JPS59202512A - Method and device for guidance of unmanned truck - Google Patents

Abstract

PURPOSE:To attain the diversification of functions as well as the labor saving by attaching a sensor containing many magnetic detectors to a truck so that the truck can run along a magnetic guide zone at the running side. CONSTITUTION:While a truck 3 is traveling along a guide zone 1, either one of magnetic sensors 7 senses the magnetism of the zone 1. Thus the sensor 7 is kept on. The truck 3 displays the presence of a discontinuous part 11 if a discontinuous part 11 exists at the zone 1. In case the traveling direction of the truck 3 gets out of the axial line of the zone 1, a magnetic detector 8 which detects the magnetism shifts gradually to one side from the other side and finally it is changed to an OFF state from an ON state. In such a case, the derailment of the truck 3 is decided and displayed.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method and device for guiding an unmanned trolley by automatically controlling the direction when the unmanned trolley moves along a guidance zone and the direction shifts. It is.

An unmanned trolley is a trolley that has a power source on it and is able to run automatically.The equipment that enables such unmanned running is currently used in peripheral equipment of automatic warehouses and article transport equipment on production lines. It is widely used in conveyance equipment in automatic processing lines, etc., and its feature is that it does not have dedicated rails. The fact that it does not have dedicated rails is advantageous in that it can run on general factory corridors, allowing it to share space with forklifts and people, and that it is easy to change its travel route.

Conventionally, electromagnetic induction methods and optical guidance methods have been put into practical use as driving methods for unmanned trolleys.

As shown in Fig. 1, the electromagnetic induction method uses a pair of detectors d and d attached to a trolley C to detect the induced magnetic field generated by passing an electric current through an induction wire embedded in the floor of a moving vehicle a. By controlling the running direction so that the detection intensities are the same, the trolley is made to run along the guide line. In other words, when a current is passed through the induction wire embedded in the running surface a, an induced magnetic field e is generated. If the centers of detectors d and d shift in either direction from the guide line, a difference will occur in the intensities detected by detectors d and d, so the running direction of the trolley must be controlled so that the difference becomes zero. This allows the bogie to travel along the guide line.

In addition, in this electromagnetic induction method, in order to guide the bogies by branching and merging along complicated routes, the current flowing through the guide wires is an alternating current with a different frequency for each route, and at the point where they intersect, There is a system in which the frequency of the next route to be traveled is transmitted from the ground to the bogies, thereby causing the bogies to diverge or merge. That is,
As shown in FIG. 2, when moving the trolley C to point A, by giving a command to the trolley C at the branch point f to run along the guide line b1 of the frequency F1, the trolley C can be moved to the point A by 64! Jb+ to move to point A, and if a bogie traveling on guide line b1 is to be moved to point B at branch point 9, the frequency F2 is set for the bogie at branch point g. If a command is given to run along the guide line, the trolley will branch to point B along the guide line b2. The method of transmitting command signals to the trolley at each branch point is as follows:
Signals are transmitted from the ground using radio, light, or sound waves, etc. A hidden method is used, or multiple coils are buried in one place under the running road surface, and each coil is energized or de-energized to display a certain pattern, and the bogie detects this pattern. There is a method of issuing a travel command by doing so. In addition, the frequencies of the guiding wires are all the same,
There is also a method of guiding the cart by sequentially switching routes as the cart advances.

However, this guidance method has the following problems.

■ Since the guide wire needs to be buried under the running road surface,
The installation work is complicated, and it is difficult to relocate or change the route, discover and repair broken guide lines, etc.

■ Induction power supplies with different frequencies and electrical work are required, and the equipment for controlling the route along which the bogie travels is complicated.

■ The guide wire breaks due to subsidence of the running surface a or sudden vibration.

■ Because the magnetic field is adversely affected by conductors near the guide wire, there are many restrictions on the structure of the road surface.

For example, on a reinforced concrete floor, etc., the reinforcing bars and guide wires need to be separated by at least a certain value, so it is necessary to make the distance between the running surface and the reinforcing bars larger than necessary.

■ Since there is a practical upper limit to the strength of the induced magnetic field, the allowable deviation limit between the vehicle body and the guiding wire is small.

Next, in the optical guidance method, a light reflector is installed on the floor of the running surface, the light emitted from the bogie is reflected by this light reflector, and the bogie is guided by detecting the relative position of the reflected light and the bogie. This is a method to do so.

That is, as shown in FIG. 3, light emitted from a light source provided on the side of the truck C is reflected by a reflector i on the running surface a, and the position of the light receiving part j that detects the reflected light is used to determine whether the truck C or This method detects the relative relationship of the reflectors 1 and controls the running direction of the truck depending on the deviation. )( is the running wheel.

In this method, for example, as shown in Fig. 4, when the light emitted from the light source is detected at the left side of the light receiving part J, the cart C is shifted to the right side of the reflector i, so the amount of shift is A running direction correction command is given to the bogie C in accordance with this, and the trajectory is corrected so that the bogie C moves to the left side.

Other optical methods include a method in which the amount of reflection from a reflector is detected by a pair of light receiving sections, and the positions are controlled so that the amounts of reflection are the same.

When the trolley C is branched or merged along a complicated route using such an optical M guiding system, there are various pipe systems in which dedicated light receiving sections are provided for left and right branching and for straight running. As a command signal to the bogie at the branch point, there are methods of transmitting signals from the ground using radio, light, sound waves, etc., or methods of installing another reflecting part near the guiding reflection and receiving the reflected light with the light receiving part. , there is a method in which a driving command is issued by detecting the pattern.

However, these optical guidance systems have the following problems.

1) Reflection of light is likely to be inhibited by the adhesion of dust, etc. to the derivative.

2) Light reflection is likely to be inhibited due to damage to the dielectric surface.

3) If the running surface is uneven, it is difficult to install reflectors and even those that are installed are likely to peel off.

As mentioned above, both the conventional electromagnetic induction method and the optical induction method have many problems. The installation method is complicated.

Furthermore, in any of the above-mentioned conventional systems, if the unmanned truck deviates from the guide or the guide line, it must be treated as a derailment and the truck must be stopped.

However, depending on the installation location, the guide or the guide wire may not be installed continuously. In other words, as shown in Figure 5, if the running path of the unmanned bogie C is blocked by the rail 1, etc., do not interrupt the guide or the guide line at that part.
There should be no leakage. In such a case, it is necessary for the unmanned trolley to receive some kind of signal before reaching this position, and to run even in areas where there are no guides or guide lines, so that it does not derail.

In view of the problems of the conventional method, the present invention eliminates these problems and introduces a new method as a guidance method, diversifying the functions and saving labor, and at the same time interrupting the guidance zone when the bogie runs. This was done to simplify the installation of guide strips by distinguishing between derailments and derailments.

Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIGS. 6 and 7, a magnetic guide strip 1 extending in the direction in which the unmanned trolley is intended to run is laid on the running surface 2, while the unmanned trolley is placed on the left and right sides of the center of the trolley 3. The trolley 3 is equipped with running drive wheels 4 driven by independent drive motors 5, and left and right driven wheels 6 at the front and rear, and magnetic detection sensors are installed at the front and rear ends of the lower surface of the bogie 3. 7 and 7', and further,
an arithmetic device 9 connected to the magnetic detection sensor 7.7';
A travel drive control device 10 that issues a command to control the rotation of the travel drive motor 5 based on the amount of directional deviation calculated by the arithmetic device 9, and other batteries and the like are mounted on the trolley 3,
The vehicle will be able to run unmanned along Guidance Zone 1 while making direction corrections.

The magnetic detection sensor 7.7' is composed of a large number of magnetic detection elements 8, and each magnetic detection element 8 is composed of a magnetic field 11 (see FIGS. 8 and 9) of the induction band 1 having a constant magnetic force. Each magnetic detection element 8 is arranged at a height that responds to the strength and at a predetermined pitch in the left and right direction of the trolley 3, and each magnetic detection element 8 is connected to an arithmetic unit 9 and displayed as an address within the arithmetic unit 9. When any magnetic detection element 8 detects magnetism, an address is displayed corresponding to the element 8, and the distance between the displayed address and the reference position is displayed.
1 can be calculated by the arithmetic unit 9 as the amount of shift of the cart 3.

Now, if we take as a reference the state in which the center of the magnetic detection sensors 7, 7' coincides with the center of the induction band 1, the center of the magnetic detection lens (J-7°7') of each magnetic detection element 8 is taken as a reference. As long as the N magnetic detection elements 8 in the center detect magnetism and this is displayed as the address of the center in the arithmetic device 9, the arithmetic device 9
Since the amount of deviation is calculated as zero, the bogie 3 is run with the center of the detection sensor 4 no. 7.7' and the center of the guide band 1 aligned. For example, if the trolley 3 shifts to the right while it is running,
As shown in FIG. 9, the magnetic detection sensor υ-7 installed on the trolley 3,
A plurality of magnetic detection elements 8 located on the left side of center C of 7'
will detect the magnetism of the induction band 1. Now, the 0th sensor is sensing magnetism from the center C of the magnetic detection sensor 7.7'.
The distance to the first magnetic detection element 8 is set to 11, and the distance to the first magnetic detection element 8 is set to 11.
If the distance to the 2Mth magnetic detection element 8 is 12, it is expressed by the distance from the center C of the magnetic detection sensors 7, 7', and this distance 1111iL is the amount of deviation from the induction band 1.

Since the magnetic detection elements 8 from the n1st to the 02nd detect magnetism, the arithmetic unit @9 displays the addresses /, +1!2 of the n1th to n2th, and the above 2 is calculated to determine the actual amount of shift to the right or left when the center C of the magnetic detection sensor 7.7' is used as a reference. When the deviation amount is determined, a control command is sent from the travel drive control device 10 to the travel drive motor 5 so that the deviation becomes zero,
The lj direction control of the truck is performed by controlling the rotation of the left and right drive wheels 4.

Signals are fed back from the travel drive motor 5 to the travel drive control device 10 and the arithmetic unit 9, direction control is performed until the amount of deviation becomes zero, and the magnetic detection sensor 7 of the bogie 3
．． The bogie 3 is automatically guided so that the center of the guide band 7' coincides with the center of the guide band 1.

Next, the device of the present invention can determine whether the guide band 1 is intermittent or if the bogie is derailed from the guide band 1, and can automatically continue or stop the bogie. That is, while the truck 3 is traveling along the guide strip 1, any of the magnetic detection elements 8 of the magnetic detection sensor 7 is sensing the magnetism of the guide strip 1, and the sensor 7 is in an ON state. Now, as shown in FIG. 11, when there is a discontinuous part 11 in the guide band 1, when the trolley 3 approaches the discontinuous part 11 and all the detection elements 8 of the magnetic detection sensor 7 turn OFF,
The presence of the discontinuous portion 11 shall be displayed. On the other hand, the first
As shown in Figure 2, when the running direction of the bogie 3 deviates from the axis of the guide band 1 and derails, the magnetic detection element 8 that detects magnetism sequentially deviates from one side to the other and finally changes from the ON state. It will be in the OFF state. Therefore, if the ON state gradually shifts and finally becomes OFF, it will be displayed as a case where the bogie has derailed. A calculation device 9 determines in advance the case where the bogie derails and the case where the guide zone 1 is discontinuous.
In addition, when it is determined that the guide band 1 is discontinuous, a command is issued to the bogie to go straight, and when a derailment is determined, a command is issued to stop the bogie. I'll keep it. This allows the bogie to run even if the guide band 1 is installed intermittently, and also allows the bogie to be stopped when derailment of the bogie is detected. According to this method, even if there is a part of the taxiway where the guide strip 1 cannot be installed, the bogie can be guided without any fuse problems, and by widening the installation interval of the guide strips, the guide strips can be installed in the cylinder. be able to.

It should be noted that the present invention is not limited to the above-mentioned embodiments. For example, in addition to the method in which the guide band 1 is installed directly on the running surface, a recess may be provided in the running surface and the guide band 1 may be installed therein. Furthermore, as shown in FIG. 13, a thin guide strip 14 may be installed at the gate between the flooring 12 and the floor 13, and it goes without saying that various installation methods can be adopted depending on the appearance and lifespan of the guide strip. It is.

As described above, according to the present invention, a sensor having a large number of magnetic detection elements is installed on the bogie (=J), so that the bogie runs along the magnetic induction zone on the running road side.
The following excellent effects can be achieved.

(i) Installation and relocation of the guide belt is easy.

1) Do not receive the magnetic tube that exists under the installation surface of the induction belt.

(b) Even if the surface of the induction band is damaged, it will not adversely affect induction as long as magnetism exists.

Ovl The amount of deviation from the center of the guide band can be detected regardless of the width of the guide band, and direction control can be performed automatically, making it possible to diversify functions and save labor.

(F) It is possible to distinguish between discontinuity of the guide strip and derailment of the bogie, and in the case of derailment, the bogie can be stopped immediately, making it safe.

lyD Since the bogie can be run even in discontinuous areas of the guide strip, the bogie can be run even in areas where the guide strip cannot be installed.

) From the above (O), the intermittent pitch of the guide band can be widened, and the guide band can be installed inside the cylinder.

@ The trolley can be guided even if the magnetic field becomes discontinuous due to damage to the guidance band.

O→ By reducing the pitch of the magnetic detection elements, it is possible to improve the deviation accuracy during running.

[Brief explanation of drawings]

1 to 5 are schematic diagrams of the conventional system, FIG. 6 is a plan view showing an embodiment of the present invention, FIG. 7 is a side view of FIG. 6, and FIG.
The figure is a front view showing the combination of the magnetic detection sensor and the induction band, Figure 9 is a front view showing the position of the magnetic detection sensor shifted laterally with respect to the induction band, and Figure 10 is a block diagram of the device of the present invention. Fig. 11 is a plan view showing the case where the guide band is discontinuous, Fig. 12 is a plan view showing the state where the bogie derails,
FIG. 13 is a front view showing another example of the installation of the guide band. 1... Guidance belt, 3... Trolley, 4... Running drive wheel,
7.7'... Magnetic detection sensor, 8... Magnetic detection element, 9... Arithmetic device, 1o... Travel drive control device. Patent Application Person Ishikawajima Harima Heavy Industries Co., Ltd. Patent Applicant Agent Figure 1 Figure 3 Figure 4 Figure 5

Claims (1)

[Claims] 1) In a method for guiding an unmanned trolley in which the trolley is run along a guide zone, the trolley is run while detecting the magnetism of the guide strip with a magnetic detection sensor provided on the trolley, and the shift of the trolley with respect to the guide strip is detected. A method for guiding an unmanned trolley, characterized in that the trolley is automatically guided by determining discontinuities in a guide zone or a discontinuous part of a guide zone. 2) A magnetic detection sensor in which a large number of magnetic detection elements are arranged is attached to a trolley, and each of the magnetic detection elements can be displayed as an address on the trolley, and the distance between the displayed address and a reference address can be measured on the trolley. an arithmetic device that calculates the amount of deviation of the magnetic field or determines whether it is a derailment or a discontinuation of the guide band by turning ON/OFF each of the magnetic detection elements, and a device that controls the drive unit of the bogie based on the value from the arithmetic device. What is claimed is: 1. A guidance device for an unmanned bogie, characterized in that the guidance device includes the following, and uses a magnetic material in the guidance band on the side of the traveling road.