JPH09235099A - Steering polarity detection method of manned auto guidance car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform precise switching of a guide sensor by judging whether a manned auto guidance car advances or retreats in an encoder advance or retreat detection output state when a guide is detected by a guide sensor and by selecting either one of the guide sensors arranged at the frontal or rear positions thereof. SOLUTION: Two pairs of pickup coils 19F, 19F, 19B, 19B are fixed to the lower part of each of the front and rear of the vehicle, when any of the pickup coils 19F and 19B detects a constant frequency signal generated from a guide, which runs while the operator is steering manually an encoder 18 mounted on a running motor judges whether the current vehicle is running in an advance or retreat direction, and the pickup coils 19F and 19B are divided into those for advancing and retreating. As a result, precise switching of a guide sensor is performed more speedily and precisely than detection at the fall angle of the advancing and retreating operation lever.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manned person who intends to detect the traveling direction of a vehicle in order to switch the front and rear of a guide sensor for detecting lateral displacement of the guide sensor during automatic steering / travel control. Type automatic guidance vehicle.

[0002]

2. Description of the Related Art Conventionally, a limit switch is operated in the direction in which the accelerator lever is tilted to select forward or reverse.

[0003]

Conventionally, as described above, in the structure in which the limit switch is actuated in the tilting direction of the accelerator lever to select forward and backward movement, even if the accelerator lever is in the neutral state, Since the vehicle travels by coasting, it cannot provide an accurate forward / backward travel signal.

[0004]

SUMMARY OF THE INVENTION The present invention provides a manned auto-guidance vehicle of a forklift which has an automatic steering device for automatically steering along a guide laid on a traveling course and is capable of switching between automatic and manual steering. , Mounting an encoder on the electric motor for driving the manned auto-guidance vehicle,
A pair of left and right guide sensors are arranged at the front and rear of the lower part of the body of the manned auto-guidance vehicle, and when the guide sensor detects the guide, is the manned auto-guidance vehicle moving forward in the forward / backward detection output state of the encoder? Alternatively, it is one means for solving the above-mentioned problems by determining that the vehicle is moving backward and selecting either the guide sensor arranged in the front part or the guide sensor arranged in the rear part.

In addition, an encoder is attached to the road wheel attachment shaft of the above-mentioned manned auto-guidance vehicle, or a follower wheel is separately provided near the road wheel so as to be rotatable, and the encoder is attached to the rotation shaft of the follower wheel to rotate the encoder. There is also a means for selecting whether the manned auto-guidance vehicle is moving forward or backward based on the output direction of the encoder.

The above-mentioned three means detect the rotation direction of the road wheel by the encoder, judge whether the manned auto-guidance vehicle is moving forward or backward, and move the guide sensor to be detected forward. The configuration is such that it is switched to the reverse mode or the reverse mode.

The guide may be formed by energizing an induction wire with an alternating signal having a constant frequency, by attaching a magnetic tape, or by attaching a light reflection tape. A pickup coil is used as a guide sensor for detecting the alternating signal of, and a plurality of light receiving elements are arranged in a line at the bottom of the vehicle when detecting a magnetic tape and a light reflecting tape. Is used.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An electromagnetic induction system using an induction wire according to 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. In the front view, 1 is a shelf for storing and storing loads, and a plurality of shelves 1 are arranged in parallel with each other, and an inter-shelf passage 2 is formed by arranging the shelves 1 in parallel. A guide wire 3 is buried, and a manned auto-guidance vehicle 4 is arranged in which the guide wire 3 is used for automatic steering and traveling, and where the guide wire 3 does not exist, the driver operates the steering wheel while traveling.

FIG. 3 is a perspective view of a manned auto-guidance vehicle used to explain one embodiment of the present invention. The manned auto-guidance vehicle 4 has a vehicle body 5, a front of the vehicle body 5,
And a pair of legs 6 are projected and fixed downward, and the legs 6
A road wheel 7 is rotatably attached to the tip of the vehicle, and a turnable drive wheel 8 is rotatably attached to the lower portion of the vehicle body 5. In addition, a mast 9 is provided in front of the vehicle body 5.
A lift bracket 10 which is vertically movable is arranged on the mast 9, and a pair of racks 11 and 11 are fixed above and below the front surface of the lift bracket 10 in the vehicle width direction. A movable head 12 that horizontally moves in the width direction of the vehicle body while engaging with the vehicle body; a turning shaft 13 that turns in front of the moving head 12 horizontally to the road surface; and a fork 15 attached to the turning shaft 13 via a mounting plate 14. , Fork 15 turns horizontally around the turning axis 13.

FIG. 4 is a rear view of a manned forklift truck used for explaining one embodiment of the present invention. A drive unit 16 is mounted on the vehicle body 5 so as to be movable up and down, and is swung below the drive unit 16. The drive wheels 8 that can be driven are fixed to the drive motors 17 above the drive units 16, and the encoders 18 are attached to the rotary shafts (not shown) protruding above the drive motors 17.

A pair of pickup coils 19F, 19F, 19 are provided at the lower portions of the front and rear of the vehicle body 5, respectively.
B and 19B are fixed, the driver travels while manually steering, and when one of the pickup coils 19F and 19B detects a constant frequency signal emitted from the guide wire 3, the driver is attached to the traveling electric motor 17. The encoder 18 determines whether the vehicle body 5 is currently traveling in the forward direction or in the backward direction, and separates the pickup coils 19F and 19B into those for forward and those for backward. .

As described above, the pickup coil 19
The electric block diagram shown in FIG. 5 is used to divide F and 19B into forward movement and backward movement. To explain this electric block diagram, the encoder 18 receives the output from the encoder 18, and is it moving forward? Or a forward / backward detection circuit 25 for determining whether or not the vehicle is moving backward, the forward / backward detection circuit 2
When the output signal from 5 is applied, the transistors of the forward / backward polarity switching circuits of the pickup coils 19F and 19B become conductive, and the relay contacts are activated to operate the forward pickup coil 19F mounted on the front part of the vehicle body 5. One pair is connected to the automatic steering control circuit 27, and the pickup coil 19F
The steering motor drive circuit 28 is controlled by the induced voltage difference of (1) to perform automatic steering while moving forward.

On the other hand, if the forward / backward movement output signal from the forward / backward movement detection circuit 25 is not output, the pickup coil 19
A pair of reverse pickup coils 19B mounted on the rear portion of the vehicle body 5 is connected to the automatic steering control circuit 27 because the transistors of the forward and backward polarity switching circuits F and 19B are not conductive, and the relay contacts are not activated. The steering motor drive circuit 28 is controlled by the induced voltage difference of 19B to perform automatic steering while moving backward.

[0014]

As described above, according to the present invention, when a driver manually travels while steering, and one of the guide sensors detects a signal emitted from the guide, the rotation of the electric motor for traveling protrudes upward. An encoder mounted on a shaft (not shown) determines whether the vehicle is currently traveling in the forward direction with the vehicle body or is traveling in the reverse direction, and the guide sensor is set for the forward and reverse directions. Since it is configured to be divided into two parts, it is possible to switch the guide sensor more accurately and more quickly than by detecting the tilt angle of the forward / reverse operation lever.

In the embodiments of the present invention, the guides guided by the inter-shelf passage have been described, but it goes without saying that the present invention can be applied not only to the inter-shelf passage but also to any place.

[Brief description of drawings]

FIG. 1 is a side view for explaining a usage state of the device of the present invention.

FIG. 2 shows a front view of FIG.

FIG. 3 is a perspective view of a reach type forklift capable of carrying out cargo handling work in three directions using the device of the present invention.

FIG. 4 is a rear view of a reach type forklift capable of carrying out cargo handling work in three directions using the device of the present invention.

FIG. 5 shows an electrical block diagram of the device of the present invention.

[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 Drive wheel 9 Mast 10 Lift bracket 11 Rack 12 Movable head 13 Swivel axis 14 Mounting plate 15 Fork 16 Drive unit 17 Running electric motor 18 Encoder 19 Pickup coil 20 Steering motor 25 Forward / backward detection circuit 26 Pickup coil forward / backward polarity switching circuit 27 Automatic steering control circuit 28 Steering motor drive circuit

Claims (3)

[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 can switch between automatic and manual steering. An electric motor is equipped with an encoder, and a pair of left and right guide sensors are arranged at the front and rear of the lower part of the body of a manned auto-guidance vehicle. Steering polarity detection method for manned auto-guidance vehicles that determines whether the guidance vehicle is moving forward or backward and selects either the front guide sensor or the rear guide sensor . 2. A manned auto-guidance vehicle of a forklift, which is provided with an automatic steering device for automatically steering along a guide laid on a traveling course, and which is capable of switching between automatic and manual steering. An encoder is attached to the wheel mounting shaft, and a pair of left and right guide sensors are arranged at the front and rear of the lower part of the body of a manned auto-guidance vehicle, and when the guide sensor detects the guide, the manipulator detects that the encoder is moving forward or backward. Auto-guidance Determines whether the vehicle is moving forward or backward, and selects either the guide sensor located at the front or the guide sensor located at the rear. Detection method. 3. 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 switching between automatic and manual steering. A follower wheel near the wheel is separately rotatably provided, an encoder is attached to the rotary shaft of the follower wheel, and a pair of left and right guide sensors are arranged at the front and rear of the lower part of the body of a manned auto-guidance vehicle. When it detects that the manned auto-guidance vehicle is moving forward or backward in the forward / backward detection output state of the encoder, it determines whether it is a forward guide sensor or a rear guide sensor. Steering polarity detection method for manned auto-guidance vehicles that selects either sensor.