JPS5834844B2 - unmanned carrier - Google Patents

Description

[Detailed description of the invention] The present invention relates to an unmanned guided vehicle.

Conventionally, there are photoelectric and ultrasonic sensors as collision prevention sensors that detect obstacles without contact for unmanned guided vehicles.The characteristics of each are that the photoelectric sensor has a narrower detection area, while the ultrasonic sensor has a smaller detection area than the former. wide.

The relationship between these sensor outputs and circuit control outputs is proportional operation, limited time operation, short time proportional operation, etc., but the latter two are the output circuit of the former with a one-shot multi-circuit or an OR circuit added to the circuit. There are many parts, each of which has only a single function.

The present invention reduces the number of parts by combining two types of proportional operation types, narrowband sensors such as phototubes and wideband sensors such as ultrasonic sensors, and has functions such as releasing the stop and continuing the stop for a certain period of time according to the movement of the worker. This paper proposes an unmanned transport vehicle that selects and performs predetermined output control.

An embodiment of the present invention will be described below based on the drawings.

In FIG. 1, reference numeral 11 denotes a self-propelled cart for loading and transporting, for example, strips, and it runs along a guide line (not shown) in a passage 13 between spinning machines 12 while following a patrolling supervisor. .

Workers take the strips from the transport vehicle as necessary and transfer them to spinning machine 1.
Attach to 2.

Xl and X2 are ultrasonic sensors as broadband sensors installed at the center of the front surface of the self-propelled trolley 11, and as shown in FIG. 2a, they face each other at an inward angle α, and As shown, they have an upward angle β with respect to each other, and as a result, they are directed slightly upward from the front of the self-propelled cart 11, have a predetermined delivery distance, and have a wide band human body detection that does not interfere with the spinning frame 12. Area 14 is obtained.

PH1 and PH2 are phototube sensors as narrow band sensors attached to both ends of the front of the self-propelled vehicle 11, and are arranged almost horizontally toward the front.
1 facing forward from the front surface, and on both sides of the broadband human body detection area 14, a portion thereof is located in the human body detection area 1.
A narrow second human body detection area 15 that overlaps with 4.
．． 16 is obtained.

FIG. 3 shows the ultrasonic sensor X1. This is a circuit diagram for making the self-propelled trolley 11 perform a function selection of a stop release operation and a stop continuation for a certain period of time (stop release delay) operation using X2 and phototube sensors PH1 and PH2. Stop the self-propelled trolley 11 when it enters the
When the worker 17 leaves the human body detection area 14 through the second human body detection area 15.16, a delay function is selected to continue the stop output for a certain period of time assuming that the worker 17 returns to the human body detection area 14 again within a short time. 2 human body detection area 1
When the user leaves the human body detection area 14 without passing through 5 and 16, the stop release function that immediately turns off the stop output is selected.

The operation at this time will be explained using the movement path 18 of the worker shown in FIG. 1 and the time chart of the sensor output and circuit control output shown in FIG.

Here, numerals 1 to 8 indicate the positions where the worker 17 moves, and the worker 17 who patrols and monitors the worker 17 discovers an empty roll and replaces it with a new roll loaded on the traveling cart 11.

When worker 17 entered the human body detection area 14 to remove the strips from the phase-travel trolley 11, the ultrasonic sensor X,
, X2, relay A is energized, contacts a1 close and contacts a2 open.

Then, the stop command relay S is energized through the contact a1, and the running command relay D is deenergized through the contact S.
The self-propelled trolley 11 stops.

2nd human body detection area 15 at position 2 where you go to replace the coil
The state does not change even if you enter.

At position 3, where the worker 17 leaves the human body detection area 14, the relay B is energized for the first time and self-maintained through the phototube PH1 and the contact center.

Also, timer T is energized through contact b2.

That is, the delay function is selected while the stop command relay S is energized.

Then, the worker 1T is in the second human body detection area 1 at position 4.
This state continues even after leaving 5.

The worker 17 who returns to the original position after replacing the strip crosses the second human body detection area 15 at position 5, and the ultrasonic sensor X0. When entering the human body detection area 14 by X2, relay A is energized again, relay B is deenergized, and then timer T stops its operation.

Then, when the human body leaves the second human detection area 15 at position 7, a stop command is sent via relay A to ultrasonic sensor X1. X
It is emitted only by the detection signal of 2.

Therefore, when the worker 17 leaves the human body detection area 14 at position 8 and starts walking forward, the self-propelled cart 11 is immediately released from its stop and follows the worker 17.

If the worker 1γ takes an action as indicated by the dotted line 19 from position 4, the timer T deenergizes the stop command relay D after time-up and starts the self-propelled cart 11.

The second human body detection areas 15 and 16 may substantially overlap the broadband human body detection area 14 to the extent that their sides touch the sides of the human body detection area 14 .

As described above, according to the present invention, a broadband sensor such as an ultrasonic sensor that forms a broadband area in front of a self-propelled cart is combined with a proportional operation type narrowband sensor such as a phototube that forms narrowband areas on both sides of the broadband sensor. By adding a small number of parts such as a timer to the system, a means is provided to select between the self-propelled cart's stop release operation and its continued stop operation for a certain period of time (stop release delay) depending on the movement of the worker. By pattern recognition, the movement of the self-propelled cart can be easily and automatically followed by the movement of the worker, and work efficiency can be significantly improved.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, and FIG. 1 is an explanatory diagram showing the overall configuration and an example of a worker's movement route, FIGS. 2a and b are layout diagrams of ultrasonic sensors, and FIG. FIG. 4 is a sequence circuit diagram of the section, and a time chart thereof. 11... Vehicle running trolley, 14... Broadband human body detection upper JA, 15, 16... Second human body detection area, 17... Worker, 18...Worker movement route, PH1゜PH2...Phototube, Xl
, X2... Ultrasonic sensor T... Timer.

Claims (1)

[Claims] 1. A broadband sensor with a human body detection area of a predetermined width and distance is provided in front of the self-propelled trolley at the center of the front of the self-propelled trolley, and furthermore, on both sides of the broadband sensor, at least a portion of the detection area overlaps with the sensor. A narrowband sensor with a human body detection area of a width narrower than the sensor and a predetermined distance is installed, and when a person enters the human body detection area of any sensor, the self-propelled trolley is stopped, and the person detects the human body of the wideband sensor. When a person directly escapes from the detection area without entering the human body detection area of the narrowband sensor, a self-propelled trolley is launched, and when the person passes through the human body detection area of the narrowband sensor and exits the human body detection area of all the above sensors. A timer device is used to delay the departure of the self-propelled trolley for a predetermined period of time, and when the self-propelled trolley returns within the human body detection area of any of the above sensors within the predetermined time, the timer device is used to cancel the delayed departure and maintain the stop. An unmanned transport vehicle characterized by being equipped with a device.