JPH09150690A - Obstacle detection device of moving car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To certainly carry out obstacle detection in all the directions of a working car in simple constitution by decreasing the number of parts of a sensor, etc., as much as possible in an obstacle detection device devised to detect obstacles at the time when the working car travels. SOLUTION: A wire 10 is energized in a direction to wind up the wire 10 by having the wire 10 make a round of the circumference of a working car 1, fixing its one end part on a wire fixing part 1f and winding the other end part around a wind-up reel 16 of the working car 1, and an intermediate part of the wire 10 is sequentially wound around each roller 6 elastically supported on each corner angular part 1e of the working car 1. Contact of the wire 10 with an obstacle is detected by a part 18 to be detected provided on the wire 10 in the neighbourhood of the wind-up reel 16 and sensors 19, 20 to detect that the part 18 to be detected moves from a standard position by winding up of the wire 10 to the wind-up reel 16 or drawing of the wire 10 from the wind-up reel 16.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technical field of an obstacle detecting device for detecting an obstacle before a collision when a moving vehicle such as an automatic guided vehicle travels.

[0002]

2. Description of the Related Art Conventionally, an obstacle detecting device of this type using a wire has been known. For example, as disclosed in Japanese Utility Model Laid-Open No. 63-107010,
A wire support device having swing arms is provided at the front and rear parts of the vehicle body of the moving vehicle, and the support arms are pivotally supported at the right and left corners of the front and rear parts of the vehicle body with a vertical axis. The middle part of the wire extending in the front-rear direction is stretched on the left-right side, and both ends of this wire are connected to the swing arm of the wire support device, respectively, and the swing arm swings when the wire hits an obstacle and is pulled. It has been proposed to move and detect that by a limit switch.

[0003]

However, in this conventional example, since the wires are stretched only on the left and right side portions of the vehicle body, it cannot be detected that the front and rear portions of the vehicle body collide with an obstacle. . Therefore, it is conceivable to stretch the wires on the front and rear of the car body as well as on the side structure.
This causes a problem that the number of sensors such as limit switches and related parts of the entire device increases and the structure becomes complicated.

Further, since the change in the tension of the wire due to the contact with the obstacle is detected, it is difficult to reliably detect that when the obstacle comes toward the corner of the vehicle body and does not contact the wire. Therefore, there is a problem that obstacle detection in all directions cannot be reliably performed.

The present invention has been made in view of the above points, and an object of the present invention is to further advance the concept of the above-described conventional obstacle detection device using a wire so that parts such as a sensor can be installed. An object of the present invention is to make it possible to reliably detect obstacles in all directions of the vehicle body with a simple configuration with as few as possible.

[0006]

In order to achieve the above-mentioned object, according to the present invention, a wire is wound around a moving vehicle and one end of the wire is fixed to the moving vehicle while the other end is fixed to the moving vehicle. The winding reel is wound to urge the wire in the winding direction, and the intermediate portion of the wire is sequentially wound around the wire supporting means elastically supported at each corner of the moving vehicle. The presence or absence of contact with an obstacle is detected based on the change in the wire winding amount.

Specifically, in the invention of claim 1, as an obstacle detecting device for detecting an obstacle when a moving vehicle is traveling, an elastic means is provided at a corner portion of the periphery of the moving vehicle. A plurality of wire supporting means that are urged in a direction away from the moving vehicle and project from the moving vehicle; one end portion of the wire supporting means is fixed to the moving vehicle; One wire slidably wound around the device in order, a take-up reel that is provided on the moving vehicle and winds the other end of the wire, and the take-up reel is rotated in the wire winding direction. A wire winding means having a winding attachment force means for urging, and a detection means for detecting that the winding amount of the wire by the winding reel has changed from a reference value are provided.

With the above structure, no matter which part of the wire wound around the moving vehicle is contacted with the obstacle or the wire supporting means itself is contacted with the obstacle, the wire is wound by the take-up reel. The intake amount changes from the standard value. That is, for example, when an obstacle comes into contact with the wire at a position other than the position of the wire supporting means, the wire is pushed toward the moving vehicle by the obstacle at the position and pulled out from the take-up reel. The amount decreases from the reference value. on the other hand,
When an obstacle comes into contact with the wire supporting means itself, the wire supporting means urged in the direction away from the moving vehicle moves toward the moving vehicle side against the urging force and the wire is wound on the winding reel. , The wire winding amount of the winding reel increases from the reference value.

Therefore, since it is possible to detect the contact of the wire with the obstacle only by detecting the change in the winding amount of the wire of the winding reel from the reference value as described above, the conventional obstacle detecting device can be used. On the other hand, the number of parts such as sensors for detecting obstacles is small, and it is possible to reliably detect obstacles in all directions of the moving vehicle with a simple configuration.

According to a second aspect of the invention, in the configuration of the first aspect of the invention, the wire supporting means is a roller rotatably supported.

By doing so, the frictional resistance between the wire and the wire supporting means is reduced and the slidability of the wire is improved, so that the change in the wire winding amount of the winding reel is more stable and accurate. It can be detected, and wear of the wire itself can be reduced to improve its durability.

According to a third aspect of the invention, in the configuration of the first or second aspect of the invention, the detection means includes a detected portion provided on the wire in the vicinity of the take-up reel, and winding the wire on the take-up reel. The sensor is configured to detect that the detected portion has moved from the reference position by being pulled out from the take-up reel.

With this arrangement, the obstacle comes into contact with the wire or the wire supporting means, and the wire is taken up by the take-up reel or pulled out from the take-up reel to change the take-up amount. Then, the detected portion moves from the reference position in conjunction with the winding of the wire on the winding reel or the withdrawal of the wire from the winding reel, and the movement of the detected portion from the reference position is detected by the sensor. This makes it possible to detect a change in the winding amount on the winding reel. Therefore, at most two sensors are required for detecting the movement of the detected portion from the reference position, and it is possible to easily detect a change in the wire winding amount of the winding reel.

According to a fourth aspect of the present invention, in the configuration of the first or second aspect of the invention, the detection means includes a detected portion provided on the take-up reel and winding of the wire to the take-up reel or the take-up reel. And a sensor that detects that the detected portion has moved from the reference position by being pulled out.

As a result, as described above, the rotational position of the take-up reel changes from the reference position in association with the winding of the wire on the take-up reel or the drawing of the wire from the take-up reel, and this change is detected by the sensor. All you have to do is Therefore,
Similar to the third aspect of the invention, it is possible to easily detect the change in the wire winding amount of the winding reel.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION

(Embodiment 1) Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1 and 2, reference numeral 1 denotes, for example, a movable self-propelled unmanned work vehicle (moving vehicle) that is remotely controlled by radio, and has a substantially rectangular parallelepiped shape that is long in the front-rear direction. A work robot 40 is mounted. The work vehicle 1 has wheels (not shown) in its lower portion, and the work vehicle 1 travels while being steered by the wheels.

The work vehicle 1 has four vertically extending surfaces, that is, a front surface 1a, a rear surface 1b, and left and right side surfaces 1c and 1d, and four corners at which these adjacent surfaces 1a to 1d intersect. Spring supporting portions 3, 3, ... Are attached and fixed to the lower portions of the portions 1e, 1e ,. One end of a coil spring 4 is fixedly supported on each of the spring support portions 3 and extends substantially in a horizontal direction in a direction that divides an angle forming each corner portion 1e. The other end of each spring 4 is fixed to the spring support portion 3. The roller support member 5 is fixedly supported. A roller 6 as a wire supporting means is rotatably supported on each roller supporting member 5 by a vertical shaft (not shown). Therefore, each roller 6 is separated from the work vehicle 1 by the spring 4. Is urged by.

A wire fixing portion 1f for fixing and supporting one end of the wire 10 is attached and fixed to the rear end of the left side surface 1c of the work vehicle 1. A wire winding device 15 having a winding reel 16 rotatably supported by a vertical axis is provided inside the work vehicle 1.
The other end of the wire 10 is wound around. The wire winding device 15 has a winding mounting biasing means such as a spiral spring for biasing the winding reel 16 to rotate in the wire winding direction (counterclockwise in FIG. 1). A predetermined tension is applied to the wire 10 by the rotational biasing of the take-up reel 16 by the above.

The wire 10 is wound around the roller 6 located at the rear left corner 1e of the working vehicle 1 from one end fixedly supported by the wire fixing portion 1f, and after changing the direction to the right, the work is performed. After extending to the right substantially parallel to the rear surface 1b of the vehicle 1, and then wound around a roller 6 located at the rear right corner 1e of the working vehicle 1 to change its direction to the front, the side surface of the working vehicle 1 1d extends substantially parallel to the front side, and is wound around rollers 6, 6 located at the front right corner 1e and the left corner 1e of the work vehicle 1 in the same manner as described above, and the original rear left corner The work vehicle 1 is wound around the roller 6 of the corner portion 1e and makes one round in a counterclockwise direction as viewed from above, and extends from the roller 6 of the rear left corner portion 1e toward the work vehicle 1 at the other end. The part enters the working vehicle 1 from the rear surface 1b, and the winding reel of the wire winding device 15 It has been taken up to 6.

In the above structure, since the winding reel 16 of the wire winding device 15 is rotationally biased by the winding mounting biasing means, tension is generated in the wire 10, and the tension causes each corner of the work vehicle 1 to be tensioned. Each spring 4 arranged at the corner 1e receives a force in the direction in which it is compressed. Therefore, the urging force that urges each roller 6 of each spring 4 in the direction away from the work vehicle 1 is set to be sufficiently stronger than the compression force due to the tension of the wire 10. Therefore, in the normal state, which is the normal state, the spring 4 is hardly compressed, and the wire 1
0 is stretched substantially parallel to the respective surfaces 1a to 1d of the work vehicle 1 at regular intervals, and the winding amount of the wire 10 by the winding reel 16 is maintained at a substantially constant value.

As shown in FIG. 3, a detecting means for detecting that the wire winding amount of the winding reel 16 has changed from a reference value is provided near the wire winding device 15. That is, the wire winding device 15 is attached to the wire 10.
The detected portion 18 is integrally provided in the vicinity of, and the position of the detected portion 18 in the reference state is the reference position. On the other hand, in the vicinity of the detected portion 18 in the reference state, on the side opposite to the wire winding device 15,
The wire 10 is pulled out from the take-up reel 16 and the detected portion 1 is detected.
1 to detect that 8 moves from the reference position and approaches
The sensor 19 also connects the wire 1 to the wire winding device 15 side.
A second sensor 20 for detecting that 0 is wound around the take-up reel 16 and the detected portion 18 moves from the reference position and approaches.
Work vehicle 1 in a state where they are respectively arranged opposite to the wire 10.
It is attached and fixed. Each of the sensors 19 and 20 is composed of a proximity switch, and outputs a signal such as for emergency stop of the work vehicle 1 when the detected portion 18 approaches.

The sensors 19 and 20 may be optical or magnetic, and as the detected portion 18, if the sensors 19 and 20 are optical, the sensors 19 and 20 are the same. If the sensors 19 and 20 are magnetic and a metal plate or the like that reflects light of a wavelength that easily reacts is used, a magnet or the like may be used. Further, it may be a limit switch or the like that is pushed by the detected part 18 to turn on the switch.

The operation of the work vehicle 1 when the work vehicle 1 detects an obstacle before the collision with the construction described above will be described.
When the work vehicle 1 is running and is in the reference state, the wire 10
Are stretched substantially parallel to the surfaces 1a to 1d of the work vehicle 1 at regular intervals, and the winding amount of the wire 10 by the winding reel 16 is maintained at a substantially constant value. The detected portion 18 is at the reference position.

When the work vehicle 1 approaches the obstacle and the wire 10 comes into contact with the obstacle at a position other than each roller 6, the wire 10 is pushed into the work vehicle 1 side by the obstacle at the contact position. Be done. Therefore, the wire 10 is pulled out from the winding reel 16 against the winding attachment force of the wire winding device 15. Then, as shown by a virtual line in FIG.
The detected part 18 integrated with the wire 10 moves from the reference position to the side opposite to the wire winding device 15 and moves to the first sensor 19
The sensor 19 outputs a signal for emergency stop of the work vehicle 1.

When an obstacle comes into contact with any of the rollers 6, the roller 6 at the contact point is pushed by the obstacle and the spring 4 is compressed against the extension spring force. Contrary to the case where the wire 10 is contacted by the obstacle, the wire 10 is wound around the winding reel 16 by the winding attachment force of the wire winding device 15. With this,
The detected portion 18 of the wire 10 moves from the reference position to the wire winding device 15 side and approaches the second sensor 20, and the sensor 20 outputs a signal for emergency stop of the work vehicle 1.

Therefore, it is possible to detect which part of the wire 10 or each roller 6 the obstacle contacts, before the work vehicle 1 collides with the obstacle.
Therefore, the work vehicle 1 can be safely stopped in an emergency.

Moreover, no matter how an obstacle comes into contact with the wire 10 or each roller 6, the wire 10 will be taken up by the take-up reel 16
Since the change occurs either from the take-out reel or the take-up reel 16, the change need only be detected by the two sensors 19 and 20, and the number of parts such as the sensor is small and the configuration is simple. Thus, it is possible to reliably detect obstacles in all directions of the vehicle body.

Further, since the spring 4 for urging each roller 6 in the direction away from the work vehicle 1 functions as a cushioning material, it has a high cushioning property even if a special cushioning material is not separately provided. There is an advantage that the impact force on the work vehicle 1 can be mitigated.

Further, since the rotatable roller 6 is used at the portion where the wire 10 comes into contact, each roller 6 rotates in association with the movement of the wire 10, and the friction resistance between the wire 10 and each roller 6 is increased. Is reduced and the slidability of the wire 10 is improved. Therefore, the contact of the wire 10 with the obstacle can be detected more stably and with high accuracy, and
The durability of the wire 10 itself can also be improved.

(Embodiment 2) FIG. 4 shows Embodiment 2 of the present invention.
(In each of the following embodiments, the same parts as those in FIG. 3 are denoted by the same reference numerals, detailed description thereof will be omitted, and only different parts will be described). Only the sensor for detecting the movement of the detected part 18 provided in the 10 differs.

That is, in this embodiment, the wire 10
The sensor 22 is arranged so as to face the detected portion 18 at the reference position before the contact with the obstacle, and the wire 10 is pulled out from the take-up reel 16 or to the take-up reel 16. When the detected portion 18 moves away from the sensor 22, that is, the reference position due to the winding, the sensor 22 outputs a stop signal of the work vehicle 1.

According to this structure, when the wire 10 or the like comes into contact with an obstacle and the wire 10 is pulled out from the winding reel 16 or wound on the winding reel 16, the detected portion 18 is detected.
Moves from the reference position and moves away from the sensor 22, a signal is output from the sensor 22 and the work vehicle 1 is stopped in an emergency.

Therefore, with this configuration, it is possible to detect that the wire 10 has come into contact with an obstacle with one sensor 22, and the number of parts can be further reduced.

(Third Embodiment) FIG. 5 shows a third embodiment of the present invention.
The detection means for detecting the change in the amount of wire winding of the take-up reel 16 is different, and the take-up reel rotates in conjunction with the winding of the wire 10 to the take-up reel 16 or the withdrawal of the wire 10 from the take-up reel 16. This is performed by detecting the change in the rotational position of 16.

That is, in this embodiment, the detected portion 18 formed of a substantially rectangular slit hole is formed in the vicinity of the outer circumference of the take-up reel 16, and the position of the detected portion 18 in the reference state is the reference. The position is. Also, wire 1
0 is pulled out from the take-up reel 16 and the detected portion 18
The first sensor 19 for detecting that the (slit hole) moves from the reference position and approaches by rotating in the clockwise direction in the figure,
Further, the second sensor 20 for detecting that the wire 10 is wound around the take-up reel 16 and the detected portion 18 is moved from the reference position by the counterclockwise rotation to approach the work is provided below the take-up reel 16. It is attached and fixed to the car 1.

In this case, when an obstacle comes into contact with the wire 10 or the like, the wire 10 is pulled out from the take-up reel 16 or taken up by the take-up reel 16, and the detected part 18 ( Slit hole) rotates clockwise or counterclockwise in the figure. Then, when the detected portion 18 approaches the first sensor 19 or the second sensor 20,
A signal is output from each of the sensors 19 and 20, and the work vehicle 1 is brought to an emergency stop.

Therefore, also in this embodiment, since it is only necessary to detect the change in the rotational position of the take-up reel 16, the number of parts such as the sensor is small as in the first embodiment, and the omni-direction of the vehicle body is simple with a simple structure. The obstacle can be detected reliably.

(Embodiment 4) FIG. 6 shows Embodiment 4 of the present invention.
As shown in the third embodiment, one sensor 22 for detecting the rotation of the take-up reel 16 is arranged so as to face the lower side of the detected portion 18 at the reference position, and the detected portion 18 rotates. Then, when you leave the sensor 22,
The detection is performed by 2.

Therefore, in this configuration, when the wire 10 is pulled out of the take-up reel 16 or taken up by the take-up reel 16 when an obstacle comes into contact with the wire 10 or the like, the detected portion of the take-up reel 16 is detected. Sensor 2 with 18 at the reference position
Since it is separated from 2, the sensor 22 outputs a signal to stop the work vehicle 1 in an emergency. Therefore, as in the second embodiment, 1
The contact of the obstacle with the wire 10 or the like can be detected by one sensor, and the number of parts can be further reduced as compared with the third embodiment.

In each of the above embodiments, the roller 6 is used as the wire supporting means, but it is not always necessary to use a rotating roller. For example, the wire 10 may be wound around a fixed member and the member may be rubbed. The slidability of the wire can be improved by using a small material or applying grease or the like to that portion.

Further, rollers 6 are arranged at the respective corners 1e of the work vehicle 1 having a substantially rectangular parallelepiped shape extending in the substantially vertical direction, and the wire 10 is laid around the work vehicle 1 so as to be in a substantially horizontal state. However, the present invention can be applied to any shape of the work vehicle 1. Alternatively, the roller 6 may be arranged at a height different from that of the other rollers 6, and the wire 10 may be slid over the rollers 6 and 6.

[0042]

As described above, according to the first aspect of the invention, the wire is wound around the moving vehicle and one end of the wire is fixed to the moving vehicle, while the other end is wound on the winding reel of the moving vehicle. The wire is wound around the wire to urge the wire in the winding direction, and the intermediate portion of the wire is sequentially wound around the wire supporting means elastically supported at each corner of the moving vehicle to wind the wire on the winding reel. By detecting the presence or absence of contact with an obstacle based on the change in the amount, the number of parts such as sensors for obstacle detection is smaller and simpler than the conventional obstacle detection device using a wire. With this configuration, it is possible to reliably detect obstacles in all directions of the work vehicle.

According to the second aspect of the invention, since the wire supporting means is a roller which is rotatably supported, the change in the wire winding amount of the winding reel can be detected more stably and highly accurately. Therefore, the durability of the wire itself can be improved.

According to the third aspect of the present invention, the means for detecting a change in the wire winding amount of the take-up reel is provided with a detected portion provided on the wire in the vicinity of the take-up reel and the wire being wound onto the take-up reel. Alternatively, it is configured with a sensor that detects that the above-mentioned detected portion has moved from the reference position by being pulled out from the winding reel. Further, in the invention of claim 4, the means for detecting the change in the wire winding amount of the take-up reel is provided with a detected portion provided on the take-up reel, and winding of the wire to or from the take-up reel. It is composed of a sensor that detects that the detected portion has moved from the reference position when pulled out. Therefore, according to these inventions, at most two sensors are required to detect the movement of the detected portion from the reference position, and it is possible to easily detect a change in the wire winding amount of the winding reel. .

[Brief description of the drawings]

FIG. 1 is a plan view schematically showing an overall configuration of an obstacle detection device according to a first embodiment of the present invention.

FIG. 2 is an overall perspective view of an unmanned work vehicle.

FIG. 3 is an enlarged plan view showing a main part of the wire winding device.

FIG. 4 is a view corresponding to FIG. 3 in the second embodiment.

FIG. 5 is a view corresponding to FIG. 3 in the third embodiment.

FIG. 6 is a view corresponding to FIG. 3 in the fourth embodiment.

[Explanation of Codes] 1 unmanned work vehicle 4 spring 6 roller 10 wire 15 wire winding device (wire winding means) 16 winding reel 18 detected part 19, 20, 22 sensor

Claims (4)

[Claims] 1. An obstacle detection device for detecting an obstacle when a moving vehicle travels, comprising: urging a corner portion of the periphery of the moving vehicle in a direction away from the moving vehicle by elastic means. And a plurality of wire supporting means projectingly provided, one end of which is fixed to the moving vehicle, and an intermediate portion of which is arranged so as to make a round around the moving vehicle, and the plurality of wire supporting means are slidably sequentially attached to the plurality of wire supporting means. One wire passed, a take-up reel provided on the moving vehicle for taking up the other end of the wire, and a winding attachment urging means for rotationally urging the take-up reel in the wire take-up direction. An obstacle detection device for a moving vehicle, comprising: a wire winding means that the user has; and a detection means that detects that the winding amount of the wire by the winding reel has changed from a reference value. 2. The obstacle detecting device for a moving vehicle according to claim 1, wherein the wire supporting means is a roller rotatably supported. 3. The obstacle detection device for a mobile vehicle according to claim 1, wherein the detection means includes a detected portion provided on the wire in the vicinity of the take-up reel, and winding the wire on the take-up reel. An obstacle detection device for a moving vehicle, comprising: a sensor that detects that the detected portion has moved from a reference position by being pulled out from a take-up reel. 4. The obstacle detection device for a mobile vehicle according to claim 1, wherein the detection means includes a detected portion provided on the take-up reel, and winding of the wire on the take-up reel or a take-up reel. An obstacle detection device for a moving vehicle, comprising: a sensor that detects that the detected portion has moved from a reference position when pulled out from the vehicle.