JPS62164116A - Carrier - Google Patents

Abstract

PURPOSE:To prevent the collision of a carrier by changing the direction of an obstacle detector in accordance with the advancing direction of the carrier to detect obstacles which cannot be detected with an obstacle detector fixed to the carrier. CONSTITUTION:A carrier 1 is provided with an obstacle detector 20 which changes the obstacle detecting direction, and the obstacle detecting direction of the obstacle detector 20 is controlled by a control signal 41 from a direction controller 40 so that this direction coincides with the advancing direction of the carrier when rotative speeds of driving wheels 5 and 6 are controlled by a direction controller 40 to run the carrier on a curved part of a running path 7. The running range of the carrier 1 is covered with an obstacle detection range 3 to detect an obstacle 8, thereby preventing the collision. Thus, an object 9 which does not hinder running is not detected as an obstacle and objects are arranged efficiently around a carrying path.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a transport vehicle that travels while detecting obstacles.

[Conventional technology]

In the conventional guided vehicle, as shown in FIG. 2, an obstacle detector 2 installed on the guided vehicle 1 detects an obstacle 4 within an obstacle detection range 3 to prevent a collision.

[Problem that the invention seeks to solve]

In the conventional guided vehicle, since the obstacle detector 2 shown in FIG. 2 is fixed to the guided vehicle 1, the obstacle detection range 3 always faces the straight direction of the guided vehicle 1. Therefore, by controlling the rotational speed of the drive wheels 5 and 60, the transport vehicle 1 is moved along the travel path 7.
When traveling on a curve like this, there is a drawback that the obstacle 8 cannot be detected and the vehicle collides with it. In addition, even if the object 9 does not interfere with the operation, there is a drawback that the object 9 is regarded as an obstacle and the vehicle stops.

The purpose of the present invention is to
An object of the present invention is to provide a transport vehicle that can travel by detecting only obstacles.

[Means for solving problems]

The present invention provides a transport vehicle whose traveling direction is controlled by controlling the rotational speed of two driving wheels, which is equipped with an obstacle detector whose detection force direction of an obstacle is adjusted according to the traveling direction of the transport vehicle. This is a transport vehicle with the following features.

〔Example〕

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing an embodiment of the present invention.

The conveyance vehicle 1 according to the present invention includes an obstacle detector 20 in which the detection direction of obstacles changes, and a direction control device 40 controls the rotational speed of the driving wheels 5 and 6 to control the traveling route.
When traveling on the 0 curve section, the obstacle detection direction of the obstacle detector 20 is controlled to face the traveling direction of the guided vehicle by the control signal 41 from the direction control device 40, and the obstacle detection range 3 is used to control the obstacle detection direction of the guided vehicle. It covers the driving range, detects obstacles 8, and prevents collisions. As a result, objects 9 that do not interfere with transportation are not detected as obstacles, and objects can be efficiently arranged near the conveyance path.

〔Effect of the invention〕

As explained above, the present invention provides an automatic guided vehicle in which the direction of travel is controlled by controlling the rotational speed of two drive wheels, by changing the direction of the obstacle detector in accordance with the direction of travel of the guided vehicle. When traveling on a curved travel route, obstacles that could not be detected by conventional obstacle detectors fixed to the guided vehicle can be detected, which has the effect of preventing collisions. ! 0. In addition, it is possible to prevent objects that are not in the way from being mistaken as obstacles, and it is possible to efficiently arrange objects near the conveyance path.

[Brief explanation of drawings]

FIG. 1 is a block diagram of an automatic guided vehicle according to the present invention, and FIG. 2 is a block diagram of a conventional automatic guided vehicle. 1... Automatic guided vehicle 2... Obstacle detector 3.
... Obstacle detection range 4 ... Obstacle 5.6 ... Drive wheel 7 ... Driving route 8 ... Obstacle
9...Object 20...Obstacle detector 40
... Direction control device 41 ... Control signal

Claims (1)

[Claims] (1) In a guided vehicle whose traveling direction is controlled by controlling the rotational speed of two drive wheels, it is equipped with an obstacle detector that changes the detection direction of obstacles according to the traveling direction of the guided vehicle. Characteristic transport vehicle.