JPH11119831A - Device for guiding carrier to fixed position - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for guiding carrier without providing an obstruction or a landmark for guidance and hardly contaminating a tape. SOLUTION: In this device that has a guide tape GT arranged outside a carrier W, a guide tape detection sensor GS for detecting the tape GT installed in the carrier W, and an operation controller for controlling the operation of the carrier by receiving the output signal of the guide tape detection sensor GS, the operation controller controls the operation of the carrier W so that the guide tape detection sensor GS runs zigzag on the guide tape GT.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fixed position guidance device for a transport vehicle, and more particularly, to a vehicle for automatic travel during normal driving without using the fixed position guidance device for a transport vehicle. More specifically, the present invention relates to a fixed position guidance device for a carrier used only at the time of fixed position guidance.

[0002]

2. Description of the Related Art As a method using an external guiding device, there is a fixed position guiding method by tape guiding. FIG. 6 shows an external guidance device using the tape guidance. That is, in FIG. 6, W is a transport vehicle, GT is a guide tape, ST is a stop tape, DT is a deceleration tape,
IS is an image sensor as a tape detection sensor attached to the front and rear of the transport vehicle W. In FIG.
The image sensor IS detects the guiding tape GT, and the traveling vehicle W is controlled while traveling so that the guiding tape GT is always at the center of the image sensor IS. The guidance to the stop position SP is performed by traveling along the guidance tape GT. As shown in FIG.
Is stopped by a predetermined pattern of stopping tape ST on the floor surface.
Is detected by the image sensor IS. Prior to the guidance to the stop position SP, the detection sensor detects the deceleration tape DT, and the transport vehicle W is first decelerated.
However, in the guidance method using the external guidance device of FIG.
There is a problem that the image sensor IS is expensive because it is used, and that detection becomes difficult when the guide tape GT on the floor surface becomes dirty. Then, the conventional guidance method considered next is a guidance method using obstacles shown in FIGS. 7 and 8. . In FIG. 7A, W is a carrier, SP is a stop position, B is an obstacle, SS is a stop position sensor, and R is a traveling route. The obstacle B is set to have such a width that the carrier W can pass therethrough, and the traveling route R is set so that the carrier W passes between the obstacles B. As a result, the transport vehicle W starting from the position shown in FIG. 7A passes between the obstacles B while the position in the Y direction and the inclination in the θ direction are restricted by the obstacles B. Further, a position in the X-axis direction is detected by a stop position sensor SS attached to the outside or inside of the carrier W, and a stop signal is sent to the carrier W, thereby fixing the carrier W as shown in FIG. Stop in position. However, FIG.
In the guide device of the above, since the obstacle B is used for guidance, it is necessary to provide the obstacle B in the passage, which obstructs the passage of other people, and there is a problem that the use environment is limited. Therefore, a guidance device that does not require the obstacle B to be provided on the traveling path is required. FIG. 8 shows a conventional circuit realizing this. In FIG. 8, M is a plurality of landmarks provided on the traveling route, and two landmarks are used here. DS is a distance measurement sensor mounted on the transport vehicle W. In this guidance method, the positional relationship between the landmark M and the distance measurement sensor DS at the stop position is stored in advance in FIG. 8A, and guidance is performed to the stop position by bringing the measured value during traveling closer to the stored value. Is the way. For example, in the figure, distances a, b ', and c' are stored, and traveling is controlled so that the measured distances b and c during traveling are closer to b 'and c'. = B ', c
= C 'is the stop position.

[0003]

However, in the apparatus shown in FIG. 8, if the landmark M is hidden by a pedestrian or the like, guidance becomes impossible, and a redundant land is assumed on the assumption that the landmark M is hidden. There are problems that a mark needs to be provided and a landmark needs to be identified. SUMMARY OF THE INVENTION It is an object of the present invention to provide a guided vehicle guiding apparatus which does not need to provide a guiding obstacle or a landmark other than the tape, and is less likely to stain the tape.

[0004]

In order to solve the above-mentioned problems, in the present invention, the vehicle travels without using the fixed position guiding device during normal running, and uses the fixed position guiding device only during fixed position guiding. The fixed position guidance device has a guidance tape GT installed outside the transportation vehicle W, a guidance tape detection sensor GS installed on the transportation vehicle W to detect the guidance tape GT, and The tape detection sensor GS is controlled not to run on the guide tape GT but to run on the edge of the guide tape GT. Further, the guide tape detection sensor GS is attached to the front end of the transport vehicle W, and the guide tape GT is attached to the floor directly below or on the ceiling directly above both sides of the transport vehicle W, that is, the corner of the floor or ceiling. It is set up along the vicinity of the part. Further, a stop tape detection sensor SS for detecting the stop tape ST is installed on the transport vehicle W, and at this time, the detection direction of the stop tape detection sensor SS is directed to the side surface of the transport vehicle W, and the stop tape ST Is placed on the stop target SO, and at that time, the stop tape ST is placed in a direction perpendicular to the floor surface. By doing so, there is no need to provide landmarks other than guiding obstacles and tapes,
In addition, the tape that is installed along the floor or near the corner of the ceiling is less likely to be stained.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a diagram showing various tape arrangements of a guiding tape, a reference tape, and a stop tape of a guiding device according to the present invention. FIG. 2 is a diagram showing an arrangement of various tape detecting sensors of a guiding device according to the present invention. FIG. 3 is a diagram showing a guidance algorithm of the guidance device according to the present invention. FIG. 4 is a diagram showing a positional relationship between the guide tape and the tape detection sensor of FIG. 1, and FIG. 5 is an operation explanatory diagram of the guide device of FIG. In FIG. 1, the reference tape R
T is installed on the floor surface just before the stop position SP by the distance L or on the ceiling just above it. Guidance tape GT
As shown in FIG. 4, it is installed outside the sensor detection area so as to secure the stop distance d between the stop target SO and the transport vehicle W by d, and is parallel to the stop direction as shown in FIG. And installed on the ceiling (FIG. 4A) or the floor (FIG. 4B). The guiding tape detection sensor GS is realized by a recursive reflection type photoelectric switch for detecting an optical tape.
2 (FIGS. 2 and 4A) or a lower portion (FIG. 4B), and its detection direction is upward or downward. The stop tape ST is set on the stop target SO. At this time, the stop tape ST is set in a direction perpendicular to the floor surface in consideration of a stop distance. On the other hand, the stop tape detection sensor S
S is implemented by a retroreflective photoelectric switch for detecting an optical tape, and is installed at the front end or front side of the transport vehicle W as shown in FIG.

[0006] In response to the output signal of the detection sensor GS that has detected the guiding tape GT, the operation control device DC according to the present invention controls the operation of the transport vehicle W to the home position. The operation will be described with reference to the algorithm of FIG. 3 and the guidance method diagram of FIG. The transporting vehicle W that travels automatically has a reference tape ST
As a result, the error of dead reckoning in the X direction and the rotation angle θ direction from the start point of the carrier W is absorbed, and the vehicle W stops at the set station SN. Here, the transport vehicle W enters the guidance mode, and first, the direction of the stop position SP is obtained from the detection signal of the reference tape ST and the gyro signal and stored.
Also, the displacement amounts X and Y in the guidance mode are cleared to zero.
(FIG. 5A) Next, the angle θ is rotated in the direction of the stop target SO.
(FIG. 5B) After the rotation, the vehicle advances at the set speed V1 until the guiding tape GT is found. (FIG. 5C) When the guiding tape detection sensor GS detects the guiding tape GT on the guiding tape GT, the set speed V is set in the y direction.
Set to 2. Then, the speed V3 is set in the y direction, and control is performed so that the transport vehicle W excludes the guiding tape GT. (FIG. 5D) Next, the guiding tape detection sensor GS is connected to the guiding tape G.
When the vehicle moves away from T, the rotation speed V4 is set in a direction opposite to the rotation speed V3, and control is performed so that the transport vehicle W enters the guiding tape GT. As a result, the transport vehicle W is controlled to travel along the edge of the guide tape GT. When the stop tape detection sensor SS detects the stop tape ST while traveling along the edge of the guide tape GT, the stop is performed (forward speed = 0, rotation speed = 0), and the stop position SP stored first. To the direction of travel. When the guidance is stopped in the opposite direction, the tapes may be arranged so as to be symmetrical with respect to the center line of the corridor, and the signs of θ, V3 and V4 may be set to be reversed. As described above, since the transport vehicle W is guided along the edge of the guiding tape GT, only one guiding tape detecting sensor GS is required at the time of guiding, and a plurality of sensors are detected as in the case of the image sensor. Since adjustment of the range is not required and the photoelectric switch can be used, it can be manufactured at a low price, and further, the guiding tape GT can be attached to the ceiling. Further, as shown in FIG. 4B, even when the guiding tape GT is stuck on the floor and the guiding tape detecting sensor GS is set downward, a conventional guiding device in which the guiding tape detecting sensor is installed at the center of the transport vehicle is used. Differently, the guide tape GT can be set at the end of the transport vehicle, and as a result, the tape G
Since the T can be installed at the corner of the passage, the tape is hardly stained.

[Embodiment 2] As described with reference to FIG. 6 of the related art, when the transport vehicle W travels, all the tape detection sensors GS arranged in a plurality of rows in front of the transport vehicle W are used for guidance. When the stop tape detection sensor SS detects the stop tape ST, the transport vehicle W is stopped. However, in such a conventional guidance device of FIG. 6, the guidance tape detection sensor GS cannot detect the guidance tape GT due to dirt on the guidance tape GT during the guidance tape follow-up traveling, and all the guidance tape detection sensors GS Is out of the guiding tape GT, it stops as a tracking error. Stop tape S
Even when the stop tape ST cannot be detected in the stop operation by T, there is a problem that the stop is performed as a detection error. Therefore, the present invention shows a method for returning to tape running from a tape following error during tape running, and a method for preventing runaway due to a detection error of a stop sensor and trying to detect a stop tape ST again, thereby improving safety and stopping position accuracy. It is necessary to provide a stationary stop guidance device having a high position.
In order to solve the above-mentioned problem, here, the displacement amounts X and Y in the x and y directions from the start point of the carrier W and the rotation amount θ
It uses two pieces of information. With the above-described means, the direction can be corrected by the angle of the transport vehicle W with respect to the guide tape GT. Therefore, even when the transport vehicle W deviates from the guide tape GT, it is possible to return to the guide tape running. Further, even when the stop tape ST cannot be detected, it is possible to approach the stop tape again based on the distance information in the guide tape direction.

Hereinafter, an embodiment of the present invention will be described with reference to FIG. In FIG. 9, W is a transport vehicle, GT is a guide tape, GS is a guide tape detection sensor, ST is a stop tape, and SS is a stop tape detection sensor. It is assumed that the transport vehicle W travels from the start points a to b, and travels the guiding tape from b to c. The transport vehicle W holds information on the relative position and direction from the start point a (SN) as (X, Y, θ) by dead reckoning (not shown) and a gyro sensor (not shown). Start point a
(SN) is a _{(X a Y a, θ a} ). In addition, transport vehicle W is the pre-induction tape GT orientation θ _t and the stop position SP
It is assumed that (X _C, Y _C, θ _C ) of (the position of the stop tape ST) is known. At b, the operation shifts to guiding tape running.
Here, the relative position and orientation information becomes _{(X b, Y b, θ} b). Next, the speed to the left and right drive wheels is controlled so that the guidance tape detection sensor GS always rides on the guidance tape GT. Information on the relative position and orientation during the guidance is (X _d, Y _d, θ _d )
Becomes When the guiding tape detection sensor GS fails to follow the guiding tape, the transport vehicle W is stopped. Then, the transport vehicle W is rotated on the spot with a width of ± θ _s around θ _t to find the guiding tape GT. When the guiding tape GT is detected, the operation returns to the guiding tape running. The stop of the transport vehicle W at the fixed position is performed by detecting the stop tape ST. If the stop tape ST cannot be detected even when the distance exceeds _Xc , the transport vehicle is stopped, and the stop is performed while the guide tape is running in reverse. The tape ST is detected. When X _d = X _C can not be detected to say to the position of -d will try to stop tape detection ST in the forward and stop again. If detection is not possible even if this is repeated n times, it is regarded as an error. As mentioned above,
According to the present embodiment, the use of gyro information in the y-direction control during tape running has the effect of improving accuracy and safety in fixed position guidance. Further, there is an effect that runaway due to non-detection of the stop tape at the stop position is eliminated, and the approach to the stop tape is enabled again.

[Embodiment 3] In the case where a carrier docks with a stop target at the time of transferring a load, precise positioning on the stop target side transfer device and contact detection are indispensable. The related art in this regard is as shown in FIG. In FIG. 14, reference numeral 501 denotes a carrier, reference numeral 502 denotes an object to be stopped, and reference numeral 503 denotes a docking transfer device. The carrier 501 has mechanical contact detection switches 504 and 505. FIG. 14A is a side view of the apparatus, and FIG.
(B) is a plan view of the present apparatus. FIG. 15 shows various positional relationships between the transport vehicle 501 and the stop target 502. That is, when the transport vehicle 501 and the stop target 502 are in a non-contact state (A): both the switches 504 and 505 are OF
F, which makes it easy to see that the carrier 501 has not arrived at the stop target SO. From this state, the carrier 501 continues to approach the stop target 502. When the switch 505 is OFF but 504 is ON (B): It can be easily determined that the transport vehicle 501 is in contact with the stop target SO diagonally to the right. Similarly, when the switch 504 is OFF but the switch 505 is ON (C): it can be easily determined that the transport vehicle 501 is in contact with the stop target 502 diagonally to the left. Then, when both the switches 504 and 505 are turned on (D): It is easily understood that the carrier 501 has come into direct contact with the stop target 502. When such a conventional apparatus is used, the positioning accuracy in the Y-axis direction can be sufficiently ensured, but there is no means for directly detecting the current position of the transport vehicle with respect to the stop target in the X-axis direction. For example, even when the stop position of the transport vehicle 501 is displaced in the x direction from the transfer device 503 for the stop target 502 as shown in FIG. Also,
Since a mechanical switch is used as the detection means, even when an obstacle or the like other than the stop target is contacted, there is a possibility that it is erroneously recognized that the vehicle has arrived at the stop target, and reliability is imposed. As described above, the target position detecting device using the conventional mechanical contact detection switch has a problem that a lateral displacement cannot be detected. Further, there is a possibility that a stop target may be erroneously recognized, and there is a problem that reliability is lacking. Accordingly, the present invention provides a contact-type object position detecting device that simultaneously detects not only contact information between a transport vehicle and an object to be stopped but also lateral position information of a contact point and that has a low possibility of erroneously identifying the object to be stopped. It is intended to provide.

In order to solve the above-mentioned problems, a contact detection device for detecting that a transport vehicle has come into contact with an object to be stopped has a conductive rail having a fixed length-resistance characteristic on the object to be stopped. A contact terminal capable of measuring a voltage between terminals is arranged on the vehicle side, and a terminal contact position on the conductive rail is calculated from a voltage between terminals on the carrier vehicle side when both of them come into contact with each other. By doing so, not only the contact information of the transport vehicle and the object to be stopped but also the lateral position information of the contact point can be detected at the same time, so that the lateral displacement can be corrected. Further, since continuity according to a known resistance value is used instead of mere contact, there is little possibility of a stop target being erroneously recognized by a wall or the like. Hereinafter, an embodiment of the present invention will be described with reference to FIG. In FIG.
Reference numeral 101 denotes a carrier, reference numeral 102 denotes an object to be stopped, and reference numeral 103 denotes a docking transfer device. The transport vehicle 101 has contact detection terminals 104, 105, 106, and 107 arranged in a square shape. Also, on the side of the stop target 102, rail-shaped contact terminals 108 and 109 (conductive rails) are arranged in parallel with each other at the same height as the terminal on the automatic transport vehicle side.

FIG. 11 shows an internal circuit diagram of the contact terminal. FIG. 11A shows the object to be stopped, and FIG.
Indicates the carrier side. One (108) of the conductive rails on the object to be stopped has a fixed length-resistance characteristic, and the resistance value Ra is represented by a distance coefficient r according to the distance L from the end.
Increase. Ra = L × r The other conductive rail 109 has a negligible resistance value as compared with 108. The conductive rail 109 is connected to the ground 110 in the object to be stopped.
08 and 109 are connected via a DC power supply 111,
As a result, the voltage of 108 is higher than that of 109 by V. On the other hand, the contact terminals on the carrier side are B-1 and B-2.
And terminals 104 and 106 are connected to a resistor R
They are connected through one. The voltage between the terminals 104 and 106 can be measured using a voltmeter 112. The measured value of the voltmeter 112 is set to v1. Similarly, terminals 105, 1
07 is connected via a resistor R2, and the voltage between terminals is
13 can be measured. This measured value is defined as v2. FIG. 12 shows the transport vehicle and the stop target 102 in FIG.
FIG. 4 is a diagram for explaining the principle that various positional relationships with the position can be detected by the present embodiment. That is, when the carrier and the stop target 102 are in a non-contact state (A): the measured values v1 and v2 of the voltmeters 112 and 113 are both zero. From the measured values, it is easily understood that the transport vehicle has not arrived at the object to be stopped. In this state, when the transport vehicle continues to approach the stop target, for example, when the terminal 104 contacts 108 and the terminal 106 contacts 109 (B): v1 is not zero, but v2 is zero. Thereby, it can be easily determined that the carrier is obliquely in contact with the object to be stopped. Further, by using the measurement value v1, it is possible to calculate the position in the x direction on the stop target with which the terminals 104 and 106 are in contact. Specifically, it is obtained by L = R1 × (V ÷ v1-1) ÷ r. Also, when the terminal 105 is in contact with 108 and the terminal 107 is in contact with 109 (C): v2 is not zero, but v1 is zero. Thereby, it can be easily determined that the carrier is in oblique contact with the object to be stopped. Also, by using the measured value v2, the position in the x direction on the object to be stopped, to which the terminals 105 and 107 are in contact. Can be calculated. Specifically, it is obtained by L = R2 × (V ÷ v2-1) ÷ r. When the transport vehicle approaches the stop target accurately and straight, and the terminals 104 and 105 are in contact with 108 and the terminals 106 and 107 are in contact with 109 (D): The measured values v1 and v2 of the voltmeters 112 and 113 are all No longer zero. Thereby, it can be easily understood that the carrier has come into direct contact with the object to be stopped. When the measured values v1 and v2 are used, the terminal 10
The position in the x direction on the stop target where 4 and 106 are in contact is L = (V−v1) × R1 × R2 {r} (R2 × v1 + R
1 × v2). As described above, by measuring the terminal voltages v1 and v2, the carrier can detect the contact state with the stop target and the contact position on the stop target. FIG. As described above, it is possible to correctly position the transfer device on the stop target. Further, in the state of (D) or (E), the distance between the terminals 104 and 105 of the transport vehicle is a constant and known L ', so that v1 = (1 + L' × r ÷ R2) between v1 and v2. × v2 always holds. When the measured values v1 and v2 greatly deviate from this relationship, it is conceivable that the transport vehicle is in contact with another charged object, or a failure of the transport vehicle-side measurement circuit.
In this way, a self-check of the measuring device itself can also be performed.

FIG. 13 shows an example in which a DC power supply is not installed on the object to be stopped, but a power supply on the side of the carrier is used. That is, the two conductive rails 108 and 109 are provided on the stop target side (A).
Are short-circuited at one end, and a DC power supply is installed on the carrier (B) side. Therefore, when the transport vehicle and the object to be stopped come into contact with each other, a closed circuit of the conductive rail 108 → conductive rail 109 → voltmeter is immediately formed via a resistor from a DC power source mounted on the transport vehicle (B) side, and the measured value v1 is used. Thus, the position in the x direction on the stop target can be calculated. As described above, according to the present invention, when an object such as an object to be stopped comes into contact, lateral displacement information can also be acquired, so that position correction after the contact is facilitated. In addition, there is little possibility that a stop target is erroneously recognized due to a wall or the like. High reliability.

[0013]

As described above, the present invention has the following effects. According to the first embodiment of the present invention, since the guide tape can be installed at the corner of the floor or the ceiling, the guide tape is not stained at all. Further, by detecting and guiding the edge of the tape, it is not necessary to use an image sensor as the tape detection sensor, and the photoelectric switch can be used, so that the tape can be manufactured at a low cost. According to the second embodiment of the present invention, the gyro output θ and the information of the traveling distances X and Y are used in the control in the y direction during the traveling of the tape, so that there is an effect of improving accuracy and safety in the fixed position guidance. Further, there is an effect that runaway due to non-detection of the stop tape at the stop position is eliminated, and the approach to the stop tape is enabled again. According to the third embodiment of the present invention, when the transport vehicle docks on a stop target at the time of transferring a load, precise positioning on the stop target and contact detection are indispensable. In this regard, in the past, mechanical contact detection switches were used to detect contact with stop objects.However, in this method, means for directly detecting the displacement of the transport vehicle in the lateral direction perpendicular to the approach direction is used. Absent. Further, even when the vehicle comes into contact with an obstacle or the like, it may be erroneously recognized that the vehicle has arrived at the object to be stopped. There was a problem.
According to the present invention, a conductive rail having a fixed length-resistance characteristic is arranged on the object to be stopped, and a contact terminal capable of measuring a terminal-to-terminal voltage is arranged on the carrier side, and between the terminals on the carrier side when both contact. The terminal contact position on the conductive rail is calculated from the voltage, thereby improving the positioning accuracy in the lateral direction and increasing the reliability of the recognition of the object to be stopped.

[Brief description of the drawings]

FIG. 1 is an arrangement diagram of a guide tape and the like in a first embodiment of the present invention.

FIG. 2 is a diagram showing an arrangement of a tape detection sensor in FIG. 1;

FIG. 3 is a diagram showing a guidance algorithm of FIG. 1;

FIG. 4 is a diagram showing a positional relationship between the guide tape and the tape detection sensor in FIG. 1;

FIG. 5 is an explanatory view of the guidance method of FIG. 1;

FIG. 6 shows a conventional fixed position guidance device 1.

FIG. 7 shows a conventional fixed position guidance device 2.

FIG. 8 shows a conventional fixed position guidance device 3.

FIG. 9 is a diagram showing a fixed position guidance method according to a second embodiment of the present invention.

FIG. 10 is a diagram showing an object position detecting device according to a third embodiment of the present invention.

11 is an internal circuit diagram of a contact terminal of the object position detecting device of FIG.

12 is a diagram showing various positional relationships between the carrier and the object in FIG.

FIG. 13 is a view showing another embodiment of FIG. 10 using a power supply on the side of the carrier.

FIG. 14 shows a conventional object position detecting device.

FIG. 15 is a diagram showing various positional relationships between the carrier and the object in FIG. 14;

[Explanation of symbols]

 GT Guide tape GS Guide tape detection sensor DC Operation control device ST Stop tape SS Stop tape detection sensor RT Reference tape IS Image sensor SO Stop target SP Stop position W Carrier B Obstacle R Travel route M Landmark DS Distance measurement sensor IS Image sensor DT Deceleration tape SA Sensor detection area SN station 101 Transport vehicle 102 Stop target 103 Transfer device 104, 105, 106, 107 Contact detection terminal 108, 109 Conductive rail 110 Ground 111 DC power supply 112, 113 Voltage Total

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Takeshi Sakamoto 2-1 Kurosaki Shiroishi, Yawatanishi-ku, Kitakyushu-shi, Fukuoka Prefecture Inside Yaskawa Electric Corporation

Claims (7)

[Claims] A guide tape installed outside a transport vehicle, a guide tape detection sensor installed on the transport vehicle for detecting the guide tape, and an output signal from the guide tape detection sensor. An operation control device for controlling the operation of the carrier, and
When the guide tape detection sensor detects the guide tape, the operation control device controls the transport vehicle in a direction to remove the guide tape, and as a result, the transport is performed so as to zigzag along the edge of the guide tape. A fixed position guidance device for a transport vehicle, which controls driving of a vehicle. 2. The transport vehicle fixed position guiding device according to claim 1, wherein said transport vehicle automatically travels without using said transport vehicle fixed position guiding device during normal traveling, and said transport vehicle fixed position only during fixed position guidance. The method of using a fixed position guidance device for a carrier according to claim 1, wherein the guidance of the fixed position of the carrier using a guidance device is performed. 3. The fixed position guidance device for a transport vehicle according to claim 1, wherein the guide tape detection sensor is attached to a front end of the transport vehicle. 4. The fixed position guidance device for a transport vehicle according to claim 1, wherein the guide tape is installed on a floor below a side surface of the transport vehicle or a ceiling on a side surface of the transport vehicle at a desired stop position. Position guidance device for carrier vehicles. 5. The fixed position guiding device for a transport vehicle, wherein the fixed position guiding device for a transport vehicle is provided with a stopping tape installed on an object to be stopped and in a direction perpendicular to a floor, and 2. The fixed position guidance device for a transport vehicle according to claim 1, further comprising a stop tape detecting sensor installed on the transport vehicle toward a side surface of the transport vehicle. 6. A fixed position guiding device for a transport vehicle for guiding a fixed position of a transport vehicle when guiding a fixed position, comprising: a guide tape installed outside the transport vehicle; and a guide tape installed on the transport vehicle. In the guided vehicle fixed position guidance device having a guidance tape detection sensor to detect, and an operation control device that receives the output signal of the guidance tape detection sensor and controls the operation of the transportation vehicle, the operation control device includes: When the guidance tape detection sensor fails to detect the guidance tape or the stop tape, the reference tape RT in the transport vehicle guidance mode is used.
, The displacement amounts X and Y in the X and Y directions and the rotation amount θ are stored,
A fixed position guidance device for a carrier, wherein a stop or detection operation is performed when a certain value or more is reached. 7. A fixed position guidance device for a carrier having a contact-type object position detecting device for detecting that the carrier has come into contact with an object to be stopped, wherein the contact-type object position detecting device comprises: A conductive rail having a fixed length-resistance characteristic on the object to be stopped and a contact terminal on the carrier side capable of measuring a voltage between terminals, and the conductive rail and the contact terminal are in contact with each other. Wherein the terminal contact position on the conductive rail is calculated from the terminal-to-terminal voltage on the side of the transport vehicle.