JPS5960612A - Self-travelling car - Google Patents

Abstract

PURPOSE:To make the stopping location of an automatically running car variable without shifting the stop mark by stopping the car when a presettable counter which counts pulses generated in accordance with the running of the car counts a prescribed pulse number for stopping. CONSTITUTION:A stop mark 2 is installed to a floor 1, on which a car 9 runs, and the car 9 is stopped by detecting the mark 2 by means of a stop mark sensor 3 mounted on the car 9. This stopping location cotrolling device uses a pulse generator 8 which is coupled with the drive motor 7 of the car 9 and generates a pulse and a presettable counter 4 which counts the pulse, and, when the aforementioned sensor 3 detects the stop mark 2, the counter 4 starts the counting of the pulse. When the counted pulse reaches a prescribed set value, a stop switch 6 is turned off and the car 9 is stopped. Therefore, by changing the above mentioned set value, the stopping location can be changed freely without changing the location of the stop mark 2.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic driving vehicle that can detect a stop position and automatically stop the vehicle.

Such vehicles are conventionally known as automatic guided vehicles in factories, golf carts at golf courses, etc.;
The vehicle is stopped by detecting it with sensors such as electromagnetic sensors and limit switches, and the relative relationship between the stop mark and the actual position where the vehicle stops is constant.

In contrast, golf carts at golf courses use Course I.
If the grass is stopped in the same position every time at C, the grass in that area will be extremely damaged, so it is necessary to move the stopping position every day. The mark was moved every day, which was extremely inefficient.The invention was to improve this shortcoming by not moving the stop mark on the ground side. The purpose is to provide self-driving vehicles.

The main point of the present invention is to provide a presettable counter for counting the wheels or drive wheels of a vehicle.

There is a point at which the rc-vehicle is stopped when the presettable counter counts a predetermined number of pulses after detecting the stop mark.

FIG. 1 shows an embodiment of the present invention, where l represents a floor on which a vehicle travels, and 2 represents a stop mark on the floor.

9 is a vehicle; 3 is a stop mark sensor on the vehicle 9;

Here, various combinations of the stop mark 2 and the stop mark sensor 3 are possible. For example, there is a combination of a white plate and a light sensor, a magnet and a reed relay, or a protrusion and a limit switch. 5 is a battery, 6 is a stop switch, 7 is a drive motor connected to the wheel, 8 is connected to the drive motor (or wheel), and a predetermined number of pulses are generated for each rotation of the motor (or one rotation of the wheel). A pulse generator 4 that generates 1 is a presettable counter that is activated by the output 1 of the stop mark sensor 3 and counts the number of pulses from the pulse generator 8.

In addition, in addition to the parts shown in the diagram, do actual vehicles require a steering device, start switch, forward/reverse selector switch, etc.?
Since it is not related to the essence of the present invention, it will be omitted.

In this embodiment, in a normal running state, the stop switch 6 is on, and the vehicle 9 runs from right to left on the floor l. In this state 1, when the stop mark sensor 3 reaches the top of the stop mark 2, a detection signal is generated from the stop mark sensor 3, and the presettable counter 4 is activated by this signal. The count eclipse of the counter 4 is proportional to the traveling distance of the vehicle 9, or when this value becomes equal to a preset predetermined value l, a signal is generated from the counter 4, and from this signal 1, the stop switch 6 is turned off. By stopping the motor 7, the vehicle 9 is stopped. 1. When the normal type car 9 stops, the brake is applied. For this purpose, the motor 7 or a known motor with a brake may be used, and the structure may be such that the brake is applied when the motor voltage is zero.

According to this embodiment, since the vehicle 9 stops after traveling a predetermined distance after passing the stop mark 2, the stopping position of the vehicle 9 can be made variable by changing the value set in the presettable counter.

If the traveling speed of the vehicle 90 is high, it is often the case that the vehicle 9 is gradually decelerated and then stopped.

FIG. 2 shows another embodiment of the present invention in such a case, and FIG. 1 shows a reduction switch II and a resistor lO.
is added. In this embodiment, when stop mark sensor 3 or stop mark 2 is detected, deceleration switch ]1 is turned off. At this time, one resistor [0] is inserted in series between the battery 5 and the motor 70, so the voltage applied to the motor 7 decreases, and the voltage applied to the motor 70 decreases.
The vehicle will decelerate and travel at a lower speed.

-1, the presettable counter 4 is activated at the same time by the signal from the stop mark sensor 3, and when the vehicle has traveled a predetermined distance, the stop switch 6 is turned off by the output of the counter 4 to stop the vehicle 9. In this embodiment as well, by changing the set value of the counter 4, the stop position can be similarly varied.

According to the present invention, the stop position of the vehicle can be easily changed without changing the position of the stop mark.1 For example, at a golf course, the brissee/situple counter is set every day (or every week, etc.). Just by changing the value, you can prevent damage to the lawn in a specific area. In addition, in a golf course with 50 vehicles, 25 of them are stopped at a distance of 2 m from the stop mark, and the remaining 25 vehicles are stopped at a position 6 m away from the stop mark. is also possible.

It is clear that the above functions are useful not only for golf courses but also for changing the stopping position of conveyance vehicles in factory production lines and the like. However, the value of the presettable counter can be set not only manually but also from a control computer.

[Brief explanation of the drawing]

FIG. 1 is a circuit diagram showing one embodiment of the invention, and FIG. 2 is a circuit diagram showing another embodiment of the invention. 1 is the floor, 2 is the stop mark, 3 is the stop mark sensor, 4
is a presettable counter, 5 is a 2h pond, 6 is a stop switch, 7 is a drive motor, 8 is a pulse generator, 9 is a vehicle, 10 is a resistor, 11 is a deceleration switch Patent applicant Shin-Kobe Electric Machinery Co., Ltd.

Claims (1)

[Claims] In a vehicle equipped with a travel control device that controls traveling and stopping of the vehicle, and a stop position control device that detects a stop mark and issues a vehicle stop command to the travel control device, the stop position control device controls the travel of the vehicle. The vehicle includes a pulse generator that generates pulses according to the number of pulses and a presettable counter that counts the number of pulses by an arbitrary number 1 set in advance, and that generates a stop command after detecting the stop mark. 1. An automatic driving vehicle, wherein the relative distance between a stop mark and a stop position of the vehicle can be set to a desired value in accordance with the setting of the presettable counter.