JPS61244660A - Travelling control facility for transfer car - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to control equipment for automatically running a moving vehicle such as a transport vehicle that transports various tools, workpieces, etc. to desired stations in a factory, for example. , more specifically, a steering system that detects the amount of lateral deviation with respect to a guide line for automatically driving a moving vehicle along a travel path in a moving vehicle equipped with steering wheels that can freely change direction around the vertical axis. Install a sensor,
The present invention relates to travel control equipment for a mobile vehicle, which includes a steering control means for changing the direction of the steering wheel based on information detected by the sensor so that the mobile vehicle automatically travels along the travel path.

[Conventional technology]

In such travel control equipment for moving vehicles, a guiding line is formed by a conductor that is buried below the traveling path and is supplied with an alternating current, or a light reflective tape that is pasted on the traveling road surface. Since the vehicle can be driven automatically, it has various advantages, such as being able to drive a manually driven vehicle across the vehicle travel path.

Incidentally, in the past, vehicles were automatically driven while controlling the steering throughout the entire travel route based on information detected by a steering sensor.

[Problems to be solved by the present invention]

When a moving vehicle is automatically driven while controlling the steering based on the information detected by the steering sensor, for example, from the point when the steering sensor detects that the moving vehicle is lateral to the guidance line, It is unavoidable that the moving vehicle will be in a state of considerable lateral deviation with respect to the guidance line due to the so-called control action delay, which takes a certain amount of time to change the direction of the steering wheel. be.

For this reason, in order to prevent the moving vehicle from deviating from the guiding line, there is a disadvantage that the guiding line cannot be bent sharply, that is, the moving vehicle cannot run in a sharp turn. When used in the field, there is a disadvantage that the moving vehicle cannot be driven close to the wall because it is necessary to avoid the moving vehicle from colliding with the wall.

In addition, when a mobile vehicle is used to transport goods, the mobile vehicle must be stopped next to the goods transfer station and the goods must be transferred between the mobile vehicle and the station. In order to simplify the article transfer device, it is desirable to stop the moving vehicle as close to the station as possible.
There is also the disadvantage that it is not possible to stop the moving vehicle sufficiently close to the station since the moving vehicle may be in a state of considerable lateral deviation with respect to the guide line.

In short, in order for a mobile vehicle to travel automatically while controlling the steering based on the information detected by the steering sensor, sharp turns must be avoided, and the width of the travel path must be sufficiently larger than the width of the vehicle. However, if such conditions were to be met throughout the entire route, work efficiency would be reduced, the effective area within the factory would be reduced, and ancillary equipment would become complicated. This was a disadvantage, and improvements were desired.

Zero Hatsha and Akira were made in view of the above actual situation,
The purpose is to provide a travel control equipment for a mobile vehicle that is more convenient to use, taking advantage of the advantages of automatic travel based on information detected by steering sensors while avoiding the disadvantages associated with it.

[Means for solving problems]

The characteristic configuration of the travel control equipment for a moving vehicle according to the present invention is that a guide rail for guiding the moving vehicle is provided in a predetermined section of the traveling path, and the guided tool is guided by the guide rail.
In order to operate the steering wheel so that the direction of the steering wheel is aligned with the longitudinal direction of the guide rail, the steering wheel is provided so as to change direction integrally with the steering wheel, and means for detecting an installation section of the guide rail is provided, The present invention is characterized in that means is provided for switching the steering wheel to a free rotation state based on the information of the detection means, and its functions and effects are as follows.

(Function) In other words, in a predetermined section of the travel path, the vehicle is automatically driven while changing the direction of the steered wheels using the guide rails.

When the direction of the steering wheel is changed using the guide rail, the moving vehicle will not be significantly laterally displaced with respect to the guide rail, and the moving vehicle will not run off the guide rail. Become.

〔Effect of the invention〕

Therefore, there are sections of the traveling path where the moving vehicle is required to make sharp turns, sections of the traveling path where the moving vehicle is required to run along walls within the factory, and sections of the traveling route where the moving vehicle is required to run along the side of the goods transfer station, etc. In a predetermined section of the driving route,
If the moving vehicle is made to travel automatically using guide rails, it is possible to make the moving vehicle run in a sharp turn while reliably avoiding the danger of the moving vehicle going off the road and driving out of control.
While reliably avoiding collisions, it is possible to drive the mobile vehicle close to the factory wall, and to stop the mobile vehicle as close to the station as possible. A travel control equipment for a moving vehicle that satisfies the above requirements and is more convenient to use has been obtained.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIG. 1, a moving vehicle running path having a sharp turning portion is provided, and a moving vehicle (A) for transporting goods is provided,
Each Inari's yI! It is configured to perform transportation work.

However, (ST) in the figure is an article transfer station.

As shown in FIGS. 1 to 3, the mobile vehicle (A) includes front and rear wheels that can change direction around the vertical axis and also serve as wheels that can be driven by an electric motor (1). A pair of steering wheels (2) are provided so as to be located on opposite sides in the width direction of the vehicle body, and a pair of front and rear casters (3) are provided to be located laterally of the wheels (2). be.

However, (4) in the figure is an electric motor for changing the wheel direction, which is gear-coupled with the wheel (2).

The mobile vehicle (A) covers most of the travel path of the mobile vehicle.
A conductor (5) to which an alternating current is supplied is buried as a guide line for automatically driving the mobile vehicle along the traveling path, and a conductor (5) is buried in a predetermined section of the traveling path where the moving vehicle is not provided with the conductor (5). A guide rail (6) for guiding the vehicle is provided. A pair of left and right pink amplifier coils (
The steering sensors (7) equipped with 7a) and (7b) are attached to each of the front and rear steering wheels (2) in pairs, so that the steering wheels (2) can change direction in one direction. A roller (8) as a guided tool guided by the guide rail (6) is provided on the front and rear steering wheels (2).
), and in order to operate the steering wheels (2) so that the direction of the steering wheels (2) is aligned with the longitudinal direction of the guide rail (6), It is installed so that the orientation can be changed.

A pair of front and rear steering sensors (7) provided on each of the steering wheels (2) are selectively used during forward movement and reverse movement.

Further, a first mark (Ml) using a magnet is provided at a predetermined distance from the end of the guide rail (6),
A second mark (M2) using a magnet is provided at a location corresponding to the end of the guide rail (6), and a stop mark (M3) using a magnet is provided at a location corresponding to the side of the station (ST). There is. Then, a mark reading sensor (T) is installed on the moving vehicle (A), and it is determined that the autonomous driving section is in front of the section where the guide rail (6) is installed. It is configured to be able to detect whether it is in a conductor installation section or next to a station. To be more specific, for example, when the first mark (Ml) is detected while traveling in the conductor installed section, it is determined that it is an autonomous traveling section, and the 27th mark (M2) is detected while traveling in the autonomous traveling section. If the second mark (M2) is detected while traveling in the guide rail installed section, it is determined that it is an autonomous driving section, etc. 1゜Second mark (Ml)
, each section is determined based on the detection order of (M2), and if a stop mark (old) is detected while traveling in any section, it is determined that the vehicle is at a stop position. It turns out.

As shown in FIGS. 4 and 5, the steering sensor (7) and the mark reading sensor (T
), and then operate the steering electric motor (4) so that the difference in detected voltage between the left and right pick amplifier coils (7A) and (7B) becomes zero in the conductor installation section. In the autonomous driving section, the steering wheel (2) is controlled to be in a straight-ahead state and the steering wheel (2) is in a freely rotating state in the section where the guide rail 6) is installed. Switch to guide rail (6)
The system is configured to perform guide rail following control to cause the train to follow the train, and stop control to automatically stop at the side of the station, based on commands from the travel control device (H).

Incidentally, the rotational position of the steering electric motor (4) is detected by the encoder (e), and the detected information is feedbanked to the motor drive repeating circuit (9), so that the rotational position of the steering electric motor (4) is detected by the encoder (e). , the electric motor (4) is rotated by an amount corresponding to the amount of lateral deviation with respect to the conductor (2), and in autonomous driving control, the electric motor (4) is moved to a position corresponding to straight travel.
Furthermore, in the guide rail following control, the drive of the electric motor (4) is stopped.

Further, (10) in the figure is a drive circuit for the propulsion electric motor (1).

[Another example]

Next, another example will be described.

To configure the guidance line, a light reflective tape may be attached to the running road surface, and in that case, a light sensor may be provided as a steering sensor.In addition, the specific configuration of the guidance line may be modified in various ways. Furthermore, various types of steering sensors can be used depending on the specific configuration of the guidance line.

The specific configuration of the guide rail (6) can be changed in various ways, and various specific configurations of the guided tool (8) can also be used depending on the specific configuration of the guide rail (6).

The travel control equipment of the present invention can be used not only to control the travel of vehicles for transporting goods, but also to control the travel of vehicles for various purposes.

[Brief explanation of the drawing]

The drawings show an embodiment of the travel control equipment for a moving vehicle according to the present invention, in which FIG. 1 is a schematic plan view of a moving vehicle traveling path, FIG. 2 is a schematic side view of the moving vehicle, and FIG. 3 is a schematic side view of the moving vehicle. FIG. 4 is a block diagram showing the specific configuration of the travel control, and FIG. 5 is a flowchart showing the travel control operation. (2)...Steering wheel, (6)...Guide rail, (7)...Steering sensor, (7A
), (7B)... Electromagnetic wave big amplifier coil, (8)... Guided tool.

Claims (1)

[Claims] [1] To cause a mobile vehicle (A) equipped with steering wheels (2) whose direction can be freely changed around a vertical axis to automatically travel along a travel path. A steering sensor (7) is provided for detecting the amount of lateral deviation with respect to the guide line (5), so that the moving vehicle (A) automatically travels along the traveling path,
Travel control equipment for a moving vehicle, comprising a steering control means for changing the direction of the steering wheels (2) based on information detected by the sensor (7), the equipment comprising: A guide rail (6) for guiding the moving vehicle is provided, and a guided tool (8) guided by the guide rail (6) is provided.
), and the direction of the steering wheel (2) is adjusted to the guide rail (
6) A means for detecting the installation section of the guide rail (6), which is provided so as to change direction integrally with the steering wheel (2) so as to be operated along the longitudinal direction, and a means for detecting the installation section of the guide rail (6); said steering wheel (2) based on the information of the means;
Travel control equipment for a moving vehicle that is equipped with a means for switching to a free rotation state. [2] The induction line is a conductor (
5), and the steering sensor (7) is constituted by electromagnetic wave pickup coils (7A) and (7B). .