JPS598014A - Safety device of self-traveling dolly - Google Patents
Safety device of self-traveling dollyInfo
- Publication number
- JPS598014A JPS598014A JP57117250A JP11725082A JPS598014A JP S598014 A JPS598014 A JP S598014A JP 57117250 A JP57117250 A JP 57117250A JP 11725082 A JP11725082 A JP 11725082A JP S598014 A JPS598014 A JP S598014A
- Authority
- JP
- Japan
- Prior art keywords
- distance
- trolley
- output
- obstacle
- dolly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 208000033748 Device issues Diseases 0.000 claims 3
- 230000007423 decrease Effects 0.000 abstract description 3
- 230000006866 deterioration Effects 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 210000002700 urine Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
この発明は自動走行する台車の安全装置の改良に関する
ものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement of a safety device for an automatically traveling bogie.
建物内を監視したり、清掃した覗、荷物を搬送したりす
ることを自動的に行わぜるものとして、自動走行台車が
用いらｔしるようになって来た。この台車は、ガイドレ
ール、誘導線等の案内装置を持つものと、このような案
内装置を持たないものとがあるが、いずれも所定の通路
を自動走行して、所定の作業を行うように構成されてし
）る。Self-driving trolleys have come into use as devices that automatically monitor the inside of a building, clean it, and transport luggage. There are some types of these trolleys that have guiding devices such as guide rails and guide lines, and others that do not have such guiding devices, but both of them are designed to automatically travel along a designated path and perform a designated task. configured).
台車はその目的から効率の良い動きをする必要がある。For that purpose, the trolley needs to move efficiently.
一方、人と同じ平面で仕事をする場合には、人の安全性
を確保しなけれは゛ならないことは鞄う捷でもないこと
である。そのため、人が接近したときは台車の速度を低
下訟せたり、人と接触したときは直ちに台車を停止させ
たりする各紳の安全装置が設置をれている。On the other hand, when working on the same plane as other people, ensuring the safety of the people is not an option. For this reason, each vehicle is equipped with safety devices that reduce the speed of the trolley when a person approaches, or immediately stop the trolley when it comes into contact with a person.
しかし、人を保護することを最重点として、再杏台車の
速度を低下させたり、台車を停止させたシすることは、
台車のｆｔ業効率を著しく低下式せることになる。However, with the utmost priority on protecting people, reducing the speed of the trolley or stopping the trolley is
This will significantly reduce the efficiency of the truck.
この発明は上記不具合を改良するもので、台車と障害物
の間の距離に応じて、警報を出したり、減速感せたり、
停止式せたりして、人に対する安全を図シながら、作業
効率の低下も防止できるようにした自動走行台車のだ全
装置を提供することを目的とする。This invention improves the above-mentioned problems by issuing a warning, giving a sense of deceleration, etc., depending on the distance between the trolley and the obstacle.
The purpose of the present invention is to provide a complete device for an automatic traveling trolley that can prevent a decline in work efficiency while ensuring safety for people by stopping the vehicle.
以下、第１図及び第２図によりこの発明の一実施例を説
明する。An embodiment of the present invention will be described below with reference to FIGS. 1 and 2.
図中、（１）は床、（２）は尿（１）に設定された通路
を自動走行する台車、（３）は台車（２）に設けられ走
行方向前方へ超音波を発信する超音波受信器、（４）は
台車（２）に設けられ上記超音波が通路上の人等の障害
物（５）に反射した反射波を受信する超音波受信器、（
６）は発信器（３）及び受信器（４）で構成された距離
検出装置、（７）は台車（２）に設けられたブザー等の
警報器、（８）は受信器（４〕に接続され人力が第１の
所定値に達すると第１の出力（８ａ）がｒＨＪとなるレ
ベル検出器、（９）は同じく第２の所定値（第１の所定
値よりも大）Ｋ達すると第２の出力（９ａ）がｒＨＪと
なるレベル検出器、（１０は同じく第３の所定値（第２
の所定値よりも犬）に達すると第３の出力（１０ａ）が
ｒＨＪとなるレベル検出器、（１すはレベル検出器（８
〕〜αＱで構成された距離演算装置、１１２）はレベル
検出器＜９）、００に接続さｈた電動機制御装置、１１
３） ｒＪ台車（２）を駆動する電動機、θ１１動機（
！３）に直結はれたブレーキ車（図示しない）の外周に
対向して設けられげね（図示しない）によって上記ブレ
ーキ車に押圧されるブレーキシュー、ｔ１５）は第３の
出力（１０ａ）によって制御芒れ付勢でれるとブレーキ
シュー（１句を上記ブレーキ車から引き離すブレーキコ
イルである０
次に、この実施例の動作を説明する○
台車（２）は所定の通路を走行し、その間送信器（３）
から走行方向前方へ超音波が発信器れ、障害物（５）が
存在すれば、その反射波が受信器（４）で受信器れ、受
信器（４）は反射波の量に対応する出力を発する。In the figure, (1) is the floor, (2) is a trolley that automatically travels along the path set for urine (1), and (3) is an ultrasonic wave installed on the trolley (2) that transmits ultrasound in the forward direction of travel. A receiver (4) is an ultrasonic receiver installed on the trolley (2) and receives the reflected wave of the ultrasonic wave reflected by an obstacle (5) such as a person on the path.
6) is a distance detection device composed of a transmitter (3) and a receiver (4), (7) is a warning device such as a buzzer installed on the trolley (2), and (8) is a distance detection device consisting of a transmitter (3) and a receiver (4). A level detector which is connected and whose first output (8a) becomes rHJ when the human power reaches a first predetermined value, and (9) also has a second predetermined value (greater than the first predetermined value) K when it reaches a level detector. A level detector whose second output (9a) is rHJ, (10 is also a third predetermined value (second
The third output (10a) becomes rHJ when it reaches a predetermined value of
] ~αQ A distance calculation device, 112) is a level detector <9), a motor control device connected to 00, 11
3) Electric motor that drives rJ bogie (2), θ11 motor (
! 3) A brake shoe, t15), which is directly connected to the brake wheel (not shown) and is provided opposite to the outer periphery of the brake wheel (not shown) and is pressed against the brake wheel by a shaft (not shown), is controlled by a third output (10a). When the awn is energized, the brake shoe (1) is a brake coil that separates the brake car from the above-mentioned brake car.Next, the operation of this embodiment will be explained. (3)
Ultrasonic waves are transmitted forward in the direction of travel, and if an obstacle (5) exists, the reflected waves are received by the receiver (4), and the receiver (4) outputs an output corresponding to the amount of reflected waves. emits.
この出力は台車（２）と障害物（５）の間の距離Ｘ１〜
ｘ３に相当する。This output is the distance between the trolley (2) and the obstacle (5)
Corresponds to x3.
今、台車（２）の通路上に障害物（５）が存在し、台車
（２）との距ｆｉｘがｘ ＞ ｘｌであるとすると、距
離演算装置（１すの出力（８ａ）〜（ｌｏａ）は発せら
れず、電動機制御装置０２）は電動機−を定格速度で運
転するように指令する。このとき、ブレーキコイル（１
５）は付勢され、ブレーキシュー圓は上記ブレーキ車か
ら離れている。Now, if there is an obstacle (5) on the path of the trolley (2) and the distance fix from the trolley (2) is x > xl, then the outputs (8a) to (loa ) is not issued, and the motor controller 02) commands the motor - to operate at the rated speed. At this time, brake coil (1
5) is energized and the brake shoe ring is separated from the brake wheel.
次に、台車（２）と障害物（５）の間の距離Ｘがｘｌ〉
ｘになると、レベル検出器（８）の出力（８ａ）はｒＨ
Ｊとなり、警報器（７）は鳴動し、障害物（５）が通路
外に出ることを指令する。これで、障害物（５）が通路
から出れば、出力（８ａ）はｒＬＪとなり、台車（２）
は従前とお９走行を続けることができ、作業効率が下が
ることはない。Next, the distance X between the trolley (2) and the obstacle (5) is xl>
x, the output (8a) of the level detector (8) becomes rH
J, the alarm (7) sounds and commands the obstacle (5) to move out of the passage. Now, if the obstacle (5) leaves the passage, the output (8a) will become rLJ, and the trolley (2)
The machine can continue to run for 9 hours as before, without reducing work efficiency.
台車（２）と障害物（５）の間の距離ＸがＸ ２ｘ＞ｘ
３になると、レベル検出器（９）の出力（９ａ）もｒＨ
Ｊとなり、電動機制御装置掲は屯動機州の速度を低下す
るように指令する。これで、警報器（７）の鳴動が続く
と共に１台車（２）の速度は低下し、障害物（５）に対
する安全を図る。The distance X between the trolley (2) and the obstacle (5) is X 2x>x
3, the output (9a) of the level detector (9) also becomes rH.
J, the motor controller commands the motor to reduce its speed. As a result, the alarm (7) continues to sound and the speed of the single carriage (2) decreases to ensure safety against the obstacle (5).
更に、台車（２）と障害物（５）の間の距離ＸがＸくχ
３になると、レベル検出器Ｏ０の出力（１０ａ）もｒｌ
（Ｊとなり、電動機制御装置０２）は電動機（Ｉ３）の
給電を断つ。Furthermore, the distance X between the trolley (2) and the obstacle (5) is
3, the output (10a) of the level detector O0 also becomes rl
(J, the motor control device 02) cuts off the power supply to the motor (I3).
同時にブレーキコイル（１５）も消勢されるので、プレ
ー−？シュー０荀は上記ブレーキ車に押圧され電動機端
は制動場れる。これで、台車（２）は急停止しで、障害
物（５）との衝突を避りる。距離Ｘ３は障害物（５）が
Ｘ２〉Ｘ＞Ｘ３にいるときの台車（２）の速度から急停
止して十分停止し得る距離に設定される。事前に台車（
２）の速度は下がっているので、台車（２）は短距離で
停止できる。At the same time, the brake coil (15) is also deenergized, so play? The shoe 0 is pressed by the brake wheel, and the end of the electric motor is placed on the brake field. This causes the cart (2) to come to a sudden stop and avoid collision with the obstacle (5). The distance X3 is set to a distance that allows the cart (2) to make a sudden stop from the speed when the obstacle (5) is located at X2>X>X3. Dolly (
Since the speed of 2) has decreased, the trolley (2) can be stopped in a short distance.
なお、距離検出装置（６）は超音波を用いたものに限る
ものではない。例／ｌは、障害物（５）が人の場合には
、それから発せられる赤外線の量を検出する装置を台車
（２）Ｋ設け、上記赤外線の量によって距離を検出する
ようにしてもよい。Note that the distance detection device (6) is not limited to one that uses ultrasonic waves. For example/l, if the obstacle (5) is a person, the trolley (2) K may be provided with a device that detects the amount of infrared rays emitted from it, and the distance may be detected based on the amount of infrared rays.
Claims (2)
する台車、この台車に設けられた警報器、上記台車に設
けられ上記通路上に存在する障害物と上記台車の間の距
離に対応する出力を発する距離検出装置、この距離検出
装置の出力により上記台車と上記障害物の間の距離が所
定値に達したことが検出されると第１の出力を発し、上
記距離がそれよりも短くなるに従い第２及び第３の出力
を発する距離演算装置、この距離演算装置が第１の出力
を発すると上記警報器を動作させる第１の回路、上記距
離演算装置が第２の出力を発すると上記電動機の速度を
低下させる第２の回路、及び上記距離演算装置が第３の
出力を発すると上記電動機を急停止させる第３の回路を
備えてなる自動走行台車の安全装置。(1) - A trolley that is driven by a motive and automatically travels along a predetermined path, an alarm installed on this trolley, and a distance between the trolley and an obstacle that is installed on the trolley and exists on the path. a distance detecting device that emits an output; when the output of the distance detecting device detects that the distance between the trolley and the obstacle has reached a predetermined value, it emits a first output; a distance computing device that issues second and third outputs as the distance becomes shorter; a first circuit that operates the alarm when the distance computing device issues a first output; and a first circuit that operates the alarm when the distance computing device issues a second output. A safety device for an automatic traveling trolley, comprising: a second circuit that reduces the speed of the electric motor; and a third circuit that suddenly stops the electric motor when the distance calculation device issues a third output.
受信することにより上記台車と上記障害物間の距離を検
出するようにした特許請求の範囲第１項記載の自動走行
台車の安全装置。(2) The automatic traveling cart according to claim 1, wherein the distance between the cart and the obstacle is detected by transmitting ultrasonic waves from the cart and receiving reflected waves from the obstacle. Safety device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57117250A JPS598014A (en) | 1982-07-06 | 1982-07-06 | Safety device of self-traveling dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57117250A JPS598014A (en) | 1982-07-06 | 1982-07-06 | Safety device of self-traveling dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS598014A true JPS598014A (en) | 1984-01-17 |
Family
ID=14707105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57117250A Pending JPS598014A (en) | 1982-07-06 | 1982-07-06 | Safety device of self-traveling dolly |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS598014A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6197711A (en) * | 1984-10-18 | 1986-05-16 | Casio Comput Co Ltd | Infrared-ray tracking robot system |
| JPS63185800A (en) * | 1987-01-23 | 1988-08-01 | 株式会社豊田自動織機製作所 | Obstruction discriminator |
| JPS63235553A (en) * | 1987-03-18 | 1988-09-30 | 株式会社豊田自動織機製作所 | Method for controlling operation of machine device apparatus in loom |
| JPS63298086A (en) * | 1987-05-29 | 1988-12-05 | Nec Corp | Obstacle detection sensor |
| JPH0926826A (en) * | 1995-07-07 | 1997-01-28 | Tokyu Car Corp | Obstacle detection method and device for automated guided vehicle |
| JP2006035381A (en) * | 2004-07-28 | 2006-02-09 | Honda Motor Co Ltd | Control equipment for mobile robot |
| JP2011103084A (en) * | 2009-11-11 | 2011-05-26 | Kajima Corp | Forward monitoring method for battery locomotive |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4835555B1 (en) * | 1969-01-30 | 1973-10-29 | ||
| JPS5140233B1 (en) * | 1968-08-29 | 1976-11-02 |
-
1982
- 1982-07-06 JP JP57117250A patent/JPS598014A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5140233B1 (en) * | 1968-08-29 | 1976-11-02 | ||
| JPS4835555B1 (en) * | 1969-01-30 | 1973-10-29 |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6197711A (en) * | 1984-10-18 | 1986-05-16 | Casio Comput Co Ltd | Infrared-ray tracking robot system |
| JPS63185800A (en) * | 1987-01-23 | 1988-08-01 | 株式会社豊田自動織機製作所 | Obstruction discriminator |
| JPS63235553A (en) * | 1987-03-18 | 1988-09-30 | 株式会社豊田自動織機製作所 | Method for controlling operation of machine device apparatus in loom |
| JPS63298086A (en) * | 1987-05-29 | 1988-12-05 | Nec Corp | Obstacle detection sensor |
| JPH0926826A (en) * | 1995-07-07 | 1997-01-28 | Tokyu Car Corp | Obstacle detection method and device for automated guided vehicle |
| JP2006035381A (en) * | 2004-07-28 | 2006-02-09 | Honda Motor Co Ltd | Control equipment for mobile robot |
| JP2011103084A (en) * | 2009-11-11 | 2011-05-26 | Kajima Corp | Forward monitoring method for battery locomotive |
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