JPH034303A - Self-traveling carrying equipment - Google Patents

Abstract

PURPOSE:To execute the self traveling of a truck without executing an embedding work along a traveling path by arranging the first tag positioned in the center of a carrying path and the second and the third tags positioned at both sides in sandwiching ranner. CONSTITUTION:In a traveling path 1, tags 9 are arranged at a prescribed inter val, and respective tags 9 are composed of the first tag 9a positioned at the center of the path 1 and the second and the third tags 9b and 9c positioned at both sides. In a memory 19 of the tag 9a, C, L and R to show the center, left and right positions of the traveling path 1 are written. When a self-traveling truck 4 correctly travels on the path 1, an electromagnetic wave 13 from a transmitting part 11 of a traveling control part 8 reaches only the tag 9a. A control part 18 of the tag 9a sends the C of the memory 19 from an antenna 14 through a transmitting part 17. A reception control part 10 receives it, and motors 23L and 23R are operated through a control part 24 continuously as they are. When the truck 4 is dislocated at left or right, the L or R is detected by the control part 10, and the driving condition of the motors 23L and 23R is changed for control.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a self-propelled transport device that performs transport work by traveling along a predetermined route on a running surface without tracks.

2. Description of the Related Art As shown in FIGS. 7 and 8, this type of self-propelled transport device has a guiding line 3 on a running surface 2 along a determined running route 1.
The self-propelled trolley 4 is provided with a traveling control section 6 that corrects the traveling direction in a direction in which the strength of the magnetic field 5 detected from the guide wire 3 becomes stronger. 7 is a detection unit for the magnetic field 5.

Problems to be Solved by the Invention In such a conventional configuration, it is necessary to bury the guide wire 3 in the running surface 2, which requires construction work, and when changing the running route, the guide wire must be removed and re-buried. Is required.

An object of the present invention is to provide a self-propelled transport device that allows a cart to travel on its own without carrying out burying work along a travel route.

Means for Solving the Problems The self-propelled transport device of the present invention includes tags that are arranged at predetermined intervals on the running surface of a transport route and emit signals, and tags that are mounted on a self-propelled cart and transmit signals from the tags at passing positions. A travel control unit that corrects the traveling direction of the self-propelled trolley based on the received signal is provided, and each of the above-mentioned tags is arranged at the first tag located in the center of the transport route and on both sides of the first tag with the first tag in between. The second location. It is characterized by being configured as a third tag.

Function: According to this configuration, the first tag is located in the center of the conveyance path, and the second tag is located on both sides of the first tag. If the tags consisting of the third tag and the third tag are arranged at predetermined intervals on the running surface of the transport route, a self-propelled trolley equipped with a running control unit can be formed by connecting the first tag of each tag. It runs on its own along the route. A state in which the self-propelled trolley deviates from the prescribed route occurs when the signal from the second tag or the third tag is received when the self-propelled trolley passes through the location where the tag is installed, and the travel control unit detects the received signal. The traveling direction in the left-right direction is corrected based on this, and the vehicle is controlled to approach a route where it can receive the signal from the first tag of the tags disposed in the traveling direction.

EXAMPLE Hereinafter, an example of the present invention will be described based on FIGS. 1 to 6. Components having the same functions as those shown in FIGS. 7 and 8 showing the conventional example will be described with the same reference numerals.

1 and 2 show a self-propelled conveyance device of the present invention. The self-propelled trolley 4 is equipped with a travel control section 8 shown in FIG. 3, and tags 9 are arranged at predetermined intervals along the travel route 1 as shown in FIG. Each tag 9 includes a first tag 9a located at the center of the conveyance path 1 and a first
The second tag 9a is located on both sides of the tag 9a. Third tag 9b.

It is composed of 9c and 9c.

The travel control section 8 includes a transmission/reception control section 10 as shown in FIG.
and transmitter 11. The transmitting/receiving control unit IO instructs the transmitting unit 11 to radiate electromagnetic waves 13 of a specified frequency toward the downward direction of the self-propelled trolley 4. The first to third tags 9a to 9C all have the same configuration, and taking the first tag 9a as an example, it is configured as shown in FIG. 4. The first tag 9a includes an antenna 14, a receiving section 15, a control section 1B, and a transmitting section 17.
When the receiving section 15 detects the electromagnetic wave 13 from the antenna I8 of the travel control section 8, the receiving section 15 instructs the control section 1B to start transmitting the data 20 read from the memory 19. Specifically, the memory of the first tag 9a! 9 represents the center position of travel route 1 ゛C
In the memory 19 of the C2O4 tag 9b, "L" representing the left position of the travel route 1 is written, and in the memory 19 of the third tag 9c, "R" representing the right position of the travel route 1 is written in advance. If the self-propelled cart 4 is correctly placed on the transport route 1,
The first to third tags 9 of the tags 9 installed at the passing position
The electromagnetic wave 13 reaches only the first tag 9a among tags a to 9C. The control unit 1B of the first tag 9a detects a transmission start instruction from the travel control unit 8 via the reception unit 15, and transmits the content “l Cl” of the memory 19 from the antenna 14 via the transmission unit 17. Radio transmission is performed using an electromagnetic wave 21 having a frequency different from the transmission frequency of the electromagnetic wave I3.

The electromagnetic wave 2I from the tag 9a is the antenna of the travel control unit 8!
8, it is demodulated by the receiving section 12, and the transmission/reception control ff1N
o is input. The transmission/reception control unit IO determines whether the traveling position of the self-propelled trolley 4 is appropriate based on the "C" received at this time, and controls the motors 23L and 23R that specifically drive the left and right wheels 22L and 227. It controls via the control unit 24 and determines the traveling direction of the self-propelled trolley 4 each time.When the transmission/reception control unit 10 receives “C” as described above, the self-propelled trolley 4 Assuming that the carriage 4 is traveling correctly on the conveyance route 1, the transmission/reception control unit IO instructs the motor drive unit 24 to continue operating the motors 23 and .23R in the same state as before. Run towards the next tag 9.

When the self-propelled trolley 4 is deviated to the left from the transport path 1, when it passes the tag 9, the second tag 9b and the travel control unit 8 are electromagnetically coupled in the same way as above, as shown in FIG. Then, the transmission/reception control unit 10 detects °“l, 11, and the transmission/reception control unit 10 instructs the motor drive unit 24 to change the driving state of the motors 23L, 23R from immediately before. Assuming that FIG. 5 shows the state seen from the front of the self-propelled trolley 4, the wheel 22L is rotated faster than the wheel 22R to correct the running direction, and the self-propelled trolley 4 moves toward the next tag 9. The trolley 4 travels. Fig. 6 shows a case where it deviates to the right. In this case, the second tag 9c and the travel control section 8 are electromagnetically coupled, and the traveling direction is similarly corrected. The self-propelled cart 4 travels toward the next tag 9.

Since the self-propelled trolley 4 travels while correcting the traveling direction according to the content detected from the tag 9 that has passed,
It is only necessary to attach the tags 9 at predetermined intervals along a predetermined route.

In the above embodiment, each of the first to third tags 9a to 9C had a memo 9 in which the contents of "C" L II RII were written.
""In addition to the contents of the RII, write the address signal for each own tag 9 in the memo U19, and when the tag 9 at the passing position and the travel control unit 8 are electromagnetically coupled An address signal is also sent to the travel control unit 8, and the travel control unit 8 compares the set address signal of the destination of the self-propelled trolley 4 with the address signal received from the tag 9, and if a match is detected. By stopping the self-propelled trolley 4 from running,
Automatic stopping of the self-propelled trolley 4 can be realized.

Effects of the Invention As described above, according to the present invention, the first tag is located at the center of the conveyance path, and the second tag is located on both sides of the first tag. and a third tag are arranged at predetermined intervals on the running surface of the transport route, and the running direction of the self-propelled trolley is corrected based on the received signal from the tag at the passing position. Because a travel control unit is installed to control the transportation, construction work can be completed simply by placing the tags at predetermined intervals on the travel surface of the transportation route, which is easier than with conventional self-propelled transportation devices that have guide wires buried. All it takes is some construction work.

[Brief explanation of drawings]

FIG. 1 is a front view of an embodiment of the self-propelled conveyance device of the present invention;
Fig. 2 is a plan view of the device, Fig. 3 is a configuration diagram of the travel control section of the device, Fig. 4 is a configuration diagram of the tag of the device, and Figs. 5 and 6 show the control status of the device. The explanatory diagram, FIG. 7, is a front view showing the configuration of a conventional self-propelled conveyance device, and FIG. 8 is a plan view of the conventional self-propelled conveyance device. DESCRIPTION OF SYMBOLS 1... Retreat route, 2... Travel surface, 4... Self-propelled trolley, 8... Travel control unit, 9... Tag, 9a... First
tag, 9b... second tag, 9c... third tag. l・-・Epidemic route-- Figure 9, Figure 2, Dedede, Figure 5, Figure 2, Figure γ, and Figure 7, Figure 4.

Claims (1)

[Claims] 1. Traveling in which the running direction of the self-propelled cart is corrected based on the received signals from the tags that are arranged at predetermined intervals on the running surface of the transport route and emit signals, and the tags that are mounted on the self-propelled cart and are at passing positions. A control unit is provided, and each of the tags is configured of a first tag located in the center of the transport route, and second and third tags located on both sides of the first tag. Type conveyance device.