JPH0512801Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention relates to a tape cleaning device for an automatic guided vehicle that guides the vehicle along a reflective tape attached to a travel path.

[Conventional technology]

There are various methods for guiding an unmanned guided vehicle along optical guidance signs affixed on a travel path. Among these, reflective tapes such as aluminum, stainless steel, and beads attached to the road are used as optical detectors (e.g., photo sensors, image sensors, etc.).
There is a system that uses an ITV camera, etc.) to accurately guide an automated guided vehicle based on the detection signal.

In such a case, the unmanned guided vehicle frequently passes over the reflective tape, resulting in the tape surface becoming dirty. In particular, techniques for cleaning contaminated floor surfaces are disclosed in JP-A-59-150398 and JP-A-60-55298.

[Problem that the invention attempts to solve]

The above conventional technology uses a rotating brush or a rotating sponge of a contamination device attached to the lower part of the vehicle body of the automatic guided vehicle to rotate and clean the floor surface, and includes a reflective tape to uniformly clean the floor surface even when the vehicle is stopped or traveling at low speed. There were problems such as damaging the floor surface and reducing cleaning efficiency.

The purpose of this invention is to eliminate the influence of dirt by cleaning the contaminated reflective tape installed to guide the automatic guided vehicle, and to create an automated guided vehicle that can accurately and stably guide the guided vehicle over a long period of time. The purpose of the present invention is to provide a cleaning device.

[Means for solving the problem] The purpose of the above is to clean the reflective tape attached to guide the automatic guided vehicle by cleaning the reflective tape with a cloth rag at the cleaning head depending on the traveling conditions of the automatic guided vehicle. This is achieved by pressing on and driving a take-up roll to clean the contaminated reflective tape.

[Effect]

The tape cleaning device of the present invention applies cloth rag to the contaminated reflective tape by moving the cleaning head up and down based on the output signal detected by the running detection means, and performs rotational cleaning by rotating the rag supply roll. Operate.

As a result, the location of contaminants attached to the surface of the reflective tape does not change depending on the driving conditions of the automatic guided vehicle, i.e., when it is stopped or running at low speed, the location does not change, so a short rotation cleaning operation is performed, and the location changes when it is running at high speed. As a result, normal rotational cleaning work is performed, which prevents deterioration of the reflective tape surface over a long period of time and prevents stains, allowing stable guided travel.

〔Example〕

Hereinafter, the present invention will be explained in detail based on specific examples.

First, the overall configuration of the automatic guided vehicle will be explained with reference to FIG. The unmanned transport vehicle 10 is a transport facility that carries cargo and is guided along a reflective tape 120 affixed to a travel path 110.

This automatic guided vehicle 10 includes a vehicle body 20, drive wheels and steering wheels 30 (hereinafter referred to as wheels), dependent wheels 40, a traveling mechanism 60, a steering mechanism 70, a guidance detector 80, and a battery 90. , control device 100
and a tape cleaning device 130. In this case, the wheel 30 is one wheel and the dependent wheels 40 are two wheels, and these are used to run the automatic guided vehicle 10, and are rotatably provided on the vehicle body 20 on the front side in the traveling direction.

The traveling mechanism 60 is located on the front side in the traveling direction and is connected to the wheels 3.
0 is provided on the vehicle body 20 at the front part of the vehicle. The steering mechanism 70 is provided on the vehicle body 20 so that it can be steered at a position above the wheels 30. The guidance detector 80 is located at the bottom of the traveling mechanism 60 and is provided on the wheel 30. The battery 90 is provided on the vehicle body 20 at a position between the subordinate wheels 40 and the wheels 30. Control device 1
00 has a structure that can be stored in and taken out from the vehicle body 20 at the highest point in the traveling direction, and it makes a calculation judgment based on the vehicle body state quantity from the guidance detector 80 and outputs it to the traveling mechanism 60 and the steering mechanism 70 by means of a control signal. It is. The tape cleaning device 130 is installed on the wheel 30 in front of the guidance detector 80 and has a structure for cleaning dirt from the reflective tape 120 affixed on the running path 110.

Next, an embodiment of the present invention will be described with reference to FIG. 1, in which the reflective tape is cleaned when such an unmanned guided vehicle is guided and travels. The cleaning device 130 is
Head motor 131, cleaning head 132, head support 133, cloth rag 134, rag supply roll 135, and rag take-up roll 136
, a cleaning head support attachment member 137 , a fastening member 138 , and a spring member 139 .
The head motor 131 rotates the cloth 134 and the cleaning head 132 against the surface of the reflective tape 120. Washing head 132
1 rotates under the rolling motion of the head motor 131.
It is composed of a book roller and presses the cloth rag 134 against the reflective tape 120 so that it is in complete contact with the reflective tape 120. The head support 133 supports the head motor 131 and the cleaning head 132, and the spring member 133 is attached to the cleaning head support mounting member 137.
9 so that the cleaning head 132 can be easily rotated. The rag supply roll 135 is a clean cloth 134 wound into a roll. Further, the rag winding roll 136 winds up the contaminated cloth 134, which has been wiped off from the surface of the reflective tape 120, using a drive mechanism (not shown).

The configuration of the control device for operating the tape cleaning device will be explained with reference to FIG.

The controller 150 inputs the output signal from the induction detector 80 and the speed signal from the speed detector 140 and controls the cleaning head 132 of the tape cleaning device 130.
and the winding operation of the waste winding roll 136.

Further, the automatic guided vehicle 10 includes a speed detector 140 that detects the running speed from the rotational speed of the dependent wheels 40 and the like.

In this way, the tape cleaning device 130
A head motor 131 and a rag take-up roll 136 are operated at the same time as the automatic guided vehicle 10 is guided, and a cloth rag 134 is pressed onto the surface of the reflective tape 120 pasted on the traveling path 110 via a cleaning head 132. Clean cloth 13
4 is supplied from the cloth supply roll 135 to remove the dirt that has adhered due to the rolling action of the cleaning head 132, and the contaminated cloth rag 134 is wound onto the cloth take-up roll 136, and the stain that has adhered to the surface of the reflective tape 120 is wiped off. It is something. In particular, when the unmanned guided vehicle 10 is stopped, that is, when the speed signal of the speed detector 140 is 0, it is stationary at the same location, and the control device 150 calculates and determines the operation command to the tape cleaning device 130. cleaning head 13
2 and to the waste winding roll 136 to perform the above-described operation.

According to such a configuration, the contaminated reflective tape 12
Since the reflective tape 120 can be cleaned, detection errors of the induction detector 80 due to contamination of the conventional reflective tape 120 can be eliminated. Therefore, the automatic guided vehicle 10 can be stably guided for a long period of time.

Furthermore, since this tape cleaning device can be attached to or removed from the vehicle body, it is also possible to periodically clean the reflective tape.

[Effect of idea]

According to the present invention, dirt on the reflective tape can be removed at the same time as the automatic guided vehicle travels, which has the effect of realizing stable guided travel over a long period of time.

[Brief explanation of the drawing]

FIG. 1 is a side view of a tape cleaning device according to an embodiment of the present invention, FIG. 2 is a perspective configuration diagram of an automatic guided vehicle to which an embodiment of the present invention is applied, and FIG. 3 is a configuration diagram of a control device. . 10...Automated guided vehicle, 20...Vehicle body, 30...
... Wheels, 100 ... Control device, 110 ... Travel path, 120 ... Reflective tape, 130 ... Tape cleaning device, 131 ... Head motor, 132 ... Washing head, 133 ... Head support, 134 ...
Cloth rag, 135...Waste supply roll, 136
. . . Waste winding roll, 140 . . . Continuous detector, 150 . . . Control device.

Claims (1)

[Claims for Utility Model Registration] An unmanned conveyance system comprising a guidance detector for detecting a reflective tape pasted on a running path, a means for driving by the output of the guidance detector, and a cleaning device for cleaning the reflective tape. In the trolley, a rag supply roll around which a rag is wound, a rag take-up roll that winds up the rag unwound from the supply roll, and a rag between the rag supply roll and the rag take-up roll on the front side of the induction detector. a cleaning head that presses the cleaning head against the reflective tape; a speed detection means that detects the traveling speed of the automated guided vehicle; and an output signal of the speed detection means that determines the winding speed of the winding roll and the pressing of the cleaning head against the road surface. A tape cleaning device for an automatic guided vehicle, characterized in that the cleaning device comprises: a control device for controlling force; and a control device for controlling force.