JPS598015A - Guide device of self-traveling dolly - Google Patents

Abstract

PURPOSE:To improve the economical property of a guide device for a self- traveling dolly without providing any fixed guide device to the path but by setting a path guide device to the dolly itself. CONSTITUTION:A fixed departure-arrival place guide device 4 is provided to a departure-arrival place 3 of a self-traveling dolly 5, and no fixed guide device is provided to a path 1. Then a path guide device consisting of a distance detector 11 and comparators 13 and 14 is set to the dolly 5. For the dolly 5 loading goods and started at a point A, a steering motor is controlled so as to obtain a fixed distance between the dolly 5 and a wall 2 at the left side. Thus the dolly 5 travels on the path 1 toward the place 3.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement in a device for guiding an automatically traveling trolley.

Self-driving trolleys are used to automatically transport cargo. There are various types of carts, such as those that are mechanically guided by guide rails, those that are magnetically guided by lines of magnetic force, and those that are optically guided using white lines or stainless steel tape. These guidance devices are
It is laid across the entire passageway.

However, if the passage is long, the cost of the guidance system becomes high. In addition, the passageway will be changed after installation.

In some cases, relocation is difficult, and it is often necessary to install a new guidance system that is compatible with the new passage, which increases costs.

This invention improves the above-mentioned problems by using a fixed guidance device at the departure point and not using a fixed guidance device in the passageway, thereby making it possible to change the passageway economically. It is an object of the present invention to provide a guide device for an automatic traveling trolley that can be easily adapted to various situations.

An embodiment of the present invention will be described below with reference to FIGS. 1 to 5.

In the figure, (1) is a passageway set on the floor of the building, (2) is a wall on the side of passageway (1), (3) is a loading/unloading station for cargo, and (4) is a The landing and departure point guidance device is laid on the floor of the departure and arrival station (3) and is made of light reflective materials such as white paint and stainless steel tape, and is wide on the aisle (1) side and narrower as it gets to the opposite side. 1) A self-driving trolley placed on top and loaded with batteries as a power source; (6) a trolley (
5) front wheels (steering wheels), (7) and (8) are the rear wheels (driving wheels), (!1) and On are installed on the front lower surface of the trolley (5) and emit light downward to the floor surface. A photodetector whose output becomes "H" when the reflection from the
) is installed on the side of the trolley (5) and transmits energy waves (lla) such as ultrasonic waves and light beams to the side and detects the reflected waves from the two walls (2) to determine the distance between the cart (5) and the wall (2). A distance detector that detects and emits a corresponding output, for example, 40
A predetermined value signal corresponding to 0 mm, (take is a comparator whose output is [river when input A> input B, 0 → is a comparator whose output is rHJ when input A < input B, θQ ~ θ AND gate, OI is an R-S flip-flop (hereinafter referred to as memory), (a) to (a) are AND gates, (c), (c)
is an OR gate, (c) is an electric motor drive device that issues a clockwise rotation command when input A becomes ra, and a counterclockwise rotation command when input B becomes rHJ, and (a) is a steering electric motor that drives the front wheels (6). be.

Note that the rear wheels (7) and (8) are driven by a drive electric motor (not shown), but since this is well known, the circuit etc. will be omitted.

Next, the operation of this embodiment will be explained.

Now, the trolley (5) loaded with luggage and departing from point A is steered by the electric steering wheel so that the distance from the left wall (2) is constant.
@ is controlled by #, and it travels towards the passage (1) and all departure and arrival stations (3).

That is, the distance detector 01) emits an output corresponding to the distance to the wall (2). When the truck (5) approaches v(2) and the distance between them becomes less than 400 mm, the output of the comparator 0 becomes "H". At this time, the memory (Hl
Since the output Q of is rHJ, the output of the A N D gate (A) becomes "H", and the output of the OR gate (C) also becomes "H".

Now, the electric motor drive device (a) issues a clockwise rotation command, the electric motor (a) steers the front wheels (6) clockwise, and the truck (5)
leaves the wall (2). Also, when the cart (5) moves away from the wall (2) and the distance between them becomes greater than 400 mm, the output of the comparator α is rT(J, and as above, A
The output bar I (J
Then, a counterclockwise rotation command is issued, the front wheels (6) are steered counterclockwise, and the truck (5) approaches the wall (2). In this way, the running direction of the bogie (5) is guided and it returns to the departure and arrival station (3).
approach.

When the trolley (5) arrives at the departure station, the first thing it does is the photodetector (9).

(When 10 faces the departure/arrival guidance device (4), a photodetector (9).

The output of 00 becomes rHJ. Now, AND gate 0υ
The output of is rHJ, memory 01 is set, the output Q is rHJ, and the output enable is rLJ. Trolley (5)
When it moved forward and came to the narrow part of guidance system #(4),
The trolley (5) is on the right side, and the light detection device on the right side (
When the output of 9) becomes "L", the output of AND gate (1→ becomes rHJ, and the output of AND gate (e) also becomes rHJ.
Therefore, the output of the OR gate (a) becomes rHJ,
Dolly (5) Vi moves to the left. In addition, the trolley (5) is in a position on the left, and the output of the left photodetector αO is rLJ.
Then, the output of AND game η becomes rHJ, and A
The output of the ND gate (a) and the output of the OR gate (c) become [town, and the cart (5) moves to the right. When the trolley (5) moves further forward and the left and right photodetectors r9) and I:lO come off the guidance device (4), the photodetectors (9) and ('I
The output of O becomes rLJ. Now, the output of AND gate 0Q becomes rJ, memory 11 is reset, and output Q
The output becomes rLJ, and the output becomes rHJ.

At this point, the drive of the rear wheels (7) and (s) is stopped, the truck (5) stops at point B, and the cargo is unloaded.

Distance detector (11) and comparator 11θth stand ff1(s
), which constitutes a passage guiding device.
] “There is nothing fixed on Route 1 (1), so
It can be constructed at low cost. Even when changing the route (1), it can be used without any changes.

Note that it is also possible to implement as follows.

) Instead of the distance detector 0D, which calculates the distance by detecting the reflection of the energy wave (lla), a device is used that detects the distance f by detecting the pattern Mt& of the wall (2) using an industrial television camera. .

(b) Instead of the distance detector αυ, use the left and right rear wheels (7)
.

(8) A device that corrects the direction using the rotation difference or a gyro compass or the like is used.

(1) Instead of Departure Station Guidance System #(4), use a device that scans and outputs light or ultrasonic waves from the ceiling and guides while detecting it with a detection element installed on the platform *(5).

In addition, a device is used that outputs light or ultrasonic waves upward from the floor and guides the object while detecting the light.

In addition, electric wires are buried in the floor and the device is electromagnetically guided.

(→ Instead of the departure and arrival point guidance system @ (4), a device is used that places a sign at the departure and arrival point, scans the truck (5) with light or ultrasonic waves to detect the sign, and guides passengers in that direction.

(Effects) Instead of the landing point guidance device (4), a device is used that applies an odor-emitting drug to the floor and detects it to guide the trolley (5).

(4) In the embodiment, the forward movement of the script (5) was shown, but it also applies to the case of backward movement.

(b) This also applies to two-wheel independent suspension type bogies that have both driving wheels and steering wheels.

(c) The photodetector (9), QO, is used to detect the presence of light reflection, but it is changed to detect the absence of light reflection.

(j) At intersections, corners, etc. of passage (1), use walls (2).
The vehicle is steered 90 degrees without detecting the wall (2), and then continues straight until the wall (2) is detected. Further, even in places where there is no wall (2) such as a staircase, the vehicle is made to go straight without detecting the wall (2). Also, a gyro compass is used for turning 90'.

(b) Add well-known measures to prevent hunting caused by the direction adjustment of the stand*(5).

(a) The driving route is memorized as a map, and the vehicle is made to move forward, backward, turn to the right, turn to the left, etc. along the map.

2) The distance between the trolley (5) and the wall (2) is not detected all the time, but at appropriate time or distance intervals.

(G) If the wall (2) has unevenness, the distance of that part should be corrected and incorporated.

c/) Arrival and departure point guidance devices (4) are not provided continuously, but intermittently.

As explained above, in this invention, a fixed guide device is used at the departure and arrival points of the automatic traveling bogie, a fixed guide device is not used in the passage, and the bogie recognizes objects present in the passage. Since a path guiding device is provided for guiding the cart by doing this, the path guiding device can be constructed economically and can easily accommodate changes in the path.

[Brief explanation of drawings]

FIG. 1 is a plan sectional view showing an embodiment of the guide device for an automatic traveling trolley according to the present invention, FIG. 2 is a side sectional view of FIG. 1,
Figure 3 is a plan view of the autonomous vehicle shown in Figure 1, and Figure 4 is the
The side view of the figure, FIG. 5, is a logic circuit diagram of FIG. 1. (1)...Aisle, (2)...Wall, (3)...Departure/arrival station, (4)/Departure/arrival guide device, (5)...Automatic traveling trolley, (6)...Front wheel , (9), QO...photodetector, 0υ...distance detector, @...predetermined value signal, (1
3,041-...Comparator, <1G ~(111[1・A
N D goo), Q (J-R-8 flip-flop, (
B) ~ (C)...AND gate, (Found), (C)...
・OR gate, (c)...motor drive device, (b)・
... Steering electric motor Note that the same parts in the figures are indicated by the same symbols. Agent Makoto Kuzuno - (1 other person) Figure 1 Figure 2 Figure 3 Figure 4

Claims (2)

[Claims] (1) A bogie that automatically travels along the passage provided between the departure and arrival stations, a departure and arrival station guidance device that is fixedly installed at the said departure and arrival station and guides the said bogie to a predetermined position, and a carriage that is installed on the said bogie and exists in the passageway. Recognize the object that moves and the relative force between it and the above-mentioned trolley)
A guide device for an automatic traveling cart, comprising a passage guiding device for guiding the cart onto the passage. (2) The distance between the cart and the wall is detected by transmitting an energy wave from the cart and receiving the reflected wave from the wall of the passage, and the script is guided so that this distance is within a predetermined range. A guide device for an automatically traveling trolley according to claim 1, which uses a passage guide device.