JPH09198136A - Traveling vehicle control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve safety and operation convenience and to minimize cost up by attaining the release of a brake at the time of manually traveling a traveling vehicle. SOLUTION: In this method, the traveling vehicle is controlled to unmanned- travel and to travel manually on the other hand. A driving wheel servo motor driving part 11 driving the driving wheel of a main body rotate-drives the motor 3 of the driving wheel by a signal from the control circuit 2 of the main body and operates the electromagnet of the brake 6 braking the motor 3 by a relay 12a to release the brake 6. When the main body comes into a stopping state while braking, a double pole double throw switch 10 manually traveling the main body is operated to turn on the switches 10a and 10b linked with this so that both terminals of the relay 12a are short-circuited to release the brake 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control technique that allows traveling vehicles such as a carrier vehicle and a cleaning robot to travel unmanned or manually (manned), and more particularly, to brake drive wheels during traveling manually. The present invention relates to a control method for a traveling vehicle that can release a brake for operating in conjunction with a switch used during manual operation to improve usability.

[0002]

2. Description of the Related Art A traveling vehicle of this type is equipped with a control device shown in FIG. 2 in order to allow the vehicle body to travel either unmanned or manually. The operation circuit 1 sends a signal according to the operation of the panel on the upper surface of the main body to the control circuit 2, and the control circuit 2 controls the main body according to the operation of the panel.

For example, in the case of traveling control, when the control circuit 2 outputs a control signal for controlling the motor 3 for driving the drive wheels of the main body to the drive wheel servo motor drive section 4, the drive wheel servo motor drive section 4 controls the drive signal. The motor 3 is driven according to the signal.

Further, since the traveling sensor unit 5 detects the surroundings of the main body and sends this detection signal to the control circuit 2, the control circuit 2 detects obstacles and the like in the surroundings and is safe when a trouble occurs in traveling. For this reason, a signal for operating the brake 6 is output to the drive wheel servo motor drive unit 4. As a result, the drive wheel servo motor drive unit 4 drives the brake 6, so that the motor 3 is braked (the drive wheel is braked),
The main body stops.

Further, in order to allow the manned body to travel, the handle of the body is equipped with a switch (single-pole single-throw switch) 7 for manual traveling, and the operating circuit 1
Is provided with a circuit for sending the operation signal of the switch 7 to the control circuit 2. When the switch 7 is operated, the control circuit 2 moves the main body forward at a predetermined speed, so that the main body can be moved to a desired position.

A battery 8 is used as a power source for running the main body, and the power source of the battery 8 is supplied to the control circuit 2 and the drive wheel servomotor drive unit 4 via the main power switch 9. Therefore, since the main body can be run without a power cord, unmanned running is possible.

[0007]

By the way, the brake 6 in the traveling vehicle is usually operated by an electromagnet, that is, the brake 6 is not released unless the electromagnet is operated. Therefore, the drive wheel servo motor drive unit 4 is a circuit for operating the brake 6 (for example, a relay circuit).
In accordance with a control signal from the control circuit 2, the relay of the relay circuit is operated to release the brake 6.

Therefore, for example, when the control circuit 2 breaks down while the main body is running and the control circuit 2 stops outputting the control signal to the drive wheel servomotor drive section 4, the brake 6 works to stop the main body. It is useful in terms of safety.

However, if the control circuit 2 fails, the brake 6 cannot be released even if the main power switch 9 is turned off. That is, the brake 6 cannot be released unless the electromagnet of the brake 6 is operated. As a result, even if the switch 7 for manual traveling is operated, the main body cannot be moved, and there is a drawback that the usability is poor.

In particular, in the case where the main body is an automated guided vehicle, if the vehicle cannot be moved while being stopped on the main line, the main line is blocked and it interferes with the next normal automated guided vehicle, affecting the entire automated guided system. Become.

When the main body is a cleaning robot, for example, when it is used in a store or the like, it is often used before the store opens.
It remains in the store even after opening, which is an obstacle.

The present invention has been made in view of the above problems, and an object thereof is to be able to release a brake during manual traveling, improve usability, and minimize cost increase. It is to provide a method of controlling a traveling vehicle as described above.

[0013]

In order to achieve the above object, the method of controlling a traveling vehicle according to the present invention makes it possible to drive the main body unmanned, and also to manually drive the main body to drive wheels of the main body. In a method of controlling a traveling vehicle for releasing a brake for braking by an electromagnet, the vehicle has a circuit for releasing the brake in conjunction with a switch for enabling the main body to travel manually, It is characterized in that the brake can be released without traveling through the control means of the main body when traveling the main body.

According to the traveling vehicle control method of the present invention, the main body can be driven unmanned and also manually, and the driving means for driving the drive wheels of the main body is controlled by the control means of the main body. In a method for controlling a traveling vehicle in which a motor of the same driving wheel is rotationally driven by a signal, and a brake electromagnet of the motor is operated by a relay to release the brake, a switch for enabling the main body to travel manually A two-pole double-throw switch that short-circuits both terminals of the relay is used, and the brake can be released by operating the two-pole double-throw switch without the control means of the main body.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an embodiment of the present invention will be described in detail with reference to FIG. In FIG. 1, the same parts as those in FIG. 2 are designated by the same reference numerals, and duplicate description will be omitted.

In FIG. 1, the control method of this traveling vehicle is as follows.
Switch for manual running shown in Fig. 2 (single pole single throw switch)
The switch 10 is a double-pole double-throw switch 10 with an additional contact, and one switch 10a of the switch 10 is used for manual traveling, and the other switch 10b is a relay included in the drive wheel servomotor drive unit 11. It is for short-circuiting the terminals of the relay 12a of the circuit (circuit for operating the brake 6) 12. The drive wheel servo motor drive unit 11 also has the function of the drive wheel servo motor drive unit 4 shown in FIG. 2, and operates the relay circuit 12 according to a control signal from the control circuit 2, for example, to release the brake. .

Specifically, as is apparent from FIG. 1, one terminal of the relay 12a is connected to the drive wheel servomotor drive unit 11a.
Is connected to one of the power input terminals (positive power supply terminal), and the other terminal of the relay 12a is connected to the output terminal (one of the brake electromagnets) of the drive wheel servomotor drive unit 11.

As a result, when the switch 10 is turned on, both terminals of the relay 12a are short-circuited and the power of the battery 8 is supplied to the electromagnet of the brake 6, so that the brake 6
Can be canceled.

The operation of the vehicle equipped with the control device having the above-described structure will be described. For example, when the vehicle is traveling unmanned, it is assumed that the brake 6 is applied due to some failure and the vehicle stops. .

Therefore, in order to move the main body to a desired position, if the switch 10 provided on the handle of the main body is turned on to perform the manual traveling, the two switches 10a,
Since 10b is interlocked and turned on, the operation circuit 1 sends an on signal of the switch 10a to the control circuit 2, and on the other hand, both terminals of the relay 12a of the drive wheel servomotor drive unit 11 are short-circuited.

Then, since the brake 6 is released, the motor 3 for rotating the drive wheels can be rotated, while the control circuit 2 is in an abnormal state, that is, the control circuit 2 is used for traveling control and the like. Even if the control signal is not output to the drive wheel servo motor drive unit 11, the main body can be moved manually because the brake 6 is released.

If the control circuit 2 is normal, the control circuit 2 outputs a control signal for traveling control to the drive wheel servo motor drive section 11, and the drive wheel servo motor drive section 11 outputs the control signal of the internal relay circuit 12. While actuating the relay 12a, the motor 3 is driven. Therefore, even if both terminals of the relay 12a are short-circuited, no trouble occurs in the manual traveling and no trouble occurs.

In this way, with the brake 6 applied,
Even if the main body is stopped and the control circuit 2 goes down, for example, the brake 6 can be released by operating the switch 10.

Therefore, the main body can be manually moved to a desired position, which is easy to use and has a minimum cost (a single-pole double-throw is replaced by a double-pole double-throw). be able to.

For example, when the main body is an automatic guided vehicle, the main line is opened, the next normal operation of the automatic guided vehicle is not hindered, and the automatic guided system is not stopped. Further, in the case where the main body is a cleaning robot, even if the main body is stopped during the cleaning of the store, it moves to a desired position and does not interfere with the opening of the store.

If the switches for manual running and brake release (for short-circuiting the relay 12a) are provided separately (two switches are used), the brake 6 remains inoperative due to forgetting to turn off the switch (brake 6). However, since the switch 10 is a double-pole double-throw switch (interlocking switch), this is not the case and it is preferable in terms of safety and usability.

[0027]

As described above, according to claim 1 of the method for controlling a traveling vehicle of the present invention, the main body can be driven unmanned, and also manually, and the drive wheels of the main body can be used. In a method for controlling a traveling vehicle in which a brake for braking is released by an electromagnet, a circuit for releasing the brake is provided in conjunction with a switch for manually allowing the main body to travel. Since the brake can be released without the control means of the main body, there is an effect that the brake can be released when manual traveling is performed by operating the switch, and safety and usability can be improved.

According to the second aspect of the present invention, the main body can be driven unmanned and also manually, and the drive means for driving the drive wheels of the main body is a signal from the control means of the main body. In the method of controlling a traveling vehicle in which the motor of the same driving wheel is rotationally driven by the relay, and the electromagnet of the brake that brakes the motor is actuated by the relay to release the brake, the switch is relayed to the switch for enabling the main body to travel manually Since the brake can be released by operating the double-pole double-throw switch without using the control means of the main body by using the double-pole double-throw switch that short-circuits both terminals of, The effect is that the cost for the switch can be minimized.

[Brief description of drawings]

FIG. 1 is a schematic block diagram of a control device to which an embodiment of the present invention is applied and to which a traveling vehicle control method is applied.

FIG. 2 is a schematic block diagram of a conventional traveling vehicle control device.

[Explanation of symbols]

 1 Operation Circuit 2 Control Circuit 3 Motors 4 and 11 Drive Wheel Servo Motor Drive Unit 6 Brake 8 Battery 10 Switch (Double Pole Double Throw Switch) 10a Switch (for Manual Running) 10b Switch (for Shorting Terminal of Relay 12a) 12 Relay Circuit 12a relay

Claims (2)

[Claims] 1. While allowing the body to travel unattended,
In a method of controlling a traveling vehicle in which a brake for braking the drive wheels of the main body is released by an electromagnet in a traveling vehicle control method, the brake is released in conjunction with a switch for enabling the main body to travel manually. And a circuit for controlling the traveling vehicle, wherein the brake can be released without the control means of the body when the body is traveling manually. 2. While allowing the main body to run unmanned,
The driving means for driving the drive wheels of the main body is driven by a signal from the control means of the main body to rotate the motor of the drive wheel, and the electromagnet of the brake of the motor is operated by a relay. In the method of controlling a traveling vehicle in which the brake is released by using a double-pole double-throw switch that short-circuits both terminals of the relay as a switch for manually driving the main body, the control means of the main body is not used. A method of controlling a traveling vehicle, wherein the brake can be released by operating the double pole double throw switch.