JPS58151610A - Route deciding device of unattended carrying car - Google Patents

Abstract

PURPOSE:To prevent a malfunction of an unattended carrying car due to foreign matter, by providing plural detectors and pieces to be detected, in the vicinity of a running route, respectively, and applying each detecting signal to a signal converter through an AND element. CONSTITUTION:An optical leading and detecting device 4 provided on the inside of a safety damper 3 of an unattended carrying car 1 irradiates a floor surface, catches a reflecting tape 5 stuck on the floor surface, and steers and leads the carrying car. On both sides of this side of a branch part of the tape 5, signal tapes 11, 12 and 13, 14 of two sheets each are stuck, and in accordance with each tape 11-14, two groups of detectors D1-D4 are provided. The detectors D1, D2 are connected to a comparator CO through an AND element A1 and a signal converter B1, and the detectors D3, D4 are connected to the comparator CO through an AND element A2 and a signal converter B2. The comparator CO compares both converting signals, decides a route, controls a steering motor M through a controlling circuit CT, applies a signal from an angle deector DA, to the circuit CT, and makes the carrying car run. The AND element provides an output only when signals of two detectors are inputted, therefore, a malfunction due to a signal from foreign matter 7 is prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a route determination device for an automatic guided vehicle that travels along a guideway laid or buried between floors.

There are two types of automated guided vehicles: an optical guidance method using reflective tape laid between the floors, and an electromagnetic induction method using conductors buried between the floors. Both methods include a proximity switch, differential transformer, and limiter on the body of the automated guided vehicle. Install a detector such as a switch,
This and the detected piece between the floors also adds up the path of the transport vehicle. By the way, if there is a foreign object of the same quality as the detected piece near the path of the automatic guided vehicle, for example, a white object or water in the optical guidance method, or a real object such as a piece of iron in the electromagnetic induction method, the conventional judgment rereading is difficult. Since the detector and the detected piece are in one set, there is a risk of malfunction.

The present invention provides a plurality of detectors and detection pieces near the automatic guided vehicle and its travel route, and supplies each detection signal to a signal converter via an AND element, so that the plurality of detectors simultaneously output a predetermined detection signal. It doesn't occur! 1! ! This prevents the signal converter from plowing, prevents malfunction caused by the actual object, and allows the automatic guided vehicle to maintain its designated course.

An embodiment of the device of the present invention will be described with respect to an optically guided automatic guided vehicle.

In Fig. 1, 1 is the body of an optically guided automatic guided vehicle (simply referred to as a guided vehicle), which drives the surrounding movement f]'@<<not shown) by a battery and a DC motor (both not shown). It is equipped with a patrol light 2 that lights up and sounds a chime at the top of the front, and a safety bumper 3 that stops when it comes in contact with an obstacle or person at the bottom of the front, and an optical guidance detection device 4 installed inside this. illuminates the space between floors, captures the reflective tape 5 pasted between the floors, and steers and guides the transport vehicle. 6
is a branching tape that separates from a required point on the reflective tape 5, and there are two signal tapes 11. on the opposite side in front of the branching point.
12 and signal tapes 13 and 14tl- are attached to the vehicle body 1 corresponding to each signal tape 11 to 14 as shown in FIG.
A set of detectors D1 to D4 is provided.

In FIG. 3, A1 and A2 are two AND elements, and detectors D1. D2 is connected to AND element A1, and this AND element A1 is connected to comparator aO via signal converter B1,
Detector D3. D4 is connected to the AND element 2, which is connected to the comparator 00 via the signal converter D2, and the comparator CO is connected to the steering motor 17 via the control circuit OT.
The angle detector DA is connected to the steering motor 17 and the control circuit OT.

In one embodiment of the present invention, which does not have the above-described configuration, the optical guidance/detection device 4 irradiates light between floors, captures the reflective tape 5, and guides the transport vehicle. When the conveyance vehicle approaches the branch point, the detectors D1 to D4 capture the signal tapes 11 to 14, and two detection signals are output to each AND element A1. A2, the signals of each AND element are sent to a signal converter B1.A2. B2, the comparator 00 compares the two steering signals, and gives the result to the control circuit OT, which also receives a signal from the angle detector DA and controls the steering motor 17, thereby controlling the steering motor 17. is made to go straight along the reflective tape 5 or change direction so as to follow the branch tape 6. If there is a white foreign object 7 near the travel path of the transport vehicle, there is a risk of malfunction if there is only one detector, but in this embodiment, there are two detectors DI for each vehicle body 1.

B2 and detector D3. D4 is provided, and each detector captures the signal tapes 11 to 14 and sends two detection signals to the AND element A.
Since the υ and AND element does not send out the υ output unless two signals are input, malfunctions that occur with a single detector and signal tape can be reliably prevented. In addition, since the embodiment is about determining the course at the branching point of the reflective tape 5, two signal tapes 10 to
14 and the detectors D1 to D4 have been explained, but except for the branch points, two signal tapes 10 to 11 and the detector D1 are used.
~D2 is all you need.

The above shows one embodiment of the present invention, and the present invention is not limited to this embodiment. The design of the present invention can be changed within the spirit of the invention. For example, the number of signal tapes and detectors may be increased to six or more. good. Further, the present invention can be easily applied to an electromagnetic induction type automatic guided vehicle.

In the present invention, a plurality of detectors and pieces to be detected are provided in the vehicle body of the automatic guided vehicle and in the vicinity of its traveling route, and each detection signal is provided to the signal converter via an AND element. Even if there is a foreign object near the driving path *W
This has the effect of effectively preventing malfunctions due to this, and ensuring the correct course of the automatic guided vehicle.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention. Fig. 1 is a perspective view of an automatic guided vehicle, Fig. 2 is a flat uII diagram showing the arrangement of a detector and a detected piece, and Fig. 3 is a system of a determination circuit. It is a diagram. In addition, 1 is a single unit, 5 is a chiang guide path, 11 to 14 are detected pieces, D
1 to D4 are detectors, Al and A2 are AND elements, Bl and B
2 is a signal transformer. Applicant: Hitachi Kiden Kogyo Co., Ltd.

Claims (1)

[Claims] In a vehicle that travels along a taxiway laid or buried between floors, multiple detectors and detection pieces are installed near the vehicle body and its travel route, and the signals of each detector are combined with an AND element. A route supplement device for an automatic guided vehicle, characterized in that the route supplement device is configured to provide a signal to a signal converter through the signal converter.