JPH10283031A - Traveling path for unmanned carrier - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately perform guiding traveling along a guiding body and to easily change the shape of a traveling path by constituting the traveling path by the plural kinds of floor blocks to which the guiding body is linearly disposed in different shapes. SOLUTION: The floor blocks 13 are continuously used for a straight advancing path, the floor blocks 10 are used for a T-shaped crossing part respectively and both floor blocks 10 and 13 are laid so as to continue the linear guiding body 23 of the floor block 13 and the V-shaped guiding body 20 of the floor block 10. Thus, this traveling path is crossed in a T shape at the position of the floor block 10. In the case that an unmanned carrier 1 travels in the direction of an arrow 46, when an address detection sensor 43 detects address display 30, it is understood that the crossing part is present based on traveling path information or the like stored in a controller and the unmanned carrier 1 turns right or left by guiding traveling while detecting magnetic guiding bodies 20 and 23 with/without being decelerated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling path for an automatic guided vehicle, and more particularly to an automatic guided vehicle capable of accurately guiding an automatic guided vehicle along a derivative disposed on the traveling path with a simple structure. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling path for an automatic guided vehicle in which the shape of a road can be easily changed.

[0002]

2. Description of the Related Art Conventionally, an automatic guided vehicle has been widely used for transporting parts and products in a factory, for example. The automatic guided vehicle travels guided by a derivative such as a magnetic tape disposed on a traveling path.

[0003] In conventional traveling equipment for automatic guided vehicles, in the straight section of the traveling path, guided traveling is performed using guidance sensors 41 and 42 provided on the automatic guided vehicle 1 and comprising magnetic sensors for identifying magnetic derivatives. On the other hand, at an intersection, a branch, or the like of the traveling road, for example, as shown in FIG.
As shown in FIG. 5, an address detection sensor 4 for detecting an address display 30 provided on the automatic guided vehicle 1 without disposing a magnetic derivative on a floor block 7 constituting an intersection of a traveling path.
3. Traveling equipment for an automatic guided vehicle that travels by autonomous guidance using the direction detection sensor 44 and the traveling position measuring device 45 has been proposed and put into practical use.

In this automatic guided vehicle traveling equipment, when the automatic guided vehicle 1 travels in the direction of arrow 46,
When the address detection sensor 43 detects the address display 30 installed on the floor, the vehicle decelerates based on the travel path information and the like recorded in the control device, and at the same time, understands that there is an intersection of the travel path, and Turn right or left. In this case, since the magnetic block is not provided on the floor block 7 constituting the intersection of the traveling road, the current traveling direction is detected by the azimuth detecting sensor 44 in the case of straight traveling as in the case of right or left turn. While the current position is being confirmed by the traveling position measuring device 45, the vehicle travels by autonomous guidance based on traveling route information and the like recorded in the control device. Therefore, in this automatic guided vehicle traveling facility, every time the automatic guided vehicle 1 passes through the intersection of the traveling path,
Since it is necessary to travel by autonomous guidance, traveling accuracy and transport efficiency are reduced, and time and expense are required for creating and adjusting a program, for example, creating a program for setting a condition of a straight running or a right turn or a left turn and a speed. In short,
Further, there is a problem that it is necessary to dispose an expensive direction detection sensor 44 in the automatic guided vehicle 1.

[0005] To cope with this problem, for example, as shown in FIG.
A magnetic derivative 20A is attached to the floor block 10A constituting the branch part.
Are arranged in a curved line along the branch of the traveling path,
At intersections and diverging points of the travel path, the guidance traveling is performed using the guidance sensors 41 and 42 provided on the automatic guided vehicle 1 and configured by magnetic sensors for identifying magnetic derivatives. I have. However, processing the derivative 20A into a curved shape along an intersection, a branch, or the like of the traveling path requires time and effort and increases equipment costs.

[0006]

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems of the conventional traveling equipment for an automatic guided vehicle, and accurately guides the automatic guided vehicle along a conductor provided on a traveling path with a simple structure. It is an object of the present invention to provide a traveling path for an automatic guided vehicle, which can travel and can easily change the shape of the traveling path.

[0007]

In order to achieve the above-mentioned object, an automatic guided vehicle traveling path according to the present invention is provided on an automatic guided vehicle traveling path in which a guide for guiding the automatic guided vehicle is disposed on the traveling path. It is characterized in that the road is constituted by a plurality of types of floor blocks in which the derivatives are arranged in a linear shape having different shapes.

[0008] Since the traveling path for the automatic guided vehicle is constituted by a plurality of types of floor blocks in which the derivatives are linearly arranged in different shapes, the derivatives can be easily and accurately formed. Can be manufactured.

In this case, the floor block can be composed of floor blocks for a straight section, a corner section, an intersection section, and a branch section.

[0010] Thus, by appropriately combining the floor blocks for the straight section, the corner section, the intersection section, and the branch section, it is possible to form a traveling path having an arbitrary shape.

[0011] Further, the derivative can be disposed in a groove formed on the surface of the floor block.

Thus, the derivative can be stably disposed, and the durability of the floor block can be improved.

[0013]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a traveling path for an automatic guided vehicle according to the present invention.

FIG. 1 shows an example of a traveling path and an traveling direction of an automatic guided vehicle 1 used for transporting parts and products between a manufacturing apparatus and warehouses 2 in a factory.

The automatic guided vehicle 1 is guided by a control device (not shown) to a guide 3 disposed on a traveling path between a manufacturing device or a warehouse 2 disposed at a predetermined position in a factory. While traveling, parts and products are transferred to the specified manufacturing equipment and warehouse 2
Delivery. The shape of the traveling path is for the corner part described later,
By appropriately combining and using a plurality of types of floor blocks for an intersection, a branch, a straight line, and the like, it can be set arbitrarily according to the arrangement of the manufacturing apparatus and the warehouses 2 and 2.

Although this running path is not particularly limited, in the present embodiment, a derivative such as a magnetic tape or a light reflecting tape is stuck and applied to the surface, or these substances are arranged in the groove. Constructed from multiple types of floor blocks,
The floor block is laid according to the layout of the traveling path.

Next, an actual example of a floor block is shown in FIG. This floor block is made of a predetermined thickness, size and shape, for example, a block formed of a material such as wooden, synthetic resin, aluminum alloy, etc., which does not affect the induced signal by magnetism or light. In this case, various shapes of derivatives are provided on the surface.

The floor block 10 shown in FIG.
It is laid at the junction or T-shaped intersection of the running path,
A V-shaped derivative 20 is provided on the surface so as to be in contact with the middle of three sides of the floor block 10. In this case, the derivative 20 is disposed on the surface of the floor block 10 by sticking, coating, or the like, and as shown in FIG. 2, a shallow groove, for example, having a depth of 0.5 to 3 mm is formed on the surface of the floor block 10. The groove can be formed by filling the dielectric 20 into the groove. The method of disposing this derivative is the same for other floor blocks described later.

The floor block 11 shown in FIG. 3 is laid at a branch portion or a cross-shaped intersection of a traveling path, and a rhombus-shaped derivative 21 is disposed on the surface thereof so as to be in contact with the middle of four sides of the floor block 11. And configure.

The floor block 12 shown in FIG. 4 is laid on a corner of a traveling road or a curved road, and has a linear derivative 22 on its surface so as to be in contact with the middle of two adjacent sides of the floor block 12. Arrange and configure.

The floor block 13 shown in FIG. 5 is laid for a straight traveling path, and has a floor block 13 on its surface.
Linear derivative 2 so as to be in contact with the middle of the two opposite sides of
3 is arranged and configured.

The floor block 14 shown in FIG. 6 is laid at a branch or a cross-shaped intersection of a traveling path, and has rhombic and cross-shaped derivatives 24 on its surface so as to be in contact with the middle of four sides of the floor block 14. Is arranged and configured.

The floor block 15 shown in FIG. 7 is laid at a branch portion or a cross-shaped intersection of a traveling path, and has a V-shaped and a middle portion between four sides of the floor block 15 so as to be in contact with the middle of three sides of the floor block 15 on the surface thereof. And a cross-shaped derivative 25 is disposed so as to be in contact with.

The floor block 16 shown in FIG. 8 is laid at a branch portion or a T-shaped intersection of a traveling path, and has a V-shaped and two opposite faces on its surface so as to be in contact with the middle of three sides of the floor block 16. The linear derivative 26 is in contact with the middle of the side.
Is arranged and configured.

The floor block 17 shown in FIG. 9 is laid at a branch portion or a cross-shaped intersection of a running path, and has a cross-shaped and two adjacent sides so that the surface thereof is in contact with the middle of the four sides of the floor block 17. Linear derivative 27 so as to be in the middle of
Is arranged and configured.

The floor blocks 18, shown in FIGS.
18A is laid at a branch or a straight portion of the running path, and has a cross-shaped and adjacent two-sided surface so that it is in contact with the middle of two opposing sides and the middle of two adjacent sides of the floor blocks 18, 18A. Derivative 2 linear so as to be in contact with the middle of the side
7 is arranged and configured.

The floor block 19 shown in FIG. 12 is laid at the cross-shaped intersection of the traveling path, and has a cross-shaped derivative 2 on its surface so as to be in contact with the middle of the four sides of the floor block 19.
9 is arranged and configured.

By appropriately combining a plurality of types of floor blocks for corners, intersections and branches, and straight sections as shown in FIGS. The traveling path of the automatic guided vehicle 1 having an arbitrary shape is configured by appropriately combining the blocks.

FIG. 13 shows an example of this. The floor block 13 shown in FIG. 5 is connected for a straight path, and the floor block 10 shown in FIG. 2 is used for a T-shaped intersection.
The linear derivative 23 of the floor block 13 and the floor block 10
The floor block 10 and the floor block 10 are laid so that the V-shaped derivative 20 of FIG. 1 is continuous, so that the traveling path intersects with the floor block 10 in a T-shape at the position of the floor block 10.

On the other hand, the automatic guided vehicle 1 traveling on this traveling path
Is provided with a plurality of traveling wheels S, is configured to be steerable, and is provided with guidance sensors 41 and 42 including a magnetic sensor or the like for identifying a derivative. In this case, the induction sensor 4
As shown in the present embodiment, it is desirable that the reference numerals 1 and 42 be provided at two positions before and after the automatic guided vehicle 1 so that the guided vehicle 1 can be accurately guided by the derivative.

The automatic guided vehicle 1 has an address display 3
A travel position measuring device 45 including an address detection sensor 43 for detecting 0 and an encoder or the like directly connected to the traveling wheel S is provided, whereby the address display 30 installed on the floor is detected by the address detection sensor 43, The current position is confirmed by the traveling position measuring device 45, and the automatic guided vehicle 1
However, it is possible to make a straight run, a right turn, a left turn, and the like by guided driving. In this case, the front and rear guidance sensors 41, 41 are used so that the measurement error of each sensor can be reduced.
It is desirable to provide an address detection sensor 43 at an intermediate position between the two.

Next, the operation of the traveling equipment for an automatic guided vehicle will be described. FIG. 13 is a plan view showing a state immediately before the automatic guided vehicle 1 enters the T-shaped intersection of the traveling path, in which the floor blocks 10 and 13 and the floor block 7 in which no derivative is provided are combined. The running path is constituted by laying. When the automatic guided vehicle 1 travels in the direction of the arrow 46, the address detection sensor 43 displays the address display 3
When 0 is detected, it is understood that there is an intersection based on the travel route information and the like recorded in the control device.
Without deceleration or with deceleration, the magnetic derivative 23,
It is possible to make a right turn or left turn by guided driving while detecting 20, 23.

Although the contact point of the insulator 20 of the floor block 10 is formed by bending, the control cycle is lengthened,
If the traveling speed is reduced, the automatic guided vehicle 1 can travel smoothly. According to the experiment, the control cycle is 20m
s, the traveling speed was 20 m / min, and the size of the floor block was about 60 cm square. It was confirmed that the bending of the derivative did not adversely affect the traveling of the automatic guided vehicle 1 at all.

As described above, in addition to the magnetic derivative such as a magnetic tape, a light reflecting type derivative such as a light reflecting tape and a light receiving / emitting device are combined with the derivative of the traveling path for an automatic guided vehicle according to the present invention. Any derivative can be used, for example, when used.

[0035]

According to the traveling path for an automatic guided vehicle of the present invention,
Since the traveling path is constituted by a plurality of types of floor blocks in which the derivatives are linearly arranged in different shapes, the derivatives can be manufactured easily and with high precision.
In addition, it is possible to guide the automatic guided vehicle along guides disposed on all of the traveling roads including the intersections, branches, and the like of the traveling road, as compared with the case where the automatic guided vehicles travel by autonomous guidance. In addition to improving traveling accuracy and transport efficiency, it is possible to reduce the time and cost required for creating and adjusting a program, and furthermore, it is not necessary to dispose an expensive azimuth detection sensor on an automatic guided vehicle, Equipment costs can be reduced.

Further, the floor block is composed of floor blocks for a straight section, a corner section, an intersection section, and a branch section. By appropriately combining these floor blocks, the vehicle can travel in an arbitrary shape. A path can be formed.

Further, by disposing the derivative in the groove formed on the surface of the floor block, the derivative can be disposed in a stable state, and the durability of the floor block can be improved.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing one embodiment of a traveling path for an automatic guided vehicle according to the present invention.

FIG. 2 shows an example of a floor block, (a) is a plan view,
(B) is a sectional view taken along line AA of (a).

FIG. 3 is a plan view showing an example of a floor block.

FIG. 4 is a plan view showing an example of a floor block.

FIG. 5 is a plan view showing an example of a floor block.

FIG. 6 is a plan view showing an example of a floor block.

FIG. 7 is a plan view showing an example of a floor block.

FIG. 8 is a plan view showing an example of a floor block.

FIG. 9 is a plan view showing an example of a floor block.

FIG. 10 is a plan view showing an example of a floor block.

FIG. 11 is a plan view showing an example of a floor block.

FIG. 12 is a plan view showing an example of a floor block.

FIG. 13 is an explanatory diagram showing a state in which an automatic guided vehicle enters a branch portion of a traveling path.

FIG. 14 is an explanatory diagram showing a state in which an automatic guided vehicle enters an intersection of a conventional automatic guided vehicle traveling facility.

FIG. 15 is an explanatory diagram showing a state in which an automatic guided vehicle enters an intersection of a conventional automatic guided vehicle traveling facility.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Automatic guided vehicle 2 Manufacturing apparatus 3 Corner part 4 Branch part 5 Intersection part 6 Linear part 10, 11, 12, ... Floor block 20, 21, 22, ... Derivative 30 Address display 41, 42 Induction sensor 43 Address Detection sensor 44 Travel position measuring device S Wheel

Claims (3)

[Claims] 1. An automatic guided vehicle traveling path on which a guide for guiding an automatic guided vehicle is disposed on a traveling path, wherein the traveling path is constituted by a plurality of types of floor blocks in which the derivative is disposed in a linear shape having a different shape. A traveling path for an automatic guided vehicle characterized by the following. 2. A floor block for a straight section, a corner section,
2. The traveling path for an automatic guided vehicle according to claim 1, wherein the traveling path comprises an intersection portion and a branch portion. 3. The traveling path for an automatic guided vehicle according to claim 1, wherein the derivative is disposed in a groove formed on the surface of the floor block.