JPS61180312A - Guide controller for trackless cart - Google Patents

Abstract

PURPOSE:To perform the guidance of a trackless cart so that a drive route of the cart can be set freely regardless of an intersection, by cutting partly a reflective tape on the drive route at the intersection part and preventing the counting mistake of a point detecting sensor. CONSTITUTION:A cut part is provided between the reflective tapes 2 and 5 stuck onto a drive route on a floor. Thus the point detecting sensors 4A and 4B set on a trackless cart 1 passing through an intersection part don't detect the reflective tapes on other routes any more. This prevents the counting mistakes of those sensors. Then the sensors can detect no reflective tape at said cut part for detection of the derailment. Here the derailment detecting function is masked by a timer so as to prevent an emergency stop of the cart 1. Then the timer value is changed by the speed of the cart 1 to the small value with the high speed drive and the large value with the low speed drive respectively. Thus the partial cut of a reflective tape does not affect the detecting accuracy of the derailment.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to the control of a trackless vehicle for transporting goods running on a guidance line with a defined floor surface in a factory.

[Technical background of the invention and its problems]

Conventionally, the guidance control method for making automatic guided vehicles used for transporting goods in factories travel along routes without rails or other tracks has been to bury guide wires in the route and apply high-frequency current to them. There are electromagnetic induction methods in which the high-frequency magnetic field is detected by a pick-up coil on the vehicle and the wire travels along the path formed by the wire, and a light-reflective tape is pasted on the running path and detected by a photoelectric sensor on the vehicle. There is an optical tape guiding method in which the optical tape is caused to travel along the path C2 formed by the optical tape.

By the way, the optical tape guiding method by light reflective tape (;
At intersections where reflective guidance tape intersects, the trackless vehicle's point detection sensor detects the light reflective tape on other travel routes that intersects with the light reflective tape on the travel route in the direction of travel as the vehicle passes through the intersection. Sometimes I have to put it away.

In addition, as shown in FIG. 1C-2, there is a deceleration point or fixed position point marker 3A13B for blockage control etc. on the light reflective tape 2B of another traveling route that intersects with the two light reflective tapes of the traveling route in the traveling direction. In this case, the trackless vehicle 1
When the vehicle passes through an intersection, the four point detection sensors 4B on the trackless vehicle may detect the markers 3A, 3B on the light reflective tape on other travel routes and count the positions.

When setting a travel route for a trackless vehicle, it is necessary to take the above-mentioned problems into consideration before setting the travel route for the trackless vehicle.

[Purpose of the invention]

The present invention has been made in view of the above points, and provides a guidance control device for a trackless vehicle that can freely set a running route regardless of the intersection (= does not matter) between the traveling route in the traveling direction of the trackless vehicle and another traveling route. .

[Summary of the invention]

The present invention is a trackless vehicle that can freely set the running route of the trackless vehicle regardless of the intersection by partially cutting the light reflective tape on the running route at the intersection to prevent counting errors of the point detection sensor on the trackless vehicle. It is a guidance control device.

[Embodiments of the invention]

The present invention will be explained below based on examples.

FIG. 1 shows the configuration of a guidance control system according to an embodiment of the present invention.

1 is a trackless vehicle, 2 and 5 are light reflective tapes attached to the floor running route, and 4A*4B are point detection sensors on the vehicle for detecting ground markers.

Figure 2 is an embodiment of the present invention shown in Figure 1 above, and is a timing chart for derailment detection when the light-reflecting tape on the travel route is partially cut. If the input of the guiding photoelectric sensor stops at the cut part of the light reflective tape,
The derailment detection timer masks the derailment detection function and does not output derailment detection if the timer is within one hour T (;
This indicates that if the timer does not receive a signal from the light sensor for one hour T or more, a derailment detection signal is output.

When the trackless vehicle 1 travels through another travel route that intersects with the travel route in the traveling direction at an intersection, the light on the route is adjusted so that the point detection sensors 4A and 4B on the vehicle do not detect the light reflective tape of the other route. By partially cutting the reflective tape as shown in Figure 1, it is possible to prevent miscounts of point detection cents at intersections.

In this case, the light-reflecting tape on the travel route, which is the guidance line, is cut midway through the route, so the photoelectric sensor on the vehicle, which guides the trackless vehicle while detecting the light-reflecting tape,
Since the light reflective tape cannot be detected and derailment is detected, causing the trackless vehicle to make an emergency stop, the system is designed to prevent the trackless vehicle from making an emergency stop due to derailment detection while running in areas where the light reflective tape is cut, as shown in Figure 2. As shown in the timing chart, the derailment detection function is masked by timer T.

However, since the time it takes for a trackless vehicle to pass through the cut part of the light reflective tape varies depending on the vehicle speed, the timer value T that masks derailment detection should be changed depending on the vehicle speed, making it shorter when traveling at high speeds and longer when traveling at low speeds. This prevents the partial force cut of the light reflective tape from affecting the detection accuracy of derailment detection.

In addition, if a trackless vehicle stops at a part where the light reflective tape on the running path is partially cut by contact detection, derailment will be detected.
Even if the contact object disappears, the trackless vehicle will not restart, so if an emergency stop is made at the cut part of the light reflective tape due to contact detection, the derailment detection will be masked until the contact object is removed, and the trackless vehicle will start again. Make it possible to restart.

〔Effect of the invention〕

As explained above, the trackless vehicle guidance control device of the present invention (:
According to the above, in order to prevent the point detection sensor of a trackless vehicle from interfering with the light reflective tape of other travel routes that intersect with the light reflective tape of the travel route in the traveling direction at intersections, the light reflective tape on the guide line of the travel route is installed. Cut a part,
By preventing the point detection sensor on the trackless vehicle from detecting the light-reflecting tape of another travel route that intersects with the traveling route in the direction of travel at the intersection, the travel route of the trackless vehicle can be freely set without being related to the intersection. be able to.

[Brief explanation of drawings]

Figure 1 is a diagram showing an embodiment of the present invention, and Figure 2 is a diagram showing an embodiment of the present invention.
：Chart diagram for explaining the timing of derailment detection in the illustrated embodiment. FIG.・・・・・・・・・・・・Trackless vehicle 2.2A, 2B15...Light reflective tape 3A, 3B・
...... Ground markers 4A, 4B...
・・・・・・・・・Point detection sensor (7317) Agent Patent attorney Noriyuki Chika (and 1 other person) Figure 1 Figure 2

Claims (2)

[Claims] (1) In a guidance control device for a trackless vehicle that travels along a travel route formed by the light reflective tape while detecting reflected light from a light reflective tape attached to a running path on the floor using a photoelectric sensor on the vehicle, The light is used to prevent a point detection sensor on the vehicle from erroneously detecting a point due to reflected light from a light-reflecting tape on another running route different from the traveling direction when the trackless vehicle passes through an intersection on the running route. A trackless vehicle characterized in that a cut portion is provided near the intersection of the reflective tape, and a timer is provided to mask a derailment detection function that prevents the trackless vehicle from making an emergency stop by detecting derailment when the trackless vehicle runs through the cut portion of the light reflective tape. guidance control device. (2) The timer value for masking the derailment detection function is switched depending on the vehicle speed of the trackless vehicle so as not to affect the detection accuracy of derailment detection. Guidance control device for trackless vehicles.