JPS5933513A - Truck guidance equipment - Google Patents

Abstract

PURPOSE:To simplify the constitution of a guidance device, by mounting a detector at a position along a broadwise direction of plural kinds of trucks having different width and apart from them by a prescribed distance so as to catch a light or a radio wave from a guide line with the detector. CONSTITUTION:The detectors 15, 16 corresponding to one guide line in common to each of plural kinds of trucks 12, 13 having different width are mounted along the broadwise direction with a prescribed distance C from outer lateral ridges 17, 18. Further, a station 19 is arranged corresponding to the trucks 12, 13, a pair of left/right pickup coils 20 are provided to the detectors 15, 16 of the turcks 15, 16 and a light or a radio wave is irradiated from the guide line 14. The trucks 12, 13 are provided respectively with running controllers 21, 22, which control that the light or the radio wave from the guide line 14 caught at each coil is made equal in a pair of the coils 20, and the trucks 12, 13 having different width are guided along the guide line 14.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a system for guiding a goods transporting trolley so that it travels along a guidance line using tow bus gears laid on the floor or a light reflective tape, which has different widths. This article concerns multiple types of trolleys.

Each trolley consists of 1. It is equipped with a detector that captures electricity, waves, or light from the guide line, and a travel control device that controls the cart to travel along the guide line based on the detection.

Generally, when the guide line is a tow bus Tsuya, the detector is a pick-up coil that tli[f] the radio waves emitted from the guide line, and when the guide line is a light reflective tape, it is a pick-up coil that detects the radio waves emitted from it. is a light receiver that captures the light reflected by the tape.

Conventionally, it has been assumed that the detector should be mounted at the center of the cart in the width direction.

Therefore, as shown in Figure 1, multiple types of bogies fi+ and +21 with different widths are located at the same station (3).
For each separately, 4t+7+4 in the stopped state before that
1, 15+, each trolley f11
．． There was a number of cores for laying individual guide lines +61', +71 per +21.

In other words, even though both the wide platform (11 detectors (8)) and the small width platform (21 detectors (9)) are provided at the center of each platform. On the other hand, the side of the trolley on the side closer to station f3+ - the exception edge (1 (It,
(This is because I+3 corresponds to Mamei.
In order to properly stop the trolley and transfer the cargo even if it is on the opposite trolley fil, +21, the distance between the lateral edge f101, flll and the station (31) must be set at a predetermined distance. The point is that it has to be at the edge of (constant).

Multiple @ leading inputs (6+, +71 are branched from the main line, but each bogie (1
, 1, +211"i', opposite guidance line +61,
It is necessary to decide whether to follow +71.

In other words, with the conventional method, not only do you have to install multiple guide lines, but you also have to install a discriminator for these multiple lines, which increases your capital investment! There was a drawback.

The first objective of the present invention is to solve such problems.

To this end, the means (gist ('1)) devised by the present invention is such that, in any of a plurality of types of carts having different widths,
Its detector (11J that captures light or radio waves from the guidance line)
This means that the holder is installed at a certain distance along the width direction from the edge of the trolley.

According to this configuration, the guide line corresponding to the - station can be a single tree common to a plurality of types of carts having different widths. The reason is as follows.

The distance A (
See FIG. 2 for the example.

The same applies to B, C, and DIlc mentioned later. ) has been confirmed. If the carriage is controlled in such a way that the guidance line and the detector match in plan view, and the bogie stops in front of a station, the lateral exception edge on that station side will be the guidance line, regardless of the size of the m-width. The distance B is the same as the constant distance between the tank, the exception edge, and the detector in the above-mentioned summary structure, and this distance B is also constant. (Yellow - distance Df between the exception edge and the station, D=A-B=A-C, but since A and B are constant, J) is also constant regardless of the width of the cart. Become.

Therefore, as described above, it is possible to use a common L tree for M-leading inputs for multiple types of carts having different widths.

In this way, if the guiding line is ;I'i itl''*, the multiple line discrimination device required in the conventional method can be omitted.

As is clear from the above, the effect of the present invention is that it is possible to significantly reduce equipment investment by reducing the number of guide lines to one line and omitting the multiple line discriminator.

Next, an embodiment of the present invention will be described based on FIG.
For convenience's sake, Figure 2 shows the platform 1 (1z) with a large width and the cart (13) with a small width using a heavy saw. In this respect, the same applies to FIG. Which trolley 121, 11
31 is also a common 1 tree (7) guidance line (# male r8 to 141
Object i$4 - out tt13; arrival book t = narrow -
, -#corresponding detector (151', (161
is located at a certain distance C along the width direction from the lateral exception edge (1"09f181). (1 mark is a station.

Each detector 1 (・15 * 1 (i) consists of a pair of left and right pickup coils ■, (buchi). Induction line (141 (
rJ, 'This is a Tokupass wire that emits 4 waves. 1
When the centers of the pair of pickup coils (1), 12III) are exactly above the line, the voltages produced by radio wave acquisition are equal to each other in both coils, tal+. When the center of both coils (4) deviates from the line (14) to the side, it becomes 5 inches (1
4) The induced voltage of the coil (town) increases, and the induced voltage of the coil (χ) that moves away from line +141 decreases.
Travel control device installed on 131! 211, (2) is received, and the running is controlled so that this deviation approaches O.
The control force type may be by operating the steering wheels, or by causing a change in the rotational speed of a pair of left and right drive wheels.

In the example with ``+P, +1'' with a small width,
In 3), the detector (1G) is located at the center in the width direction, but this is not a limiting factor in the present invention. On the contrary, in a cart with a large width ((Q), the detector +151 may be located in the center. Father, in either platform J1f, f121. detector f15) -0
1 may be provided.

[Brief explanation of drawings]

FIG. 1 is a plan view showing a conventional example, and FIG. 2 is a plan view showing an embodiment of the present invention. +121 , II”J... Trolley, (141・
...Guidance line, +151, 1161...
...Detector, (171, 1t...Horizontal -ffll+
Outer edge, (2, 11, f area... Travel control device.

Claims (1)

[Claims] Each of the plurality of types of carts (12, 18) is equipped with a detector (1
5, 10) Based on the captured light or l-1N waves from the guidance line (14) laid on the floor, each of these trolleys (12, 18) is run along the guidance line (41). The bogie guidance equipment C is equipped with a travel control device (21, H) that controls the vehicle so as to control the vehicle, and is located at a distance tc).