JPH09235098A - Guide position observation device for manned auto guidance car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To permit an operator to easily judge that auto steering is enabled by providing two display lamps and displaying that each vehicle center is displaced from the remote, local, and central positions of a guide with each of three stage display as the state of a left and right dislocation by means of a displacement signal of a left and right displacement detection sensor. SOLUTION: Pickup coils 17FL and 17FR are fixed symmetrically on the lower face of a connection plate 21 for connecting left and right legs 6, 6 with a guide wire 3 being pinched. In the vicinity of an upper part steering handle 8 of a vehicle 5 of an auto guidance car a display lamp 19 composed of one lamp 18 which blinks, lights, and goes out according to the induced voltage difference of the pickup coil 17FL and 17FR arranged at the front side lower part of the vehicle is fixed, and a mark of its specified shape is adhered to the center of the vehicle 5 on a aide on which the deviation between the center of the vehicle 5 and the guide center can be observed from the operation seat of a manned auto guidance car 4. As a result, the operator can judge easily that auto steering is possible when changing to auto steering.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is directed to visually confirming the guide position of an auto-guidance vehicle by visually appealing that the auto-guidance vehicle is in a state where the auto-steering is possible when the auto-guidance vehicle shifts to automatic steering. It relates to the device.

[0002]

SUMMARY OF THE INVENTION The present invention provides a manned auto-guidance vehicle of a forklift which is equipped with an automatic steering device for automatically steering along a guide laid on a traveling course and is capable of automatic and manual steering switching. An indicator light is provided on the body of the manned auto-guidance vehicle, and the indicator light is turned off / blinks according to the sum and difference of the left and right detection signals for each pair of left and right guide sensors provided at the front and rear lower parts of the body.
The control device for turning on the light is provided to solve the above-mentioned problems.

In the present invention, as shown in FIG. 2, FIG. 3 and FIG. 4, an indicator for displaying the deviation status between the center of the vehicle in front of and behind the vehicle and the center of the guide individually displays front and rear information. There are cases where two indicators are attached to the vehicle body and cases where one indicator is attached to the vehicle body as shown in FIG.

Further, as shown in FIGS. 4 and 5, the indicator lamp is composed of three lamps corresponding to the distance, approach, and center of the guide, and as shown in FIGS. 2 and 3. Sometimes it consists of just one lamp.

An embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing a usage state of the device of the present invention, and FIG. 2 is a rear view showing a usage state of the device of the present invention. Is a shelf for storing and storing loads, and a large number of shelves 1 and 1 are arranged in parallel with each other.
A guide wire 3 is embedded in an inter-shelf passage 2 formed by arranging the shelves 1 in parallel, and automatic steering and traveling are performed by the guide wire 3, and in a place where the guide wire 3 does not exist, a driver operates a steering wheel. An auto-guidance vehicle 4 that travels while operating 8 is arranged.

As shown in FIGS. 1 and 2, the auto-guidance vehicle 4 has a body 5, a pair of legs 6 projectingly fixed in front of and below the body 5, and a load is attached to the tip of the leg 6. A wheel 7 is rotatably mounted, and a drive wheel 9, which is steerable by a steering handle 8 and can be turned, is swingably mounted on a lower portion of the vehicle body 5.

Further, a mast 10 is erected in front of the vehicle body 5, a vertically movable lift bracket 11 is arranged on the mast 10, and a pair of racks 12 and 12 are provided above and below the front surface of the lift bracket 11. A movable head 13 that is fixed in the width direction and horizontally moves in the vehicle width direction while meshing with the pair of racks 12, 12, a turning shaft 14 that turns in front of the movable head 13 horizontally with respect to a road surface, and the turning. Axis 1
A fork 16 is attached to the plate 4 via a mounting plate 15, and the fork 16 turns horizontally about the turning shaft 14.

A connecting plate 21 for connecting the left and right legs 6, 6.
Pickup coils 17FL and 17FR are symmetrically fixed to the lower surface of the vehicle with the guide wire 3 interposed therebetween.
L and 17BR are fixed symmetrically with the guide wire 3 interposed therebetween.

In the vicinity of the upper steering wheel 8 of the vehicle body 5 of the auto-guidance vehicle 4, there is a single lamp 18 that blinks, lights up, and goes out in accordance with the induced voltage difference between the pickup coils 17FL and 17FR arranged on the lower front side of the vehicle body. The indicator lamp 19 is fixed, and a mark 20 having a predetermined shape is attached to the center of the vehicle as shown in FIG. 3 on the side where the deviation between the center of the vehicle and the center of the guide can be visually recognized from the driver's seat of the manned auto-guidance vehicle. To do.

In the guide approaching state, the pickup coils 17FL, 1FL are arranged at the lower front portion of the vehicle body with respect to the guide wire 3.
When the induced voltage difference of 7FR is small as shown in FIG. 6, the indicator lamp 19 blinks.

Further, in the central state of the guide, the pickup coil 17F is arranged at the lower front portion of the vehicle body with respect to the guide wire 3.
If the induced voltage difference between L and 17FR is zero as shown in FIG. 7, the indicator lamp 19 continues to light.

Further, in the guide distant state, the pickup coil 17 is arranged at the lower front portion of the vehicle body with respect to the guide wire 3.
The induced voltage difference between FL and 17FR is as shown in FIG.
There is a big difference or the pickup coil 17FL, 1
When the induced voltage of 7FR is not generated at all, the indicator lamp 19 is turned off.

The same applies to the display by the indicator lamp 19 using the pickup coils 17BL and 17BR arranged on the lower rear side of the vehicle body.

[0014]

According to the present invention, an indicator light that blinks, lights up, and goes off according to the induced voltage difference of the pickup coil arranged on the lower front side of the vehicle body is fixed near the upper steering wheel of the vehicle body of an auto-guidance vehicle. Taking the example of a structure in which a triangular sign with the apex angle facing downward is attached to the center of the lower rear part, where the driver cannot visually confirm, the indicator light is displayed and the driver visually confirms. Where you can
By attaching a shape like a triangle, the driver can easily determine that the automatic steering is possible when the automatic guidance vehicle shifts to the automatic steering. Of course, the same effect can be obtained when a rear side indicator lamp is used instead of attaching the mark on the rear side of the vehicle body.

The manned auto-guidance vehicle of the present invention can be used not only in the inter-shelf aisle described in the embodiment but also in other than the inter-shelf aisle, and it can be used as an order picker vehicle, reach type forklift, counter type fork. It can be used regardless of vehicle type such as a lift.

The guide laid on the traveling course may be a magnetic field generated by passing an alternating frequency signal, a light reflecting tape, or a magnetic tape.

[Brief description of drawings]

FIG. 1 shows a perspective view for explaining a usage state of the device of the present invention.

FIG. 2 shows a rear view of a forklift truck used in the device of the present invention.

FIG. 3 shows a rear view of the forklift truck of the second embodiment.

FIG. 4 shows a rear view of a forklift truck showing a third embodiment.

FIG. 5 shows a rear view of a forklift truck showing a fourth embodiment.

FIG. 6 shows a state of an indicator lamp when a difference in induced voltage of a pickup coil arranged at a lower portion of a front portion of a vehicle body with respect to a guide wire is small.

FIG. 7 shows a state of the indicator lamp in the case where there is no induced voltage difference of the pickup coil arranged at the lower front part of the vehicle body with respect to the guide wire.

FIG. 8 shows a large difference in induced voltage between the pickup coil arranged at the lower front portion of the vehicle body with respect to the guide wire, or
The state of the indicator lamp when the induced voltage of the pickup coil does not occur at all is shown.

[Explanation of symbols]

 1 Shelf 2 Passage between shelves 3 Guide wire 4 Manned auto-guidance vehicle 5 Vehicle body 6 Leg 7 Road wheel 8 Steering handle 9 Drive wheel 10 Mast 11 Lift bracket 12 Rack 13 Movable head 14 Swivel shaft 15 Mounting plate 16 Fork 17 Pickup coil 18 Lamp 19 Indicator 20 Sign 21 Connecting plate

Claims (5)

[Claims] 1. A manned auto-guidance vehicle of a forklift, which is equipped with an automatic steering device for automatically steering along a guide laid on a traveling course, and which is capable of automatic and manual steering switching. Two indicator lights are provided on the front side of the vehicle body, and the left and right sides of the vehicle body center, which are provided at the lower portions of the front side and the rear side of the vehicle body, for detecting the deviation between the guide and the center of the vehicle body. The individual indicator lights indicate the deviation of the left and right sides of the front and rear sides of the vehicle by three-step display of off, blinking and lighting, respectively, indicating that the center of the vehicle is the guide distant, approaching, center deviation. Characteristic guide position visual recognition device for manned auto-guidance vehicles. 2. A single indicator light according to claim 1, wherein the left and right sides of the vehicle body where the lateral displacement of the guide and the center of the vehicle body can be visually recognized directly from the driver's seat are replaced by the indicator light. A sign of a predetermined shape is attached to the center of the vehicle body, and the other side that cannot be seen is a guide position visual confirmation device for manned auto-guidance vehicles using the above-mentioned indicator light. 3. A guide position visual confirmation of a manned auto-guidance vehicle, characterized in that each of the two indicator lamps according to claim 1 is composed of three lamps, and is a dedicated indicator lamp for a guide far away, approaching, and a center. apparatus. 4. A guide position recognizing device for a manned auto-guidance vehicle, characterized in that the indicator lamp according to claim 2 is constituted by three lamps, and the indicator lamps are dedicated indicator lamps for distant, approaching and central guides. 5. A guide position recognizing device for a manned auto-guidance vehicle, wherein the sign according to claim 2 or 4 is a triangle, and the apex portion is directed downward and is attached to the center of the vehicle body.