JPS58107910A - Safety device for automatic running dolly - Google Patents

Abstract

PURPOSE:To ensure the safety at corners of a path, by providing a device detecting the presence of personnel at the corners of the path and controlling the movement of the dolly. CONSTITUTION:When a dolly 5 runs and intercepts rays 8a, since a dolly body detection signal 8A goes to H, a memory 13 is set and an AND gate 15 is closed. Further, a television camera 10 transmits a picture in a prescribed range 11 to a pattern recognizer 12, and when a personnel is detected through the pattern recognition, the output goes to H. An output of an AND gate 14 goes to H and a stop command signal 16a goes to H, then the dolly 5 is stopped suddenly. When the recognizer 12 does not detect a personnel, the output goes to L, the output of the AND gate 14 also goes to L, the dolly 5 is not stopped and advances a corner 1a in a curve. When the dolly 5 intercepts rays 9a, a dolly detection signal 9A goes to H, the memory 13 is reset and the output goes to L.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement of a safety device for an automatically traveling bogie.

Self-driving carts are used to automatically transport luggage. There are various types of carts, such as those guided mechanically by guide rails, those guided magnetically by lines of magnetic force, and those guided optically using white lines or stainless steel tape. Further, when an object such as a person is present on the travel path of the trolley, safety is ensured by detecting this and stopping the trolley. This detector uses a contact detector that operates when it comes into contact with an obstacle, and a non-contact detector that operates without contact using ultrasonic waves, etc., and when these detectors operate, the trolley is stopped. ing.

However, especially in the case where a non-contact detector is used, the cart stops when a wall is detected at a corner of the passage. Therefore, at curved corners, the non-contact detector is made insensitive to prevent false detection (7).This means that even if a person is present at the curved corner, it will not be detected, which is dangerous.

This invention aims to improve the above-mentioned problem, and by installing a person detection device at the corner of the passageway and controlling the movement of the trolley when this detection device operates, it is possible to ensure safety at the corner of the passageway. The purpose of this invention is to provide a safety device for autonomous traveling trolleys.

An embodiment of this invention will be described below with reference to FIGS. 1 to 3.

In Figures 1 and 2, (1) is a passage set on the floor of the building, (la) is the corner of the passage (1), (2) is the wall of the corner (la), and (3) is the corner of the passage. (1a) ceiling, (4)
(5) is a guide wire that is buried in the floor of the passage (1) and creates a magnetic field through a low-frequency current; (5) is a drive motor (not shown) that rotates by detecting the magnetic field of the guide wire (4), and the passage ( 1), and at the corner (1a), a steering electric motor (not shown) operates to move along the corner (1a), as is well known. It is installed in the passageway (1) and emits ultrasonic waves (6a).
) A well-known non-contact detector that detects obstacles by measuring the time it takes to reflect back from an obstacle that exists above,
(7) is a contact detector that is installed at the tip of the trolley (5) and activates when it comes into contact with an obstacle; (s); (9) is a bending angle (
00 is a photoelectric device installed near the ceiling (3) that transmits light beams (8a) and (9a) across the passageway (1) and operates when the trolley (5) blocks it. This is an industrial television camera (hereinafter referred to as a television camera) that photographs a predetermined range αυ of a curved angle (la).

In Figure 3, (8A) I (9A) are photoelectric devices (
8).

When (9) detects the trolley (5), the trolley detection signal becomes rHJ. 0bori recognizes the image of the TV camera 00 as a pattern and detects whether or not there is a person within a predetermined range αη. 03 is an R-S flip-flop (hereinafter referred to as memory), 0 is an AND gate, α is an OR gate, (
16a) is its output, which is a stop command signal that issues a sudden stop command to the truck (5) when it becomes "H".

Next, the operation of this embodiment will be explained.

When the trolley (5) is at a position other than the corner (la),
Since the trolley detection signals (8A) and (9A) are rLJ, the output of memory 03 is also rLJ, and the AND gate 0υ
is open. Therefore, the obstacle is detected by the ultrasonic wave (6a) and the output of the non-contact detector (6) becomes "H".
, the output of AND gate 00 becomes “H” and O
The stop command signal (16a), which is the output of the R gate a, is r
The vehicle becomes HJ and the trolley (5) suddenly stops.

Now, when the trolley (5) travels in the direction shown and blocks the light beam (8a), the trolley detection signal (8A) becomes "H", so the memory 03 is set and its output becomes rHJ (AND game). Q! 9 is closed. Therefore, the contactless detector (
6) becomes insensitive, and even if the truck (5) enters the corner (1a), the wall (2) will not be detected as an obstacle.

On the other hand, the television camera frame sends an image within a predetermined range αυ to the turn recognition device (2), and when a person is detected by pattern recognition, the output becomes rHJ. with this,
AND game) The output of aIO becomes rHJ, and the stop command signal (16a) becomes "H", so the trolley (5) suddenly stops. If the pattern recognition device (6) does not detect a person, its output is rLJ, and the output of the AND gate 04) is also “moon,” and the trolley (5) continues around the corner (1a) without stopping. When the truck (5) blocks the light beam (9a), the truck detection signal (9A) becomes rHJ, and the memory Q3
is reset and its output becomes rLJ. Therefore, the AND gate 00 is opened again and the non-contact detector (6)
function is restored.

The detection function of the contact detector (7) is maintained regardless of the position of the trolley (5), and if it comes into contact with an obstacle, its output becomes rHJ, and the stop command signal (16a) becomes rHJ, causing the trolley to stop. (5) causes sudden stop 0 It is also possible to implement as follows.

(Support) Instead of detection using the television camera 00, a detection device using ultrasonic waves, a detection device using a heat-sensitive element (sensing human body temperature), or a detection device using a photoelectric device is used.

(b) Applies to carts that can move forward and backward.

(1) The truck (5) enters the corner (1a) and the wall (2)
), the non-contact detector (6)
make you feel numb.

2) Light, temperature,
etc.

(3) In addition to detecting the presence of a person within a predetermined range 0◇, it also detects the direction in which the person is moving, and if the person is moving away from the trolley (5), it detects the person. Also trolley (
5) to prevent the vehicle from stopping 0 ■ Detects the presence of a person throughout the aisle (1), and if it is determined that the person will collide with the trolley (5) based on the direction and speed of the person running, the trolley (5) to stop it.

In this way, it is possible to prevent a person from running toward the trolley (5) thinking that he or she cannot see the trolley (5) and colliding with the trolley (5).

2) Install a mirror at the corner (1a) so that the trolley (5), which is hidden behind the corner (1a) and cannot be seen, can be seen by people coming from the opposite side.

As explained above, in this invention, a person detection device is provided at the corner of the passage, and when this detection device operates, pressure is applied to control the movement of the cart. Even if this is made insensitive, it is possible to detect people at curved corners, and safety in this area can be ensured.

[Brief explanation of the drawing]

FIG. 1 is a plan view of a corner of a passageway showing an embodiment of the safety device for an automatic traveling trolley according to the present invention, and FIG.
3 is a block circuit diagram of FIGS. 1 and 2. (1)...Aisle, (1a)...Curving corner, (4)...
・Guiding wire, (5)... Automatic traveling trolley, (6)... Non-contact detector, (8), (9)... Photoelectric device, Oc
j...TV camera, 0...pattern recognition device,
(L [with]...R-S flip flow rough, (14),
Qυ...A N D gate, 0→...OR gate,
(16a)...Stop command signal Note that the same parts in the figures are indicated by the same symbols. Figure 1-H Figure 2

Claims (1)

[Claims] The vehicle includes a trolley that travels along a predetermined path, a detection device that is installed at a corner of the path to detect the presence of a person in this portion, and a control device that controls the movement of the trolley when the detection device operates. A safety device for self-driving trolleys.