JPH1124749A - Unmanned vehicle and bumper unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned vehicle with good traveling property which can stably travel irrelevantly to whether or not there is a slope or step. SOLUTION: This vehicle has auxiliary wheels 3 arranged at the four corner on the under surface of the vehicle housing 2 and a pair of driving modules 4 and 5 with wheels mounted on the part of the under surface of the housing 2 at a distance in the truck width direction. In this case, a module support arm 18 which has its base end coupled freely rotataby with the housing 2 so that the tip freely moves up and down and a suspension mechanism 19 which energizes the tip part of the module support arm 18 toward the ground surface with a nearly constant force are mounted on the under surface of the housing 2; and the driving modules 4 and 5 with the wheels are fitted to the tip part of the module support arm 18.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic guided vehicle and a bumper unit, and more particularly to an improvement for improving traveling performance and safety against obstacles.

[0002]

2. Description of the Related Art Conventionally, an automatic guided vehicle shown in FIGS. 25 and 26 has been known. The automatic guided vehicle 1 shown here includes auxiliary wheels (casters) 3 rotatably provided at four corners of a lower surface of a housing 2 of the vehicle as traveling means,
A pair of wheeled drive modules 4 and 5 are provided at an intermediate portion on the lower surface of the housing 2 and are spaced apart in the width direction of the vehicle. The drive modules 4 and 5 with wheels are:
A drive means (a motor, a rotation transmission mechanism, etc.) for rotating the wheel 6 is assembled to the wheel 6 serving as a drive wheel, and is usually mounted on a flat road surface 7 as shown in FIG. In the state where it is in a state where the four auxiliary wheels 3 and the wheels 6 of the drive modules 4 and 5 with wheels are all in contact with the road surface 7,
The drive modules 4 and 5 with wheels are positioned and fixed to the lower surface of the housing 2.

As shown in FIG. 12, the bumper is manufactured so as to protrude from the automatic guided vehicle 1, and tape switches 46 and 47 are attached all around its surface. As shown in FIG. 13, they are mounted such that their end faces are aligned vertically. Up to now, the sensor for confirming the presence or absence of the mounting of the object has responded by adding a tape switch or the like to the upper surface of the bumper or designing the protrusion of the bumper to be small so that the object cannot be mounted. As shown in FIG. 12, the conventional automatic guided vehicle 1 does not know whether or not an object is placed on the bumper unit 45 even when the bumper unit 45 is mounted so as to protrude from the housing 2. For example, when the automatic guided vehicle 1 is used in a hospital facility or the like where children are present, as shown in FIG. 20, a child 69 gets on the projecting portion of the bumper unit 45 by mischief, and an unexpected accident occurs. There was a risk of inviting.

[0004]

However, in the driving mechanism of the automatic guided vehicle 1 described above, when the running path is switched from the flat road 8 to the uphill 9 as shown in FIG.
As shown in FIG. 8, when the vehicle rides over the step 10 protruding forward of the course, the wheels 6 of the drive modules 4 and 5 with wheels float off the road surface and are in an idling state. Also, as shown in FIG. 29, when the traveling road is switched from the flat road 8 to the downhill 11, the downhill 1
In the early stage of entry into the vehicle 1, the auxiliary wheel 3 on the downhill 11 side floats off the road surface, and when the vehicle further advances, as shown by an arrow (a) in FIG. 3, the vehicle body swings while the auxiliary wheels 3 on the flat road 8 are floating from the road surface, and there is a problem that the vehicle cannot run quietly and stably.

[0005] Further, a bumper with a tape switch attached thereto can easily increase the detection range, but is disadvantageous in that it is expensive and has low shock absorption.

Further, as shown in FIG. 13, the left and right tape switches 46 and 47 are mounted symmetrically with respect to the detection boundary 50, and the tape switches 4 in each row are provided.
6 and 47, the contact dead zone 49 between the tip portions overlaps on the detection boundary line 50. For example, the obstacle has a narrow projection, and the projection contacts the bumper unit 45 with the contact dead zone 49. In such a case, contact with an obstacle cannot be detected, and there is a problem in that the moving body travels while pressing the object or continuously applies pressure to the object. Also, with a bumper with a small protrusion so that it cannot be mounted on the bumper, the distance from the housing 2 to the tip of the bumper cannot be made large, and there is a possibility that the shock cannot be absorbed at the time of collision and the housing 2 may be damaged. there were. Further, a warning / alarm device has not been installed so far when a person or an object is placed on the bumper.

Further, recently, an operation method of pulling a plurality of trolleys or the like by the above-described automatic guided vehicle 1 on a passage of a general facility where a track or the like dedicated to the automatic guided vehicle is not laid has been studied. In such an operation, it is often necessary to perform a course change operation such as a switchback turn, and during a reverse operation at the time of a switchback turn, it is necessary to pay attention to obstacles behind the bogie. However, it is impossible for the obstacle detection device provided in the automatic guided vehicle 1 to detect an obstacle behind the bogie. Therefore, in consideration of such an operation, it is possible to detect the presence or absence of an obstacle behind the bogie, and use the detection result for traveling control of the automatic guided vehicle 1 that is pulling the bogie. A bumper unit with an obstacle detection function is required.

Accordingly, an object of the present invention is to solve the above-mentioned problems, and to provide an unmanned guided vehicle with excellent running characteristics that enables a vehicle to run stably even on a slope or a step. Further, the present invention provides an automatic guided vehicle having a bumper unit capable of inexpensively improving detection performance for obstacles, and furthermore, the vehicle detects obstacle information detected by a truck pulled by the automatic guided vehicle. By providing the means for communicating with the vehicle, the presence or absence of an obstacle behind the bogie can be reflected in the travel control, and an unmanned guided vehicle that can travel more safely can be provided.

[0009]

According to a first aspect of the present invention, there is provided an automatic guided vehicle, comprising: an auxiliary wheel rotatably provided at four corners of a lower surface of a housing of the vehicle; and a wheel driven by the wheel. A pair of drive modules with wheels that are arranged in the width direction of the vehicle at an intermediate portion of the lower surface of the housing, and the wheels of the drive module with wheels are on the ground surface. An automatic guided vehicle traveling by a transmitted driving force, in order to achieve the above object, a base end is rotatably connected to the housing such that a front end thereof is movable up and down. Module support arm, and a suspension mechanism for urging the distal end of the module support arm toward the ground surface with a substantially constant force, and attaching the pair of wheeled drive modules to the module support arm. It is characterized in.

The automatic guided vehicle according to a second aspect of the present invention is the automatic guided vehicle according to the first aspect of the present invention, as shown in FIG. 8, in place of the overhanging bumper and tape switch shown in FIG. Is provided with a plurality of contact-type obstacle detection devices on the outer periphery of the device. The contact-type obstacle detection device has a fixed electrode body partially formed of a conductive linear body formed in a coil shape, and is inserted into a coil of the fixed electrode body, and includes a vertical frame member and the vertical frame member. A movable electrode body integrally formed with a buffer frame material that functions as a bumper that is projected in the horizontal direction and that contacts an obstacle, by a linear body having conductivity and spring properties; and a fixed electrode. A power supply for applying a predetermined voltage and a voltage detector for detecting the presence or absence of the contact are provided between the body and the movable electrode body so that the electrodes have different polarities. According to this configuration, when the transport vehicle comes into contact with an obstacle, the vertical frame member is elastically displaced and the fixed electrode body and the movable electrode body come into contact with each other, thereby detecting a collision with the obstacle and detecting the impact at the time of the collision. Is absorbed by the displacement of the buffer frame material and the elastic deformation of the buffer frame material itself.

According to a third aspect of the present invention, in the automatic guided vehicle according to the first aspect, as shown in FIG. 10, instead of the overhanging bumper and the tape switch shown in FIG. Are provided with a plurality of contact-type obstacle detection devices on the outer periphery of the device. The contact-type obstacle detection device includes a plurality of unit frame members formed by forming a conductive and springy plate material into a U-shape, with the U-shape opening being the housing side, and A power source that applies a predetermined voltage to each unit frame member so that adjacent unit frame members are electrodes having different polarities, and whether or not there is contact between adjacent unit frame members. Is provided. The interval between the unit frame members is set to such an extent that when the unit frame members come into contact with obstacles and cause elastic deformation, they come into contact with adjacent unit frame members. And detecting a collision with the unit frame material by elastic deformation of the unit frame member.

An automatic guided vehicle according to a fourth aspect of the present invention is shown in FIG.
As shown in FIG. 1, the dead zone of the tape switch is fixed to the outer periphery of the housing or the outer periphery of the bumper unit attached to the housing by shifting the leading end of the tape switch in a plurality of rows. The position of the leading end of the tape switch in each row is set so as not to overlap the dead zone caused by the leading end of the tape switch.

An automatic guided vehicle according to a fifth aspect is shown in FIG.
As shown in FIG. 4, certain detection ranges a, b, and c are determined and the dead zone is shifted and fixed, and the contact location is specified by comparing the output signals of the tape switches. .

Further, in the automatic guided vehicle according to the present invention, when a bumper unit is mounted on the housing so as to protrude from the housing, an elastic body and a limit are provided between the bumper unit and the housing. A switch is installed, and the elastic body is deformed by the load when an object is placed on the upper surface of the bumper unit, and means is provided to detect whether the object is placed on the upper surface of the bumper unit by operating the limit switch It is characterized by the following.

Further, the automatic guided vehicle according to a seventh aspect of the present invention includes a loading prevention warning means for giving a predetermined warning when the loading detection means detects that an object is placed on the bumper unit. It is a feature.

The automatic guided vehicle according to the present invention includes an emergency stop means for stopping the traveling of the automatic guided vehicle when the loading detecting means detects that an object is placed on the bumper unit. It is characterized by the following.

The bumper unit according to the ninth aspect is, as shown in FIGS. 23 and 24, a bumper unit detachably mounted on the truck 73 when the truck 73 is pulled by the automatic guided vehicle 60. 75 is shown. The bumper unit 75 can be attached to and detached from a bumper module 77 detachably attached to the rear end of the truck 73 and a known automatic coupling device 76 capable of automatically controlling the connection / disconnection of the automatic guided vehicle 60 and the truck 73. And an infrared communication unit 78 attached to the camera.

The bumper module 77 is attached to the rear end of the carriage 73 by a known clamp mechanism or bolt-on mechanism. As shown in FIG.
An ultrasonic sensor 80 for detecting an obstacle behind the bogie 73; an acoustic sensor 81 for detecting an overhanging obstacle; an acoustic sensor 82 for detecting a step such as a stair on a running road surface; A variety of sensors such as a tape switch 83 for detecting contact with a human body and a pyroelectric sensor 84 for detecting a human body are provided, and a direction indicator 85 that operates when changing the direction of the course is provided.

The infrared communication unit 78 receives, for example, detection signals from various sensors in the bumper module 77 via a signal cable 87 and sends it to a traveling control unit (not shown) on the automatic guided vehicle 60 side. Of course, other communication means such as wireless communication may be used instead of the infrared communication unit. To achieve the above object, claim 1
9. A bumper unit having a built-in obstacle detection sensor that is detachable from the cart guided by the automatic guided vehicle and that detects an obstacle.

The automatic guided vehicle according to claim 10 is
An infrared communication unit or a wireless device that enables signal communication between the carrier and the truck is provided at a connection / disconnection portion between the automatic guided vehicle and the truck towed.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the illustrated embodiments. 1 to 5 show a first embodiment of an automatic guided vehicle according to the present invention. FIG. 1 is a side view of the automatic guided vehicle 15 of the first embodiment, and FIG. ,
FIG. 3 is a vehicle side view showing the behavior of the module support arm when the automatic guided vehicle 15 travels uphill, and FIG. 4 is a vehicle showing the behavior of the module support arm when the automatic guided vehicle 15 travels on a step. FIG. 5 is a side view showing the behavior of the module support arm when the automatic guided vehicle 15 travels downhill.

The automatic guided vehicle 15 according to this embodiment includes an auxiliary wheel 3 rotatably disposed at four corners on the lower surface of a housing 2 of the vehicle.
And a pair of wheel-mounted drive modules 4, 5, which are arranged in the middle of the lower surface of the housing 2 and are spaced apart in the width direction of the vehicle. And the wheels 6 of the drive modules 4 and 5 with wheels are driven by the driving force transmitted to the ground contact surface.

However, a module support arm 18 whose base end is rotatably connected to a bearing 16 on the housing 2 so that the tip can move up and down, and a module support arm And a suspension mechanism 19 for urging the distal end portion 18 toward the ground surface with a substantially constant force. The module support arm 18 is formed of a metal plate. In the case of the first embodiment, the suspension mechanism 19 has a gas pressure cylinder having a base end rotatably connected to the housing 2 and a front end rotatably connected to a front end of the module support arm 18. However, other known suspension mechanisms 19 can be used.

The module supporting arms 18 are provided in a pair at a distance from each other in the width direction of the vehicle. The pair of wheeled driving modules 4 and 5 are attached to portions of the respective module supporting arms 18 from the front ends. ing.

FIGS. 6 to 9 show a second embodiment of the automatic guided vehicle according to the present invention. FIG. 6 is a side view of the automatic guided vehicle 20 of the second embodiment, and FIG. FIG. 8 is a perspective view showing a configuration of a main part of the automatic guided vehicle 20. FIG. 9 is a schematic view showing a configuration of the contact-type obstacle detection device 21 shown in FIG.

The automatic guided vehicle 20 according to the second embodiment is provided with a plurality of contact-type obstacle detecting devices 21 on the outer periphery of the housing 2 of the automatic guided vehicle 15.

As shown in FIGS. 8 and 9, each contact-type obstacle detecting device 21 includes a coil-shaped fixed electrode body 23 fixedly mounted on the housing 2 and an elastic connection frame 28. A power supply 29 for applying a predetermined voltage to these electrode bodies 23 and 26 so that the fixed electrode body 23 and the movable electrode body 26 become electrodes having different polarities from each other; The presence or absence of contact between the fixed electrode body 23 and the movable electrode body 26
Voltage detector 3 which detects from a potential difference (voltage change) between each other
0.

The fixed electrode body 23 is formed in a coil shape by a conductive striated body, and is fixed to the housing 2 in a posture in which the center axis of the coil is directed in the vertical direction of the housing 2. Fixed. The movable electrode body 26 includes a vertical frame member 24 that is inserted into a coil formed by the fixed electrode body 23, and a buffer frame that protrudes in a horizontal direction from the vertical frame member 24 and functions as a bumper that contacts an obstacle. The material 25 is formed integrally with a conductive and springy striated body. The elastic connection frame 28 secures a predetermined elasticity by, for example, bending a striated body. When the buffer frame member 25 comes into contact with an obstacle, the vertical frame member 24 is elastically displaced. The movable electrode body 26 is connected to the housing 2 so as to be elastically displaceable so as to contact the fixed electrode body 23.

In the case of the second embodiment, the above-mentioned electrode bodies 23 and 26 and the elastic connecting frame 28 are formed by press-forming a metal wire such as a piano wire or a spring steel wire having both elasticity and conductivity. Is formed. In the case of the second embodiment, the elastic connection frame 28 is formed integrally with the buffer frame 25 of the movable electrode body 26.

FIG. 10 is a perspective view of another embodiment of the contact-type obstacle detecting device provided in the automatic guided vehicle according to the present invention.
The contact-type obstacle detection device 37 shown here is mounted on the lower outer periphery of the housing 2 of the automatic guided vehicle 15 shown in the first embodiment, similarly to the contact-type obstacle detection device 21.

The contact-type obstacle detecting device 37 includes a plurality of unit frame members 38 formed by forming a conductive and spring-like plate member into a U-shape. The buffer frame row 39 arranged at predetermined intervals around the housing 2 on the second side, and the adjacent unit frame 3 on the buffer frame row 39
A power source 40 for applying a predetermined voltage to each unit frame member 38 and an adjacent unit frame member 38 determine whether or not adjacent unit frame members 38 are in contact with each other so that the electrodes have electrodes of different polarities.
Voltage detector 4 that detects from the potential difference (voltage change) between each other
1 is provided.

The unit frame member 38 is formed in a U-shape having a predetermined dimension by press-forming a metal plate having excellent spring properties. The interval s between the adjacent unit frame members 38 in the buffer frame line 39 is such that when the unit frame member 38 contacts an obstacle and undergoes elastic deformation, the adjacent unit frame member 3
8 so as to be in contact with the adjacent unit frame material 38.
The collision with the obstacle can be detected by mutual contact, and the impact at the time of the collision can be absorbed by the elastic deformation of the unit frame member 38.

FIG. 11 shows a third embodiment of the automatic guided vehicle according to the present invention. The automatic guided vehicle 43 of the third embodiment is a housing of the automatic guided vehicle 15 shown in the first embodiment. 2
A bumper unit 45 for mitigating an impact at the time of a collision with an obstacle or the like, and tape switches 46 and 47 for detecting contact with an obstacle are provided on an outer peripheral surface of the bumper unit 45 in a vertical direction. Are arranged in a plurality of rows (in the case of FIG. 11, two rows vertically).

Then, the tape switches 46 in each row,
The position of the leading ends 46a, 47a of the 47 is determined by the contact dead zone 49 of the leading ends 46a, 47a of the tape switches 46, 47 of each row, and the contact dead zone 49 of the leading ends 46a, 47a of the tape switches 46, 47 of the other rows. Are shifted from each other so that they do not overlap in the vertical direction.

More specifically, in the case of FIG. 11, the right tape switch 46 and the left tape switch 47 in the upper row are
The contact dead zone 49 between the tips 46a and 47a is fixed on the bumper unit 45 so as to be located on the left side of the detection boundary 50 located at the center of the front of the vehicle.
On the other hand, the right tape switch 46 and the left tape switch 47 in the lower row are placed on the bumper unit 45 such that the contact dead zone 49 between the tips 46a and 47a is located on the right side of the detection boundary 50. Fixed. In FIG. 11, a range 52 is a contact detection area by the right tape switch 46 in the upper row, and a range 53 is a contact detection area by the left tape switch 47 in the lower row. The arrow (b) indicates the traveling direction of the vehicle.

Further, as shown in FIG. 14, by fixing a certain detection range and shifting and fixing the dead zone, and comparing the detection signals of the tape switches in each row, the actual contact detection area in each tape switch is determined. Can be further finely divided to specify the contact position of the obstacle, and the retreating operation of the vehicle after the contact can be facilitated.

For example, in FIG. 14, the bumper unit 45
The tape switches A and B in the upper row are mounted such that the contact dead zone p between the ends of the tape switches A and B is located near the left corner of the bumper unit 45,
On the other hand, when the tape switches C and D in the lower row are mounted such that the contact dead zone q between the ends of the tape switches C and D is located near the right corner of the bumper unit 45, as shown in FIG. By referring to the detection signal from each tape switch, it is possible to determine whether the contact area with the obstacle is the area a on the left side of the bumper, the area b on the front side of the bumper, or the area c on the right side of the bumper. become.

For example, if the pattern of the detection signal from each tape switch is the pattern 2 in FIG. 15, the collision site is the front surface of the bumper, so that FIGS. 16 (a) to (e) are shown. In the procedure, stop traveling of the vehicle (a),
The vehicle quickly escapes from the obstacle 56 by sequentially performing the retreat (b), the direction change by the turning operation of the vehicle (c), the diagonal advance of the vehicle (d), the correction of the course of the vehicle, and the advance (e). can do. If the pattern of the detection signal from each tape switch is pattern 3 in FIG. 15, the collision site is on the right side of the bumper, and the vehicle is subjected to the procedure shown in FIGS. Traveling stop (f),
The direction change (g) by turning operation of the vehicle, the diagonal forward movement of the vehicle (h), the course of the vehicle are corrected, and the forward (i) is performed in order, whereby the vehicle can escape from the obstacle 56 quickly.

As shown in FIG. 17, on the bumper unit 45, tape switches are arranged in four rows up and down, and the tape switches A and B in the uppermost row are located at the ends of the tape switches A and B. The contact dead zone p is located near the left corner of the bumper unit 45, and the lowermost row of tape switches G and H is connected to the contact dead zone s between the ends of the tape switches G and H. 45, the tape switches C in the second and third rows,
D, E, and F are similarly attached such that the contact dead zones q and r are sequentially arranged at a fixed interval between the above-described touch dead zones p and s.
As shown in FIG. 18, by referring to the detection signal from each tape switch, the contact portion with the obstacle can be a to
It is possible to accurately determine which of the five areas e. Then, it becomes possible to optimize the running algorithm of the vehicle for eliminating the collision state with the obstacle so that the collision state can be eliminated more quickly and smoothly.

FIG. 19 is a perspective view showing a fourth embodiment of the automatic guided vehicle according to the present invention. The automatic guided vehicle 60 of the fourth embodiment is different from the automatic guided vehicle 15 of the first embodiment in that the case 2 is provided with a bumper unit 45 so as to protrude from the case 2. The bumper unit 45 is equipped with the loading detection means 62 for detecting whether an object or a person is placed on the upper surface of the bumper unit 45, and the loading detection means 62 allows the object to be placed on the bumper unit 45. A loading prevention warning means 63 for giving a predetermined warning when detected, and an emergency for stopping the traveling of the automatic guided vehicle 15 when the loading detection means 62 detects that an object is placed on the bumper unit 45. A stopping means 64 is added.

In the case of this embodiment, the loading detecting means 62
Is a bumper unit 45 for detecting contact with an obstacle.
This is a tape switch similar to the tape switch 66 attached to the outer surface of the bumper unit 45. The tape switch is attached to the upper surface of the bumper unit 45 at appropriate intervals. I do.

The loading prevention warning means 63 comprises a speaker 63a for generating sound mounted on the upper part of the vehicle and a display 63b for displaying a message. The above-mentioned sound generation speaker 63a and display 63b are both provided by the control unit 6 incorporated in the housing 2.
7 controls the operation. The control unit 67 monitors the output signal of the loading detection unit 62, and when detecting that the object is on the bumper unit 45, outputs an audio warning from the audio generation speaker 63a, The detection result by the loading detection means 62 and a warning by characters or the like are displayed on the display 63b.

The emergency stop means 64 includes the control unit 67
When it is detected by the output signal of the loading detecting means 62 that an object is mounted on the bumper unit 45, the operation of the above-described wheeled drive module is stopped, and the vehicle is stopped.

However, in the automatic guided vehicle 60 according to the fourth embodiment, when there is a violation in which foreign matter is placed on the bumper unit 45, the violation is promptly detected and the foreign matter is removed. For example, it is possible to prevent an article accidentally placed on the bumper unit 45 from falling during traveling or an accident due to boarding by mischief of a child or the like.

The above-mentioned loading detecting means is not limited to the configuration using a tape switch. For example, as shown in FIG. 21 and FIG.
The object is mounted on the housing 2 so as to be vertically movable via an elastic support member 70 such as a rubber bush. When an object is placed on the bumper unit 45, the load is applied to the bumper unit 4 by the load.
When the sun sinks, the sensor 71 may be configured to detect the sun by the sensor 71 which is grounded below the sun sink.

If the truck 73 towed by the automatic guided vehicle 60 is equipped with the bumper unit 75 having the above configuration, for example, during a reverse operation for performing a switchback turn, an obstacle behind the truck 73 is bumped. Unit 7
5 detects the presence or absence of an obstacle behind the bogie 73 based on the detection results, such as stopping the reverse operation when approaching an obstruction. This can be reflected in the traveling control of the guided vehicle 60, and the safety of the unmanned guided vehicle 60 during towing travel can be improved.

The automatic guided vehicle pulling the carriage 73 is
Any of the above embodiments may be used.

[0048]

According to the automatic guided vehicle of the present invention, the drive module with wheels provided at the intermediate portion on the lower surface of the housing moves up and down by the swinging operation of the module support arm to automatically adjust the ground contact height. Even if the distance to the ground contact surface in the middle part of the lower surface of the housing fluctuates in order to switch the running path from a flat road to a slope or to get over a step that protrudes on the road surface, the drive module with wheels Wheels can follow the road surface irregularities and maintain a state of contact with the road surface. Further, the contact pressure between the wheels of the drive module with wheels and the road surface is always kept constant by the urging force of the suspension mechanism that urges the module support arm. Therefore, even if there is a hill or a step, all of the auxiliary wheels at the four corners of the housing of the vehicle and the wheels of the pair of wheeled drive modules provided in the middle of the housing are grounded at a predetermined pressure, Since the driving force of the drive module with wheels can be reliably transmitted to the road surface, stable traveling can always be performed, and excellent traveling performance can be obtained.

Further, the contact-type obstacle detecting device in the automatic guided vehicle according to the second aspect has a simple structure, and at the same time, all of the components such as the fixed electrode body, the movable electrode body, and the elastic connection frame. It can be easily and inexpensively manufactured by press forming of a piano wire or a spring steel wire.

When the buffer frame material of the movable electrode body comes into contact with an obstacle, if the movable electrode body undergoes elastic displacement in the horizontal or oblique direction due to the pressing force or impact force at the time of contact, The displacement causes horizontal movement or inclination of the vertical frame member of the movable electrode body, and the vertical frame member comes into contact with the fixed electrode body. Therefore, the voltage detector detects that the obstacle has come into contact with the obstacle. That is, the fixed electrode body has a coil shape,
Because the vertical frame material of the movable electrode body passes through the center part,
The contact with the obstacle can be detected by the horizontal movement or the inclination of the vertical frame member, and even if the obstacle contacts the movable electrode body from any direction, the contact with the obstacle is reliably detected. It is possible. In this case, the time required for the movable electrode body to come into contact with the fixed electrode body due to the elastic displacement of the movable electrode body depends on the setting of the elastic coefficient in the displacement direction by the elastic connection frame and the vertical frame member and the fixed electrode body. Can be freely set by setting the separation distance between them, and excellent detection sensitivity (responsiveness) can be obtained.

Further, the coil-shaped fixed electrode body has the center axis of the coil set in a vertical direction, and the vertical frame member of the movable electrode body can be displaced in the vertical direction without contact with the fixed electrode body. That is, erroneous detection does not occur due to vertical vibration during the travel of the automatic guided vehicle. Further, by increasing the length of the movable electrode body in the horizontal direction of the buffer frame material, the amount of elastic deformation when colliding with an obstacle can be arbitrarily increased, and the amount of shock absorption can be increased. In addition, it is easy to set the elastic deformation amount to be larger than the braking distance from immediately after the start of contact with the obstacle to the stop of the automatic guided vehicle. Therefore, with the above configuration, it is possible to improve the detection performance for obstacles and the safety at low cost.

Also, in the case of the contact-type obstacle detecting device in the automatic guided vehicle according to the third aspect, the structure is simple and the unit frame material as a component is made of a metal plate having excellent spring properties. It can be easily and inexpensively manufactured by press molding or the like. Then, when the unit frame material comes into contact with the obstacle, if the unit frame material is elastically deformed by the pressing force or impact force at the time of the contact, the adjacent unit frame materials come into contact with each other, and the voltage detector As a result, the contact with the obstacle is detected. The time until the unit frame material elastically deformed by contact with an obstacle comes into contact with an adjacent unit frame material depends on the setting of the elastic coefficient in the displacement direction of the unit frame material and the time between adjacent unit frame materials. It can be freely set by setting the separation distance, and excellent detection sensitivity (response) can be obtained. Furthermore, by arranging the adjacent unit frame members horizontally apart from each other, it is possible to avoid the adjacent unit frame members coming into contact with each other due to the vertical vibration during traveling of the automatic guided vehicle, and the Erroneous detection does not occur due to vertical vibrations when the vehicle is running. In addition, by increasing the length of the unit frame material projecting in the horizontal direction, the amount of elastic deformation when colliding with an obstacle can be arbitrarily increased. It is easy to set the elastic deformation amount larger than the braking distance from immediately after the start of the contact to the stop of the automatic guided vehicle. Therefore,
With the above configuration, the detection performance for obstacles is improved,
Improved safety can be achieved at low cost.

In the automatic guided vehicle according to the fourth aspect, even when the obstacle contacting the tape switch has a narrow tip, the tip straddles the tape switches in the upper and lower rows. If it has a length, even if the tip of the obstacle is located in the dead zone for a certain row of tape switches, the tip of the obstacle is located for the other row of tape switches. The contact is made outside the dead zone, and the contact with the obstacle can be detected by another row of tape switches. That is, since the tape switches in each row detect obstacles so as to complement each other in the dead zone of the tape switches in the other rows, the detection of obstacles is overlooked due to the dead zone caused by the tip of the tape switch. Without any inconvenience,
The reliability of obstacle detection by the tape switch can be improved.

In the automatic guided vehicle according to the fifth aspect,
By fixing a certain detection range and shifting and fixing the dead zone, and comparing the output signals of the respective tape switches, it is possible to specify the contact location, and by referring to the detection signal from each tape switch, It is possible to accurately determine a contact portion with an obstacle. Then, it becomes possible to optimize the running algorithm of the vehicle for eliminating the collision state with the obstacle so that the collision state can be eliminated more quickly and smoothly.

Further, according to the automatic guided vehicle of the present invention, when there is a violation in which foreign matter is placed on the bumper unit, the violation is promptly detected and the foreign matter is removed. For example, it is possible to prevent a fall accident during traveling of an article placed on the bumper unit by mistake or an accident due to boarding by mischief of a child or the like beforehand.

If the bumper unit according to the ninth or tenth aspect is mounted on a bogie towed by an automatic guided vehicle, for example, during a reverse operation for performing a switchback turn, an obstacle behind the bogie is provided. Is detected by an obstacle detection sensor built into the bumper unit, and the detection result can be transmitted to the automatic guided vehicle.When approaching an obstacle, the reverse operation is stopped, and an obstacle behind the bogie is stopped. Can be reflected in the traveling control of the AGV pulling the bogie, and the safety of the AGV during towing travel can be improved.

[Brief description of the drawings]

FIG. 1 is a side view of a first embodiment of an automatic guided vehicle according to the present invention.

FIG. 2 is a view taken in the direction of arrow B in FIG. 1;

FIG. 3 is a vehicle side view showing a behavior of a module support arm when the automatic guided vehicle according to the first embodiment of the present invention travels uphill.

FIG. 4 is a vehicle side view showing a behavior of a module support arm when the automatic guided vehicle according to the first embodiment of the present invention travels on a step.

FIG. 5 is a vehicle side view showing the behavior of the module support arm when the automatic guided vehicle according to the first embodiment of the present invention travels downhill.

FIG. 6 is a side view of an automatic guided vehicle according to a second embodiment of the present invention.

7 is a view as viewed in the direction of arrow C in FIG. 6;

FIG. 8 is a perspective view illustrating a configuration of a main part of an automatic guided vehicle according to a second embodiment of the present invention.

FIG. 9 is a schematic diagram illustrating a configuration of the contact-type obstacle detection device illustrated in FIG. 8;

FIG. 10 is a perspective view of a main part of a vehicle showing another embodiment of the contact-type obstacle detection device provided in the automatic guided vehicle of the present invention.

FIG. 11 is an enlarged perspective view illustrating a configuration of a main part of an automatic guided vehicle according to a third embodiment of the present invention.

FIG. 12 is a perspective view showing a mounting structure of a tape switch in a conventional automatic guided vehicle.

FIG. 13 is an enlarged view of a main part of FIG.

FIG. 14 is a perspective view showing an example of mounting tape switches in each row when a detection area is divided into three in the third embodiment of the present invention.

FIG. 15 is an explanatory diagram of a detection pattern of each tape switch in the mounting example of the tape switch shown in FIG. 14;

16 is an explanatory diagram of a traveling algorithm in a case where the vehicle escapes from an obstacle based on a detection signal of each tape switch in the case of the tape switch mounting example illustrated in FIG. 14;

FIG. 17 is a perspective view showing an example of mounting a tape switch in each row when a detection area is divided into five sections in the third embodiment of the present invention.

18 is an explanatory diagram of a detection pattern of each tape switch in the tape switch mounting example shown in FIG. 17;

FIG. 19 is a perspective view showing a fourth embodiment of the automatic guided vehicle according to the present invention.

FIG. 20 is a vehicle side view showing a problem that occurs in a conventional automatic guided vehicle.

FIG. 21 is a cross-sectional view of a main part showing another configuration example of the loading detection means for detecting that an object is mounted on the protrusion of the bumper unit in the automatic guided vehicle of the present invention.

FIG. 22 is an explanatory diagram of a detecting operation in the loading detecting means shown in FIG. 21.

FIG. 23 is a schematic configuration diagram showing an example of use of a bumper unit according to the present invention.

24 is an enlarged view of a bumper module in the bumper unit shown in FIG.

FIG. 25 is a side view of a conventional automatic guided vehicle.

26 is a view as viewed from the direction indicated by the arrow A in FIG. 25.

FIG. 27 is a vehicle side view showing a problem when a conventional automatic guided vehicle travels uphill.

FIG. 28 is a vehicle side view showing a problem when a conventional automatic guided vehicle travels on a step.

FIG. 29 is a vehicle side view showing an initial state of a conventional automatic guided vehicle entering a downhill.

FIG. 30 is a vehicle side view showing a behavior when the conventional automatic guided vehicle enters a downhill.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 automatic guided vehicle 2 housing 3 auxiliary wheel 4, 5 drive module with wheels 6 wheels 8 flat road 9 uphill 11 downhill 15 automatic guided vehicle 16 bearing 18 module support arm 19 suspension mechanism 20 automatic guided vehicle 21 contact-type obstacle Detecting device 23 Fixed electrode body 24 Vertical frame material 25 Buffer frame material 26 Movable electrode body 28 Elastic connection frame 29 Power supply 30 Voltage detector 32 Non-contact type obstacle detecting device 33 Bumper 35 Tape switch 37 Contact type obstacle detecting device 38 Unit frame material 39 Buffer frame row 40 Power supply 41 Voltage detector 43 Automatic guided vehicle 45 Bumper unit 46, 47 Tape switch 49 Dead zone 50 Detection boundary line 52, 53 Contact detection area 60 Automatic guided vehicle 62 Loading detection means 63 Loading prevention Warning means 64 Emergency stop means 66 Tape switch 67 Control unit 75 Bumper unit 76 Automatic coupling device 77 Bumper module 78 Infrared communication unit (communication means)

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kei Shimizu 2-1 Kurosaki Castle Stone, Yawatanishi-ku, Kitakyushu City, Fukuoka Prefecture Inside Yaskawa Electric Corporation (72) Inventor Masaru Adachi 2-1 Kurosaki Castle Stone, Yawatanishi-ku, Kitakyushu City, Fukuoka Prefecture Yaskawa Electric Corporation

Claims (10)

[Claims] An auxiliary wheel is provided at four corners of a lower surface of a housing of a vehicle, and a driving means for driving the wheel is assembled to the wheel. A pair of drive modules with wheels disposed apart from each other in the width direction of the vehicle, wherein the wheels of the drive modules with wheels are driven by a driving force transmitted to a grounding surface, and A module support arm having a base end rotatably connected to the housing such that the tip is vertically movable on a lower surface, and a suspension for urging the tip end of the module support arm toward the ground surface with a substantially constant force. An automatic guided vehicle equipped with a mechanism, wherein the pair of wheeled drive modules is attached to the module support arm. 2. A plurality of contact-type obstacle detection devices are provided on an outer periphery of the housing, and each of the contact-type obstacle detection devices is formed in a coil shape by a conductive linear member. A fixed electrode body fixedly mounted on the housing with the center axis of the coil oriented in the vertical direction of the housing, a vertical frame material inserted into the coil formed by the fixed electrode body, and a horizontal projection from the vertical frame material. A movable electrode body formed integrally with a buffer frame material that functions as a bumper that is provided and that contacts an obstacle by a conductive and springy striated body; and when the buffer frame material contacts an obstacle. An elastic connection frame connecting the movable electrode body to the housing such that the vertical frame member is elastically displaced and comes into contact with the fixed electrode body; and an electrode having a polarity different from that of the fixed electrode body and the movable electrode body. And a power supply for applying a predetermined voltage to these electrode bodies. A voltage detector that detects the presence or absence of contact between the fixed electrode body and the movable electrode body based on a potential difference between the fixed electrode body and the movable electrode body. 2. The automatic guided vehicle according to claim 1, wherein a collision with an object is detected, and a shock at the time of the collision is absorbed by a displacement of the elastic connecting member and an elastic deformation of the buffer frame itself. 3. A contact-type obstacle detection device is provided on an outer periphery of the housing, and the contact-type obstacle detection device includes a plurality of U-shaped plate members having conductivity and spring properties. The unit frame members are arranged at predetermined intervals around the housing with the U-shaped opening facing the housing, and each unit frame electrode is arranged so that adjacent unit frame members have electrodes of different polarities. A power supply for applying a predetermined voltage to the frame members, and a voltage detector for detecting the presence or absence of contact between adjacent unit frame members from a potential difference between the adjacent unit frame members. Is set to such an extent that when the unit frame material comes into contact with an obstacle and causes elastic deformation, the unit frame material comes into contact with an adjacent unit frame material, and a collision with an obstacle is detected by contact between adjacent unit frame materials. At the same time, the impact at the time of collision is absorbed by the elastic deformation of the unit frame material. The automatic guided vehicle according to claim 1, wherein: 4. A tape switch for detecting contact with an obstacle is provided in a plurality of rows on an outer periphery of the housing or an outer periphery of a bumper unit attached to the housing, the tape switches being shifted vertically. The tape switches in each row are fixed by shifting and fixing the tips of the tape switches in each row so that the dead zones of the tape switches do not vertically overlap the dead zones formed by the tips of the tape switches in other rows. 2. The automatic guided vehicle according to claim 1, wherein the position of the tip of the vehicle is set. 5. The method according to claim 1, wherein a contact area is specified by fixing a leading end portion of each row of tape switches by shifting a fixed detection range and comparing output signals of the respective tape switches. Item 6. The automatic guided vehicle according to Item 1. 6. When a bumper unit is provided on the housing so as to protrude from the housing, an elastic body and a limit switch are installed between the bumper unit and the housing, and the bumper unit 2. The automatic guided vehicle according to claim 1, further comprising means for detecting whether or not the object is placed on the upper surface of the bumper unit by operating the limit switch by deforming the elastic body when the object is placed on the upper surface of the bumper unit. . 7. The automatic guided vehicle according to claim 6, further comprising a loading prevention warning unit that issues a predetermined warning when the loading detection unit detects that an object is placed on the bumper unit. . 8. An emergency stop means for stopping travel of the automatic guided vehicle when the loading detection means detects that an object is placed on the bumper unit. The automatic guided vehicle described. 9. A bumper unit which is detachable from a truck pulled by an automatic guided vehicle and has a built-in obstacle detection sensor for detecting an obstacle. 10. A detection signal and the like from an obstacle detection sensor in the bumper module, which is attached to a connection / disconnection portion with a towing truck, sends a detection signal or the like to a control unit on an automatic guided vehicle side, or requests data from the control unit side. An automatic guided vehicle equipped with a two-way communication means capable of transmitting a signal or the like to a truck.