JPS6152487B2 - - Google Patents

Description

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

Self-driving trolleys are used to transport parts within factories, as well as dishes and documents within hospitals and buildings. The direction of travel of the cart is guided mechanically using guide rails, magnetically guided using lines of magnetic force, or optically guided using white lines or stainless steel tape. There are various types such as If the trolley runs over an obstacle such as garbage and is unable to move forward while being guided by these, the trolley will stop there and will no longer be able to transport cargo. This has become a major problem in unmanned cargo transportation.

The present invention is intended to improve the above-mentioned problems, and an object of the present invention is to provide a driving device for an automatically traveling trolley that allows the vehicle to travel to a destination even when there are obstacles on the path.

An embodiment of the present invention will be described below with reference to FIGS. 1 to 3.

In Figure 1, 1 is a floor, 2 is a guide wire that is buried in the floor 1 and creates a magnetic field through a low-frequency current, 3 is a trolley whose running direction is guided by detecting the magnetic field of the guide wire 2, and 4 is a These are the wheels of truck 3.

In Figure 2, 2a to 2c are guide wires 2 divided into three parts.
A first passage 2d consisting of a guide wire 2 set separately from the first passage 2b, a second passage 5
6 is a point where an obstacle such as garbage or baggage has occurred on the first passage 2b, and 6 is a point where an obstacle such as garbage or baggage has occurred on the first passage 2b.
Points 7 and 8 set just before the path 2d branches off are the travel routes of the trolley 3, respectively.

In FIG. 3, 10 is a pulse signal generated in accordance with the rotation of the wheels 4, 11 is a forward command signal that becomes "H" when commanding the truck 3 to move forward, and 12 is "H" when commanding backward movement. The reverse command signal becomes 1
3 to 18 are AND gates, 19 and 20 are OR gates, 21 is a timer whose output becomes "H" after a certain period of time when the input becomes "H", and whose output becomes "L" when the input becomes "L"; 22 , 23 is a monostable element whose output becomes "H" for a certain period of time when the input I becomes "H" and is reset when the input R becomes "H", 24 is an OR gate, and 24a is its output, which outputs "H". 25 is also an OR gate, 25a is its output,
26 is a position detection signal that becomes "H" when the trolley 3 reaches point 6 (detected by a switch etc. installed on the floor 1); A reset button provided in the monitoring room, 28 is an R-S flip-flop (hereinafter referred to as memory), 28a is the output of the memory 28 and is a current supply command signal to the second path 2d, and 28b is the same to the first path 2b. 29 is a warning light provided on the trolley 3, 30 is a warning device such as a bell or buzzer, and (+) is a positive terminal of the power supply.

Next, the operation of this embodiment will be explained.

Now, when a forward command is given to the truck 3, the forward command signal 11 becomes "H". In addition, monostable element 2
Since the output of 2 is "L", AND gate 16
output becomes "H", and the forward running signal 24a, which is the output of the OR gate 24, becomes "H". on the other hand,
The first passages 2a and 2c of the guide wire 2 are always energized. Further, the current supply command signal 28a which is the output of the memory 28 is "L", and the current supply command signal 28a is "L".
b is set to "H", and the first passage 2b is also energized. The cart 3 is now guided to the first passages 2a to 2c and starts traveling forward, as shown in route 7 (detailed explanation will be omitted). When the trolley 3 runs, a pulse signal 10 is emitted in response to the rotation of the wheels 4. Since the output of the OR gate 19 is "H", the output of the AND gate 13 is the pulse signal 1.
"H" and "L" are repeated in synchronization with 0. Therefore, the output of the timer 21 does not become "H" while the truck 3 is running. Cart 3 now continues moving forward.

While the truck 3 is moving forward, if an obstacle exists at the point 5 on the first path 2b and the truck cannot move forward due to this, the rotation of the wheels 4 is stopped, the pulse signal 10 is also stopped, and the AND gate 13 is stopped. The output becomes "H".
When this state continues for a certain period of time, the output of the timer 21 becomes "H". The output of the AND gate 14 becomes "H", and the output of the monostable element 22 becomes "H". Therefore, the obstacle temporarily blocks the first passage 2b.
If there is an obstacle above the vehicle and the obstacle disappears immediately thereafter, the timer 21 does not output any output and the trolley 3 can continue moving forward along the first path 2b. However, if the obstacle exists for a long time, the output of the AND gate 16 becomes "L", the forward running signal 24a, which is the output of the OR gate 24, becomes "L", and the truck 3 stops. On the other hand, the reverse running signal 2 which is the output of the OR gate 25
5a becomes "H" and the truck 3 moves backward. (When pulse signal 10 is emitted due to reversing, timer 2
The output of 1 becomes "L". ) Also, OR gate 20
The output becomes "H". When the truck 3 moves backward and reaches the position of point 6, the position detection signal 26 becomes "H", and the output of the AND gate 18 also becomes "H".
Memory 28 is set. Now, the current supply command signal 28a becomes "H" and the same signal 28b becomes "L", so the current in the first path 2b is cut off, and the current in the second path 2b is cut off.
A current is supplied to the passage 2b. Further, the warning light 29 of the truck lights up, and the alarm 30 sounds. Furthermore, since the monostable element 22 is reset and its output becomes "L", the reverse running signal 25a becomes "L".
Then, the truck 3 stops. At the same time, the output of the AND gate 16 becomes "H", so the forward running signal 24a becomes "H" again. Now, the trolley 3 moves forward again, and as shown in the route 8, it moves to the second passage 2d.
The vehicle enters the first passage 2c via the road and heads for the destination.

Since the energization to the second passage 2d is memorized from then on by the memory 28, when the next cart 3 reaches the position 6, it will automatically detour to the second passage 2d, and the cart 3 will be changed each time. It is possible to prevent unnecessary movement such as going to point 5, moving backward, and detouring to the second passage 2d.

When the manager learns that there is an obstacle on the first passage 2b due to the lighting of the warning light 29 and the sounding of the alarm 30, the manager takes care of the obstacle and prevents it from interfering with the subsequent passage of the trolley 3. Make sure that there are no after that,
When the reset button 27 is pressed, the memory 28 is reset, and the current supply command signal 28a becomes "L" and the same signal 28b becomes "H", returning to normal. Further, the warning light 29 is turned off and the alarm 30 stops sounding.

The following is another embodiment of this invention.

(A) In the above embodiment, the stoppage of the truck 3 was detected by the rotation of the wheels 4, but it is detected by a sudden increase in the current of the drive motor (not shown).

(b) When the trolley 3 becomes unable to move, it repeatedly moves backward and forward, and when it still cannot move forward, the second
so that the vehicle passes through the passage 2d.

(c) The warning light 29 and alarm 30 were installed on the trolley 3, but these will be installed in the monitoring room.

(D) The path to the same destination is the first path 2.
If there is another path other than b, when the cart 3 is obstructed from moving forward by an obstacle, it can go around the above-mentioned path, but the second path 2d is provided only when it would be a long detour. put.

(E) The second passage 2d is provided only when there is particularly a lot of garbage in the first passage 2b.

(f) If not only garbage but also large baggage is an obstacle, the cart 3 is routed through the second passage 2d by detecting the baggage by contact or non-contact.

(g) Resetting the memory 28 is not done manually, but automatically by a time limit or the like.

As explained above, in the present invention, when the automatic traveling trolley is running in the first passage and the parallel section with the second passage, if the traveling of the trolley is obstructed, the trolley is stopped and moved backward, and the second passage is stopped. After passing the branch point with the first passage, the vehicle is stopped and then runs through the second passage to reach the destination, so even if there is an obstacle on the first passage, The trolley can be driven to the destination without any hindrance.

Furthermore, in this invention, even if the vehicle is obstructed by an obstacle, the detour operation will not be started for a predetermined period of time, so if the obstacle exists only for a short time, the forward motion will continue. This makes it possible to minimize detours. Once a detour is performed due to an obstacle, the obstruction caused by that obstacle is stored in the memory, and from then on, the detour is automatically performed before reaching the obstacle. It is possible to prevent unnecessary operations such as going all the way to the top, moving backward, and then making a detour.

[Brief explanation of the drawing]

FIG. 1 is a side view of a bogie showing an embodiment of an automatic traveling bogie driving device according to the present invention, FIG. 2 is a layout diagram of passageways, and FIG. 3 is a logic circuit diagram. 2... Guide wire, 2a to 2c... First passage, 2
d...Second passage, 3...Dolly, 4...Wheels, 6
...Set point, 10...Pulse signal, 11...Forward command signal, 12...Reverse command signal, 13-18...
...AND gate, 19,20...OR gate, 21
...Timer, 22, 23...Monostable element, 24...
...OR gate, 24a...forward running signal, 25...
...OR gate, 25a...Reverse running signal, 26...
...Position detection signal, 28...Memory, 28a...Second path current supply command signal, 28b...First path current supply command signal. Note that the same parts in the figures are indicated by the same reference numerals.

Claims (1)

[Scope of Claims] 1. A first passage leading to a destination, a second passage branching from the first passage and arranged in parallel and bypassing the first passage, or an automatic route along the second passage. a running hindrance detection device that operates when the running of the bogie is obstructed while the bogie is running in the parallel section of the first passage; and a running hindrance detection device that starts operating when the running hindrance detection device operates. a timer that outputs an output when a predetermined time elapses; a failure reversing device that stops and moves the trolley backwards when the timer operates to output an output; and a failure reversing device that stops the truck when it passes a branch point with the second passage; An operating device for an automatic traveling trolley, comprising a path switching device that stores the occurrence of the obstacle reversing operation when the obstacle reversing device operates, and thereafter causes the truck to travel via the second path. 2. The operating device for an automatic traveling trolley according to claim 1, wherein the second passage is provided at a location where obstacles are expected to occur.