JPS6182211A - Spot detecting device of trackless trolley car - Google Patents

Abstract

PURPOSE:To prevent a wrong detection by detecting one or plural detecting objects of a size which can be detected simultaneously, on a running route, by plural spot detecting sensors placed separately on a car, and gaining its AND condition. CONSTITUTION:On the bottom face of a trackless trolley car 4, two proximity switches 10A, 10B are placed at a suitable interval l in its running direction. On a running route, an iron piece 11 which is slightly longer than the interval lof the proximity switch is installed as a ground marker, and as the trackless trolley car 4 advances, a position relation of the iron piece 11 and two proximity switches 10A, 10B is varied, and first the proximity switch 10B being in the head of the advance direction detects the iron piece 11, and subsequently, at the time point when 10A is also detected, an AND condition is formed, and the ground marker is detected exactly. Instead of one iron piece, two iron pieces can be provided on a position corresponding to two proximity switches.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a trackless vehicle point detection device for detecting the running point of a trackless vehicle for carrying luggage running on a guide line with a defined floor surface in a factory.

[Technical background of the invention and its problems]

Conventionally, the main type of unmanned vehicles used for transporting goods in factories has been trackless vehicles that run along a defined guidance line on the floor, and their guidance method is electromagnetic induction. It can be roughly divided into two types: and optical tape guided type.

The former electromagnetic induction type is a system in which a harmonic current is passed through induction wires buried under the running floor, the strength of the magnetic field generated by this is detected by a pick-up coil on the car, and the car runs along a predetermined route. In the latter optical tape guidance type, reflective tape is pasted on the floor as a running route instead of electric wires, and this is detected by an optical sensor on the vehicle to drive the vehicle.

By the way, in such a trackless vehicle, in order to detect the passing point and the target point, a detection object such as a piece of iron or reflective tape is placed at an appropriate distance along the traveling route, and this is placed on the vehicle. The target point was determined by detecting and counting using a point detection sensor such as a proximity switch or a photoelectric sensor installed in the target point.

Figures 8 and 9 show examples of the arrangement of point detection objects on the running line for detecting the target point of the trackless vehicle running on the running line and the arrangement of sensors for spot detection of the trackless vehicle. be. In Fig. 8, 1 is an induction wire buried under the floor of the factory as a running route, 2A~
2D is a deceleration point ground marker provided at an appropriate distance along the travel line, 3A and 3B are localization abnormal point ground markers provided between deceleration point ground markers 2A and 2B, and 2C and 2D. Each ground marker 2A to 2D,,9A,,
A piece of iron is used here as the VB.

Also, in Fig. 9, 4 is a trackless vehicle and 5A.

5B is its driving wheel, and 6A and 6B are casters. Reference numeral 7 denotes a point detection sensor for detecting deceleration point ground markers 28 to 2D and different localization point ground markers, in which a proximity switch is used.

In FIGS. 8 and 9, it is assumed that the trackless vehicle 4 travels in the 2D direction from the deceleration point ground marker 2A and stops at the fixed position ground marker 3B. A trackless vehicle 4 travels on a travel line, and a point detection sensor 7 detects each terrestrial marker 2A.

When 3B and 2B are detected, the number of points passed is counted each time, and a control device (not shown) sequentially calculates the count at the target point, here the localization abnormality ground marker 3B''!.Then, the point detection sensor 7 detects the deceleration point ground marker 2C one place before the localization abnormality ground marker 3B, it starts decelerating the trackless vehicle 4, and moves to the localization abnormality ground marker 3.
It is determined that the trackless vehicle 4 has stopped at the abnormal position ground marker 3B on the condition that the trackless vehicle 4 has detected the abnormal position ground marker 3B. .

Therefore, by sequentially counting the ground markers 2A to 2D, 3A, and 3B at each point provided along the driving line while detecting them using one point detection sensor 7 provided on the vehicle, The target point of the trackless vehicle 4 can be detected.

However, in factories where these trackless vehicles run, they often intersect with paths for people and other transport vehicles, and in such cases, the trackless vehicles Foreign objects such as iron pieces, screws, nuts, etc. may be scattered on the running line. Therefore, under such a situation, the single point detection sensor 7 provided on the vehicle will not only detect each of the ground markers 2A to 2D, 2A, and 2B, but also detect the foreign object, resulting in false detection. The incidence of miscounts due to this decreases, making it impossible to accurately detect the target point. For example, in Fig. 8, if a foreign object such as a piece of iron falls on the running line between the deceleration point ground markers 2B and 2C, when the point detection sensor 7 on the vehicle detects the piece of iron, the track will not be detected. Car 4 decelerates and deceleration point ground marker I
When C is detected, it stops at the fixed position, and it becomes impossible to stop it accurately at the localized abnormal point ground marker 3B set as the target point.・ [Purpose of the Invention] The present invention has been made to solve the above-mentioned problems, and its purpose is to eliminate miscounts due to false detection even when foreign objects are present on the running line of a trackless vehicle. The object of the present invention is to provide a point detection device for a trackless vehicle that can accurately detect a target point.

[Summary of the invention]

In order to achieve such an object, the present invention arranges a plurality of point detection sensors provided on the vehicle at appropriate distances, and each detection object provided on the driving route is located on the top side of the vehicle. A plurality of detection objects are arranged within the area of one detection object or -6= which is large enough to be detected simultaneously by a plurality of point detection sensors, and a plurality of detection objects are arranged within the area, and By counting as point detection only when the AND condition of the detection signals output from multiple point detection sensors is met, it is possible to prevent false detection even if there is a foreign object on the travel line. .

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings. 1st
The figure shows an example of the arrangement of sensors on the top of the vehicle in the point detection device for a trackless vehicle according to the present invention, and FIG. 2 shows an example of the arrangement of ground markers.

FIG. 1 is the same as the conventional trackless vehicle shown in FIG. 9, and the same parts as in FIG. 9 are given the same symbols and their explanations are omitted, and only the different points will be described here. That is, in this example, as shown in FIG. 1, two proximity switches lOA, J are used as point detection sensors provided on the vehicle.
The structure is such that the OBs are arranged at appropriate intervals t in the traveling direction of the vehicle. Although FIG. 1 shows the case where two proximity switches 1 (7A, 10B) are arranged, the same applies to the case where three or more proximity switches are arranged.

Still, FIG. 2 shows the respective terrestrial markers 2A to 2D, 3 provided along the running route of the trackless vehicle as shown in FIG.
One of them is shown as a representative as A and 3B.

That is, in this example, as shown in FIG. 2, a plate-shaped iron piece 11 with a slightly longer dimension than the distance t between two proximity switches 10 and 10B provided on the upper side of the vehicle is arranged as a ground marker. be. In the process of the trackless vehicle passing the ground marker, state A1 in which only the proximity switch JOB detects the iron piece 11; state B and C in which both the proximity switches 10k and 10B detect the iron piece 1); and proximity switch IO
The size of the iron piece 1 is determined according to the distance t between the proximity switch 10A and the IOB so that only the iron piece 11 is detected by the iron piece A.

FIG. 3 shows an example of the configuration of a logic circuit for two proximity switches 10 attached to the body of the trackless vehicle 4 to detect the location of the trackless vehicle based on the detection signal from the IOB. In FIG. 3, JOB is a proximity switch 10, and these proximity switches 10A and 10B output a logic II OI+ level signal when detecting the iron piece 11, and output a logic "'1" level signal when detecting the iron piece 11. Think of it as something that outputs a signal. 211.21B is an inverting circuit that inverts the outputs of the proximity switches IOA and IOH;
2B is an inversion circuit with 21 people.

This is a latch circuit that latches the output of 21B for a certain period of time (for example, several 100 m5). Furthermore, 23k and 23B are the outputs of the latch circuits 22k and 22B and the inverting circuits 21A and 21
OR circuit to which the output of B is input, 24 is both OR circuit 23
1.23B output is added to the AND circuit, 25 is AN
This is a counter to which the output of the D circuit 24 is added.

Next, the operation of the present elliptical device constructed as described above will be described. It is assumed that iron pieces 11 having the configuration as shown in Figure 2 are provided as ground markers at each point on the traveling route as shown in Figure 8, and trackless vehicles 4 having the configuration as shown in Figure 1 are provided. Assume that the vehicle is traveling along the travel route. First, when the trackless vehicle 4 approaches a certain point, the proximity switch 10 detects the iron piece 11 in only 10B of the IOHs. 23
Since the output signal of this OR circuit 23B is added to
However, the output signal to the other am circuit 32 is O#. Therefore, the AND condition of the AND circuit 24 is not satisfied, so no point detection signal is input to the counter 25. Next, the proximity switch 10A is connected to the proximity switch 10A in states B and C where both IOBs detect the iron piece 11.
, 10B output signal at O'' is inverted by the inverting circuit 21A, 21
Since the output signal of both OR circuits 23A and 23B becomes 61'' and is applied to the AND circuit 24, the AND condition of the AND circuit 24 is satisfied. , input the point detection signal to the counter 25. In this case, AND
The outputs from 23B to the OR circuit 23 applied to the circuit 24 are both logic "'1" in state B, and this output state continues until state C, so the counter 25 counts 1. The outputs of the trench inverting circuits 22A and 21B are sent to the latch circuit 22, and are latched by the latch circuit 22B for several hundred ms from the time of their rise, and then sent to the OR circuits 23A and 2.
3B, it is possible to prevent the counter from chattering more than once when the same marker is detected. After that, when only the proximity switch 10A detects the iron piece 11, the output of the OR circuit 2.9A becomes logic "1", but the output of the OR circuit 23B becomes logic "0".
The AND condition of the AND circuit 24 is not satisfied.

In this way, place the proximity switch 10A and JOB on the car at intervals of t.
At the same time, a piece of iron slightly larger than the above-mentioned interval t is placed as a ground marker along the travel line, and the IOB is placed on the proximity switch 10 at the same time as the piece of iron 11.
Only when a detection signal is detected, a detection signal is input to the counter 25 to count the point, so even if a foreign object as small as the IOB interval t is present on the travel line, the proximity switch 10 can detect it. , there is no power to detect and count this.

In this case, the greater the distance t between the proximity switches 10A and 10B, the lower the possibility of false detection.

In the above embodiment, one iron piece 1 is used as a ground marker, and this is used as a detection sensor for two proximity switches 1.
0A and JOB, but as shown in Fig. 4, the proximity switch 10 installed on the vehicle
If you place it approximately diagonally across the center line of the car body,
The proximity switch 10 allows the JOB to be placed extremely far away. In addition, ground markers placed on the ground include the above-mentioned proximity switch 10A on the running line as shown in FIG.
Iron pieces 26A, 26 in positional relationship corresponding to 10B
B is provided. Therefore, if you do this,
Since it is possible to increase the interval between the proximity switches 10fi, ., JOB, it is possible to further reduce the occurrence of false detection.

Furthermore, in the above embodiment, a case was described in which a proximity switch was used as a detection sensor provided on the vehicle and an iron piece was used as a ground marker on the running line. 2 floodlights 3 on the side
1A.

31B may be provided at appropriate intervals, and light receivers 32A, 32B may be provided on the vehicle to receive light from these projectors 31A, 91B. In this way, connect the emitters 31A, 31B, the receiver 32, and the 32B to the ground.
By placing it on the vehicle, it is possible to prevent erroneous counting due to ambient light, and the same effect as described above can be expected.

Furthermore, the number of ground sensors and on-vehicle detection sensors may be three or more, spaced apart as appropriate.

〔Effect of the invention〕

As described above, according to the present invention, a plurality of point detection sensors are arranged at appropriate intervals as point detection sensors provided on the vehicle, and each detection object provided along the driving route is arranged on the vehicle. A configuration in which one sensing object is arranged in an area that can be simultaneously detected by a plurality of point detection sensors on the upper side, or a plurality of sensing objects are arranged in the area, and the plurality of sensing objects on the upper side of the vehicle are arranged. Since the point detection is counted only when the AND condition of the detection signal output from the point detection sensor is satisfied, it is possible to prevent erroneous counts due to foreign objects on the ground, thereby ensuring accurate detection of the target point. It is possible to provide a point detection device for a trackless vehicle that can.

[Brief explanation of the drawing]

FIG. 1 and FIG. 2 are a configuration diagram of a sensor arrangement on the vehicle side showing an embodiment of the point detection device for an automatic guided vehicle according to the present invention, and a configuration diagram showing the relationship between the detection object arrangement and the sensor on the ground side,
Figure 3 is a block diagram of the logic circuit in the same embodiment;
5 and 5 are a configuration diagram of sensor distribution on the vehicle side and a configuration diagram of the arrangement of detected objects on the ground side in other embodiments of the present invention,
6 and 7 are top and side views showing the arrangement of objects and sensors on the ground side and vehicle side in still another embodiment of the present invention, and FIGS. 8 and 9 are conventional unmanned FIG. 2 is a configuration diagram of the arrangement of objects to be detected on the ground side and a configuration diagram of the arrangement of sensors on the vehicle side in a point detection device for a guided vehicle. 4... Trackless vehicle, IOA, JOB... Proximity switch, 11... Iron piece, 21, 21B... Reversing circuit, 2
2A, 22B...Latch circuit, 23A, 23B...
OR circuit, 24...AND circuit, 25...counter. Applicant's Representative Patent Attorney Takehiko Suzue Figure 1 Figure 3 Figure 4 Figure 6 Figure 7 Figure 8 Figure 9

Claims (1)

[Claims] The target point of the trackless vehicle is determined by detecting and counting multiple detection objects placed at appropriate distances on the trackless vehicle's travel route using a point detection sensor installed on the vehicle. In the point detection device for a trackless vehicle, a plurality of point detection sensors are arranged at appropriate intervals as point detection sensors provided on the vehicle, and each detection object provided on the traveling route is arranged as a point detection sensor provided on the vehicle. The configuration is such that one sensing object has a size that can be simultaneously detected by a plurality of point detection sensors on the top side of the car, or a plurality of sensing objects are arranged within that area, and When the object is detected by a plurality of point detection sensors, the detection signal thereof is individually inputted, and only when an AND condition of these detection signals is satisfied, a logic circuit is provided that outputs a count signal as point detection. A point detection device for trackless vehicles.