG. 6). 14L or the drive wheel 14R) is rotated at the rotation speed VFS of the drive wheel (drive wheel 14R or drive wheel 14L) on the side where the station ST is arranged in the direction of travel after reversal (the direction of arrow D in FIG. 6). Each motor is controlled to be driven in a state slower than the VCS (step S104). For convenience of explanation, in the following explanation, it is assumed that the driving wheel on the opposite side of the station ST side in the direction of travel after reversal is the driving wheel 14L, and the driving wheel on the station ST side is the driving wheel 14R. explain.

  And the detection state of the detection part (detection part RSL or detection part RSR) on the opposite side to the station ST side among the three detection parts RSL, RSC, RSR of the travel sensor RS is determined (step S106). For convenience of explanation, in the following description, it is assumed that the detection unit on the opposite side to the station ST side in the traveling direction after inversion is the detection unit RSL, and the detection unit on the station ST side is the detection unit RSR. explain. The determination is performed by confirming whether the signal from the detection unit RSL is on or off. When the signal from the detection unit RSL is off, it is determined that the detection unit RSL is out of the induction band 80.

  If it is determined that the detection unit RSL is out of the induction band 80, the CPU of the electronic control unit 50 causes the drive wheels 14L and 14R of the drive units 10F and 10R to be driven at the same rotational speed (VFS = VCS). Each motor is controlled (step S108), and the detection states of both the detection unit RSL and the central detection unit RSC are determined (step S110). The determination is made by confirming whether the signals from the detection units RSL and RSC are on or off. When the signals from the detection units RSL and RSC are turned off, the detection units RSL and RSC It is determined that it has deviated from 80.

Thus, when the traveling direction of the automatic guided vehicle 1 stopped at the station ST is reversed and restarted, as shown in FIGS. 6 and 7, the station ST is arranged with respect to the guide band 80. The caster 4FL, 4FR, 4RL, 4RR attached to the vehicle body 2 and the carriage 8 is caused to run obliquely without tilting the posture of the automatic guided vehicle 1 toward the opposite side (direction away from the station ST). , 8 FL, 8 FR, 8 RL, 8 yaw angle of the RR (orientation) is, caster so that the direction to follow the traveling direction of the automatic guided vehicle 1 after switchback 4FL, 4FR, 4RL, 4RR, 8 FL , 8 FR, 8 RL, 8 RR can be promoted (FIGS. 7 and 8).

Specifically, caster 4FL, 4FR, 4RL, 4RR, 8 FL, 8 FR, 8 RL, 8 RR is caster 4FL, 4FR, 4RL, 4RR, 8 FL, 8 FR, 8 RL, 8 RR and the floor since the turning around the caster shaft is prevented by the frictional force between the body 2 and the dolly 8 in place is, caster 4FL, 4FR, 4RL, 4RR, 8 FL, 8 FR, 8 RL, 8 RR to be swung (pivot) around a point of contact with the floor surface by (arrow W direction in FIG. 7), caster 4FL, 4FR, 4RL, of 4RR, 8 FL, 8 FR, 8 RL, 8 RR The yaw angle (orientation) is changed.

Here, the mode in which the automatic guided vehicle 1 travels obliquely without tilting the posture of the automatic guided vehicle 1 toward the side opposite to the side where the station ST is arranged with respect to the guide band 80 (direction away from the station ST) is as follows. An embodiment corresponding to an aspect of the present invention corresponding to the aspect of “controlling the pair of drive units so that the automatic guided vehicle moves obliquely without inclining the posture of the automatic guided vehicle toward the direction of reversal and away from the station” It is an example.

Incidentally, the swing (turn) direction of the vehicle body 2 and carriage 8, as shown in FIG. 7, a direction away to the station ST, caster 4FL, 4FR, 4RL, 4RR, 8 FL, 8 FR, 8 RL, 8 When the yaw angle (orientation) of RR is changed, the vehicle body 2 and the carriage 8 do not interfere with the station ST. Thereby, the advancing direction of the automatic guided vehicle 1 can be favorably reversed while satisfactorily preventing the automatic guided vehicle 1 from interfering with the station ST.

  And if it determines with both detection part RSL and RSC having removed from the induction band 80 in step S110, the electronic control unit 50 will maintain each state from which only the detection part RSL was removed from the induction band 80 (FIG. 9). Each motor is controlled so that the drive units 10F and 10R travel straight along the guide band 80 (step S112).

In this way, after the automatic guided vehicle 1 is run obliquely without tilting the posture of the automatic guided vehicle 1 , as shown in FIG. 4FR, 4RL, 4RR, 8 FL , 8 FR, 8 RL, it is possible to reliably change the yaw angle of 8 RR (direction) in a direction to follow the traveling direction of the automatic guided vehicle 1 after the switchback. Thereby, driving | running | working of the subsequent automatic guided vehicle 1 can be made more stable.

  Subsequently, it is determined whether or not the marker M is detected by the marker sensor MS (step S114). When the marker M is detected, the CPU of the electronic control unit 50 controls each motor so that the rotational speed VCS of the driving wheel 14R is driven in a state lower than the rotational speed VFS of the driving wheel 14L (step). S116), the detection states of the three detectors RSL, RSC, RSR of the travel sensor RS are determined (step S118).

That is, when the marker M is detected, as shown in FIG. 10, toward the station ST is arranged side for the induction zone 80 of the automatic guided vehicle 1 (direction approaching the station ST) of the automatic guided vehicle 1 posture It is the structure which makes it run diagonally without tilting . Incidentally, the marker M is, in this embodiment, the skew running and straight running, without automatic guided vehicle 1 tilts the posture of the automatic guided vehicle 1, all of the caster 4FL, 4FR, 4RL, 4RR, 8 FL, 8 FR, 8 RL, 8 RR The yaw angle (orientation) of 8 RR is installed at a position away from the station ST by more than a distance that can be reliably changed to follow the traveling direction of the automatic guided vehicle 1 after switchback. The configuration is as follows.

  When it is determined that all the detection units RSL, RSC, RSR are on the induction band 80, the rotational speeds of the drive wheels 14L, 14R of the drive units 10F, 10R are the same (VCS = VFS). The motor is controlled (step S120), and this routine ends. That is, after all the detection units RSL, RSC, and RSR are turned on, the automatic guided vehicle 1 is caused to travel straight along the guide band 80 as shown in FIG.

  On the other hand, when it is determined that one of the three detection units RSL, RSC, RSR is out of the induction band 80, the detection units RSL, RSC, RSR out of the induction band 80 are on the induction band 80. Each motor is controlled such that both drive wheels 14L, 14R of each drive unit 10F, 10R are driven at the appropriate rotational speeds VCS, VFS (step S122). And if it determines with all the detection parts RSL, RSC, and RSR being on the induction | guidance | derivation band 80, the rotational speed of both the drive wheels 14L and 14R of each drive unit 10F and 10R will become the same (VCS = VFS). Each motor is controlled (step S120), and this routine is finished.

According to the automatic guided vehicle 1 according to the embodiment of the present invention described above, when the automatic guided vehicle 1 stopped at the station ST is re-started by switchback, the side on which the station ST is arranged with respect to the guide band 80. The automatic guided vehicle 1 is caused to travel obliquely without tilting the posture of the automatic guided vehicle 1 toward the opposite side to be shifted to the opposite side to the side where the station ST is disposed with respect to the guide band 80, after running straight along the automatic guided vehicle 1 in the induction zone 80 to the detection of the left marker M state is maintained was shifted, the automatic guided vehicle 1 toward the side of the station ST is arranged for the induction zone 80 the positional deviation to the induction zone 80 to zero by skew travel without tilting the posture of the automatic guided vehicle 1, since the positional deviation of the automatic guided vehicle 1 in the state of zero Since the configuration for running along the gubernaculum 80, without tilting the posture of the automatic guided vehicle 1, all of the caster 4FL, 4FR, 4RL, 4RR, yaw angle of 8 FL, 8 FR, 8 RL , 8 RR ( Direction) can be favorably changed so as to follow the traveling direction of the automatic guided vehicle 1 after the switchback.

Moreover, the caster 4FL, 4FR, 4RL, 4RR, 8 FL, 8 FR, 8 RL, 8 rocking of the vehicle body 2 and the dolly 8 generated with the yaw angle change RR (turning) direction, to the station ST Since the direction is away, the vehicle body 2 and the carriage 8 do not interfere with the station ST. Thereby, the advancing direction of the automatic guided vehicle 1 can be favorably reversed while satisfactorily preventing the automatic guided vehicle 1 from interfering with the station ST.

Moreover, compared with the structure which inclines the attitude | position of the automatic guided vehicle 1 when reversing the advancing direction of the automatic guided vehicle 1, the automatic guided vehicle 1 can be brought closer to the station ST and stopped. Thereby, the delivery property of the load between the automatic guided vehicle 1 and the station ST can be improved. Of course, after the automatic guided vehicle 1 is skewed without tilting the posture of the automatic guided vehicle 1, the automatic guided vehicle 1 travels along the guide band 80. In addition, the automatic guided vehicle 1 can be driven stably.

Moreover, according to the automatic guided vehicle 1 according to the embodiment of the present invention, the detection unit RSR on the station ST side out of the three detection units RSL, RSC, RSR of the travel sensor RS is out of the guide band 80. Since the automatic guided vehicle 1 is configured to run obliquely without tilting the posture of the automatic guided vehicle 1 until the detection unit RSL on the opposite side to the station ST is in a state of being out of the guide band 80, the caster 4FL , 4FR, 4RL, 4RR, 8 FL, 8 FR, 8 RL, 8 RR can be increased amplitude of the yaw angle. Thus, casters 4FL, 4FR, 4RL, can 4RR, 8 FL, 8 FR, 8 RL, 8 RR effectively facilitate tracking of the traveling direction of the automatic guided vehicle 1 after the switchback of the yaw angle of .

  In addition, according to the automatic guided vehicle 1 according to the embodiment of the present invention, the automatic guided vehicle 1 is configured to stop in a state where the automatic guided vehicle 1 is shifted to the side where the station ST is disposed with respect to the guide band 80. The vehicle 1 can be stopped in a state where it is closer to the station ST. Thereby, the delivery property of the load between the automatic guided vehicle 1 and the station ST can be improved.

  In the present embodiment, the automatic guided vehicle 1 is caused to travel straight along the guide band 80 while maintaining the position shifted until the marker M is detected. However, the present invention is not limited to this. For example, the automatic guided vehicle 1 is run obliquely, and the misaligned state is maintained until a predetermined time has elapsed from when it is determined that both the detection units RSL and RSC have deviated from the guidance band 80 or until a predetermined distance has elapsed. The automatic guided vehicle 1 may be configured to travel straight along the guide band 80.

In this case, a predetermined time or a predetermined distance, all the casters 4FL, 4FR, 4RL, 4RR, 8 FL, 8 FR, 8 RL, 8 yaw angle (orientation) the traveling direction of the automatic guided vehicle 1 after switchback RR What is necessary is just to set it as the time or distance set so that it can change reliably in the direction which tracks.

In the present embodiment, when the automatic guided vehicle 1 is switched back, the automatic guided vehicle 1 is allowed to run obliquely without tilting the posture of the automatic guided vehicle 1 toward the side opposite to the side where the station ST is disposed with respect to the guide band 80. Then, the automatic guided vehicle 1 is caused to travel straight along the guide band 80 while maintaining the position shifted by the skew traveling, and then the station ST is related to the guide band 80 so that the position shift with respect to the guide band 80 becomes zero. The automatic guided vehicle 1 is configured to run obliquely without tilting the posture of the automatic guided vehicle 1 toward the arranged side. However, with respect to the guide band 80, the automatic guided vehicle 1 is directed toward the side opposite to the side where the station ST is arranged. after skew travel without tilting the posture of the automatic guided vehicle 1, along the automatic guided vehicle 1 while maintaining the state of being deviated by the skew running in the induction zone 80 straight Without running skew travel without positional deviation relative to the induction zone 80 tilts the posture automatic guided vehicle 1 of the automatic guided vehicle 1 toward the side of the station ST is arranged for the induction zone 80 so as to be zero It does not matter as a configuration to be made.

  In this case, a switchback control routine illustrated in FIG. 12 may be executed instead of the switchback control routine illustrated in FIG. The switchback control routine illustrated in FIG. 12 has the same configuration as the switchback control routine illustrated in FIG. 3 except that steps S112 to S114 in the switchback control routine illustrated in FIG. 3 are omitted. . Accordingly, the details of the switchback control routine of FIG. 12 executed by the electronic control unit 50 will be omitted.

The switchback control routine illustrated in the Figure 12, caster 4FL, 4FR, 4RL, to follow the traveling direction of 4RR, 8 FL, 8 FR, 8 RL, 8 automatic guided vehicle 1 after switchback yaw angle of the RR However, the automatic guided vehicle 1 can be quickly returned to traveling along the guide band 80.

In the present embodiment and the above-described modification, the detection unit RSR on the station ST side out of the three detection units RSL, RSC, RSR of the travel sensor RS is on the side opposite to the station ST side from the state where the detection unit RSR is out of the guide band 80. The automatic guided vehicle 1 is allowed to run obliquely without inclining the posture of the automatic guided vehicle 1 until the detection unit RSL that becomes the state deviates from the guide band 80 is not limited thereto.

For example, the three detection units RSL, RSC, RSR of the traveling sensor RS are unmanned until all the detection units RSL, RSC, RSR are turned on from the state where the detection unit RSR on the station ST side is out of the guidance band 80 It is good also as a structure which makes the conveyance vehicle 1 run diagonally. According to this configuration, the caster 4FL, 4FR, 4RL, while satisfactorily follow the traveling direction of 4RR, 8 FL, 8 FR, 8 RL, 8 automatic guided vehicle 1 after switchback yaw angle of RR, subsequent Transition to traveling along the guide band 80 can be performed quickly.

  In the present embodiment and the above-described modification example, the automatic guided vehicle 1 is stopped in a state in which the automatic guided vehicle 1 is shifted to the side where the station ST is disposed with respect to the guide band 80. However, the present invention is not limited thereto. For example, the automatic guided vehicle 1 may be stopped at the station ST without being displaced with respect to the guide band 80.

(Correspondence between each component of the embodiment and each component of the present invention)
This embodiment shows an example for carrying out the present invention. Therefore, the present invention is not limited to the configuration of the present embodiment.

1 Automatic guided vehicle 2 Car body 4FL caster 4FR caster 4RL caster 4RR caster 6 Battery 8 Cart
8 FL casters
8 FR casters
8 RL casters
8 RL Casters 10F Drive unit 10R Drive unit 12 Main body 14L Drive wheel 14R Drive wheel 16 Rotating shaft 50 Electronic control unit 80 Guidance band RS Travel sensor RSL detector RSC detector RSR detector MS marker sensor M marker

Claims (7)

An automatic guided vehicle configured to travel along a guide belt installed on the floor, and configured to travel with the traveling direction reversed after stopping at the station,
The car body,
A pair of drive units that are independently driven and configured to be turnable with respect to the vehicle body, and are arranged in a line along the traveling direction;
Universal wheels arranged at the four corners of the vehicle body;
A sensor that is disposed in a pair in each of the pair of drive units, and that detects a displacement of the automatic guided vehicle with respect to the guide band;
The pair of drive units are controlled based on positional deviation information from the sensor, and when reversing the traveling direction, the reversed traveling direction and the side on which the station is disposed with respect to the guide band After the pair of drive units are controlled so that the automatic guided vehicle is inclined without tilting the posture of the automatic guided vehicle toward the opposite side, the automatic guided vehicle travels along the guide band. A control device for controlling the pair of drive units;
Automated guided vehicle equipped with. The control device controls the pair of drive units so that the automatic guided vehicle stops in a state where the position of the guide band is shifted toward the station side, and the position shift is zero when the traveling direction is reversed. 2. The automatic guided vehicle according to claim 1, wherein the pair of drive units is controlled so that the automatic guided vehicle tilts without tilting the posture of the automatic guided vehicle until The control device controls the pair of drive units so that the automatic guided vehicle stops in a state where the station is displaced with respect to the guide band, and when the direction of travel is reversed, After controlling the pair of drive units so that the automatic guided vehicle is inclined without inclining the posture of the automatic guided vehicle until the position is shifted to the side opposite to the side where the station is disposed with respect to the guide band The pair of drive units are controlled so that the displacement is zero, and the pair of drive units is controlled so that the automatic guided vehicle travels along the guide band in a state where the displacement is zero. The automatic guided vehicle according to 1. Wherein the control device, on the opposite side to the said station said the inorganic person transport vehicle without tilting the attitude of the AGV I'll be allowed to skew the AGV is with respect to the induction zone has been placed side 4. The automatic guided vehicle according to claim 3, wherein after being shifted in position, the pair of drive units is controlled so that the automatic guided vehicle travels a predetermined distance or a predetermined time along the guide band in the shifted position. 5. car.   The control device is configured to control the pair of drive units based on the positional deviation information from the sensor on the front side in the traveling direction among the pair of sensors disposed in each of the pair of drive units. The automatic guided vehicle according to any one of claims 1 to 4. The automatic guided vehicle control device controls the automatic guided vehicle so as to travel along a guide belt installed on the floor, and controls the automatic guided vehicle so that the traveling direction is reversed after stopping at the station. And
When reversing the direction of travel of the AGV is an inverted direction of travel a and inorganic person transport vehicle posture the AGV toward the side opposite to the side where the station is located with respect to said guide band A control device for an automatic guided vehicle configured to cause the automatic guided vehicle to travel along the guide band after being inclined without being inclined . The automatic guided vehicle control method controls the automatic guided vehicle so as to travel along a guide belt installed on the floor, and controls the automatic guided vehicle so that the traveling direction is reversed after stopping at the station. And
(A) when reversing the direction of travel of the AGV is inverted inorganic person transport vehicle the AGV toward the side opposite to the side where the station is located with respect to the traveling direction a and the induction zone Without tilting the posture ,
(B) Then, the control method of the automatic guided vehicle which makes the said automatic guided vehicle drive along the said induction belt.

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