JPS62222309A - Unattended carriage system - Google Patents

Abstract

PURPOSE:To improve work environments and to secure a sufficient safety by stopping an alarm tone when an unattended carriage is run normally and emitting the alarm tone when an obstacle is detected ahead of the carriage. CONSTITUTION:A unattended carriage 13 is provided with a running controller 1, a running motor 2, a decelerator 3, running wheels 4, etc., and its safety device consists of a rotation detector 5 of the running motor 2, a running detector 6, an obstacle detector 7, and an alarm device 8 which outputs an alarm tone signal to a speaker 9. This alarm device 8 outputs an alarm only when both of a running detection signal and an obstacle detection signal are generated. The running controller 1 reduces the rotation number of the running motor 2 to reduce the speed of the unattended carriage 13. Since the alarm tone is emitted and the speed is reduced only in case of danger, the noise is minimized.

Description

DETAILED DESCRIPTION OF THE INVENTION [Objective of the Invention (Field of Industrial Application) The present invention relates to an automated guided vehicle system, and particularly relates to an improvement of a security device for an automated guided vehicle.

(Prior Art) For example, there is an automatic guided vehicle that is used for transportation within a factory and runs unmanned on a track or a predetermined trackless running path.

Safety devices that notify surrounding people of the approach of such automated guided vehicles and prevent accidents include rotating lights (9 blinking lights) that are visually appealing and buzzers that are aurally appealing.

Alert devices such as chimes and melody alarms that repeat short songs are used. By the way, conventionally, this auditory warning device has been controlled to always sound while the automatic guided vehicle is running. Therefore, for people working near the travel route of the automatic guided vehicle, the alarm sound will be audible, which is unfavorable from a sanitary standpoint.Furthermore, if multiple automatic guided vehicles are traveling, the noise will become a problem for the work environment. there were.

(Problem to be solved by the invention) When using an alarm sound to notify people of the approach of a moving automatic guided vehicle, it is extremely annoying and noisy for people working in the vicinity, and it is also a psychological problem. be.

Therefore, an object of the present invention is to provide an automatic guided vehicle system that improves the working environment for people working around the travel route of such an automatic guided vehicle.

[Components of the invention (Means for solving problems) In order to achieve the above object, the present invention is configured as follows.

In other words, in an unmanned guided vehicle system that runs unmanned on a track or a predetermined trackless running path, there is an obstacle detection device that non-contact detects obstacles existing in the direction of travel, and an unmanned guided vehicle is in a running state. The present invention is constructed by providing a travel detection ffi device that detects the occurrence of a problem, an alarm device that generates an alarm sound in response to a detection signal from the obstacle detection device and a travel detection signal from the travel detection device.

(Function) In such a configuration, when the automatic guided vehicle starts traveling, it is detected by the traveling detection device and generates a traveling detection signal, and when an obstacle is discovered in front of the automatic guided vehicle, the obstacle detection device An obstacle detection signal is output. The alarm device issues an alarm only when these rain detection signals occur.

Therefore, only when driving and when danger approaches! ? It is possible to avoid a situation where an f-alarm sound is emitted and workers near the route of the automated guided vehicle are constantly bothered by the noise caused by the alarm sound, and safety can be ensured.

(Example) Hereinafter, an example of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the functional configuration of the present invention, and FIG. 2 is a diagram showing the characteristics of the obstacle detection attachment shown in FIG.

In FIG. 1, reference numeral 13 denotes an automatic guided vehicle, and the safety equipment R of this automatic guided vehicle 13 includes a travel control device I that controls the travel of the automatic guided vehicle 13, and a travel motor 2 that is rotationally driven by a command from the travel control device 1. ) A speed reducer 3 that transmits the rotation of this travel motor 2, a speed reducer 3 that transmits the rotation of this travel motor 2, and a travel motor 2 that is transmitted by the speed reducer 3.
A rotation detector 5 detects the rotation of the traveling wheel 4 that rotates in response to the rotational force of the vehicle and causes the unmanned transport 113 to travel, and the rotation of the traveling motor 2.
゜A travel detection device 6 detects whether the automatic guided vehicle 13 has stopped traveling based on the output signal IQ of the rotation detector 5, which is thrown forward in the direction of travel of the automatic guided vehicle 13 and uses light, sound waves, etc. to detect the previous issue in a non-contact manner. Obstacle detection signal I2 is detected by detecting an obstacle present in
When the AND logic (logical product) of the running detection signal 1 of the running detection device 6 and the output of the obstacle detection signal 12 of the obstacle detecting device 7 is established, an alarm sound is generated. It consists of an alarm device 8 that outputs a signal to a speaker 9. When the automatic guided vehicle 13 is stopped, the alarm device 8 does not sound because the regular motion detection signal 1 is off, and even when the automatic guided vehicle 13 is running and the running detection signal 1 is on, the obstacle detection signal 12 is off. If there is, the alarm device 8 is configured not to sound, and the travel control device is configured to receive the obstacle detection signal 12 and control the speed reduction of the travel motor 2.

In this device having such a configuration, the traveling motor 2 and the steering system (not shown) are controlled by commands from the traveling control device 1, and the automatic guided vehicle 13 travels along a designated route to a destination position.

The traveling of the unmanned transport rL13 is detected by the traveling detection device 6 based on the output of the rotation detector 5, and outputted as a traveling detection signal 11. On the other hand, the automatic guided vehicle 13 is provided with an obstacle detection device 7, which outputs an obstacle detection signal 12 when there is an obstacle in a predetermined range in front of the automatic guided vehicle 13 in the traveling direction.

When the rain detection signal 11.12 is present, the alarm device 8 is activated and the speaker 9 generates an alarm sound. The obstacle detection device 7 shows the speed V during normal driving. By keeping the obstacle detection area 14 up to L2, which is longer than the braking distance L1 from L2, when an obstacle is detected within this area 14, the obstacle detection signal 12 is turned on. As a result, the travel control device 1 reduces the rotation speed of the travel motor 2, reduces the speed of the automatic guided vehicle 13, and turns on the travel detection signal IO to satisfy the AND condition and activate the alarm device fj.
'Lll will sound, making it possible to generate a warning sound only when there is danger, and at the same time decelerate, minimizing noise and ensuring safety.

As described above, in the present invention, the alarm is sounded only when an obstacle is detected while the vehicle is running, and the vehicle is decelerated to maintain safety, and the alarm is not sounded during normal running. Therefore, the user does not have to worry about the alarm sound normally, and only when there is danger, the alarm sound can be emitted to notify the user.

FIG. 3 is a block diagram showing the functional configuration of a modification of the embodiment of the WCT diagram, and shows the alarm device in FIG. 1! ! A volume switching device ff1ls is added to 8, so that when only the running detection signal 11 is on, the alarm volume of the alarm device 8' is reduced to a low level, and when the running detection signal 11 is on, and the obstacle detection signal 12 When this is on, the volume switching device 15 is switched in response to the obstacle detection signal 12 to output a phoneme alarm sound that can call attention to the approach of the automatic guided vehicle 13.

In this way, in the modified example shown in Fig. 3, during normal travel, noise from people around the automatic guided vehicle travel route is generated.
The alarm is sounded with low-level phonemes, and when there is an obstacle or person in the obstacle detection area that poses a safety problem while driving, the volume is set so that the alarm is output at a level that can call for attention. By switching between the two, the problem of noise in everyday life can be solved.

FIG. 4 is a block diagram showing the functional configuration of another modification of the embodiment shown in FIG. 1, which will be described with reference to FIGS. 5 and 6. In addition to the embodiment shown in FIG. 1, the device having the configuration shown in FIG. ), a function to output an alarm is added, and detection target steel plates 16a, 16b, 16e, 16tl are installed at the ground entrance and exit of each alarm area, and the detection target steel plates 16a, 16b, 16e, 16tl are installed on the automatic guided vehicle Z3. Proximity switch 17'f to detectable position 0 of detection iron plates 168-16d! : An alarm output area detection circuit 18 is added which outputs an alarm output area detection signal 19 shown in FIG. 6 based on the detection signal of the proximity switch 17. Then, the running detection signal 11 of the running detection device 6 and the alarm output area detection signal 19 are ANDed, and this A
The alarm device 8 can also be activated when the ND logic is established. This makes it possible to output a warning sound when an obstacle is detected while driving, or when passing through an area where warning sound output is required while driving, reducing heavy noise and increasing safety. can be secured.

FIG. 7 shows a modification of the embodiment shown in FIG. 4, in which an alarm device 8' to which a volume switching device 15 is added is provided as the alarm device 8 in FIG. 4, and an obstacle detection signal 12 and an alarm output area detection The volume switching device 15 is controlled by the OR (logical sum) logical output of the signal 18, and as in the embodiment shown in FIG.
When the obstacle detection signal 12 or the alarm output area detection signal 18 that is output while passing through the alarm output area is on, the sound f#
This is a major factor.

In the embodiments of Fig. 4 and 7-1, reflective markers that reflect the original are installed in place of the detection target iron plates 16a to 16d installed on the ground, and the proximity switch on the unmanned conveyance east is replaced with an optical reflective sensor. A similar effect can be obtained by doing so. In addition, the driving route map is displayed in the driving control device 1.
In the automatic guided vehicle that is stored in the storage device of the automatic guided vehicle so that the current traveling position on the automatic guided vehicle can be grasped in the travel control device 1, there is a steel plate 16g to be detected on the ground.
16d and the proximity switch 17 on the automatic guided vehicle, the alarm output area detection signal 1 can be generated within the travel control device.
8 can be outputted to the alarm device 8', and the same effect as the embodiment shown in FIG. 4 or FIG. 7 can be obtained.

FIG. 8 shows a modification of FIG. 1, in which a tape recorder 23 with a plurality of songs is added to the configuration of FIG. 1, and the running detection signal 11 and obstacle detection signal 12 are inverted. The tape recorder 23 is controlled by the AND logical output of the output, and the alarm device 8 is controlled by the AND logical output of the travel detection signal 11 and the obstacle detection signal 12. As a result, when the obstacle detection signal 12 is off and the running detection signal II is on, when the detection signal 11 is turned on and the reproduction of the cheap record 23 is detected, the alarm device 8 is turned on and an alarm sound is generated. It is something.

With this configuration, the music while the automatic guided vehicle is running is free from the repetitive tone of the same short songs, and the music is broadcast with different songs, so it does not disturb the ears of those around you. In addition, the presence of the automatic guided vehicle can be notified. When a dangerous situation occurs, an alarm can be sounded to call attention to the situation.

The embodiment shown in FIG. 8 is not limited to a tape recorder, but can also be realized by other devices having a reproduction function, such as a compact disc player, a plurality of electronic music boxes, and the like.

In this way, with this device, the alarm system can be activated only when an obstacle is detected and when driving in an area where it is necessary to alert people to the approach of an automated guided vehicle. When this happens, either stop the sound or turn down the sound, or play multiple pieces of music in sequence during normal driving.
This system notifies people of the movement of an automatic guided vehicle in a way that does not burden the hearing of people around them, and outputs a warning sound only when an obstacle is detected. Therefore, as a result, the alarm sound does not unnecessarily burden the surrounding people, and safety and security can be ensured.

[Effects of the Invention] As explained in detail in 1 Sohi, according to the present invention, an automatic guided vehicle can stop the warning sound or output a low volume sound during normal driving, and alert when an obstacle is detected in front of the vehicle or by a safety warning. When driving or passing through a driving area that requires warning, you can now emit a warning sound or make the sound i' louder, or play music during normal driving to alert you to the approach of unmanned forces. This reduces the noise caused by monotonous chimes, melodies, and other alarm sounds around the automatic guided vehicle travel route, reduces the mental burden on nearby workers, and is highly effective in improving the work environment. It is possible to provide an automatic guided vehicle system having features such as being able to ensure sufficient safety.

[Brief explanation of drawings]

Figure 81 is a functional configuration block diagram of an embodiment of the present invention;
The figure is a diagram for explaining the detection area of the obstacle detection device, Figures 3, 4, and 8 are diagrams each showing a modification of the embodiment shown in Figure 1, and Figure 5 is Figure 3. FIG. 6 is a diagram for explaining the entire travel route warning output area in the embodiment, FIG. 6 is a timing chart of warning output area detection signals, and FIG. 7 is a diagram showing a modification of the embodiment in FIG. 4. 1... Travel control device, 5... Rotation detector, 6...
Traveling detection device, 7... Obstacle detection device, 8... Alarm device, 11... Traveling detection signal, 12... Obstacle detection signal, 15... Volume switching device, 16a-16d.
...Detected iron plate, 17...Proximity switch, 18...
Alarm output area detection circuit, 19...Alarm output area detection M
No. 23...Cheap Precog. Figure 1 Figure 2 Figure 3 Figure jI Figure 6 Figure 7

Claims (5)

[Claims] (1) In an unmanned guided vehicle system that runs unmanned on a track or a predetermined trackless running path, there is an obstacle detection device that detects obstacles in the direction of travel without contact, and when the unmanned guided vehicle is running. An automatic guided vehicle system comprising: a travel detection device that detects a certain event; and an alarm device that generates an alarm sound in response to a detection signal from the obstacle detection device and a travel detection signal from the travel detection device. . (2) In claim 1, the alarm device is provided with a volume switching means, so that when only the running detection signal of the running detection device is present, the alarm sound is emitted at a low volume, and when the running detection signal and the obstacle detection signal are This automated guided vehicle system is characterized by switching control to emit a high-volume alarm sound when both are output. (3) In claim 1, a marker is installed in an area on the travel route where it is necessary to warn of the approach or passage of an automatic guided vehicle, and a sensor is provided on the automatic guided vehicle to detect this marker. An automatic guided vehicle system that causes an alarm device to generate an alarm sound when both a travel detection signal from a travel detection device and a detection signal from a sensor are output. (4) In claim 1, a storage device in which a plurality of different types of music are recorded is added, and during normal driving, the music recorded in the storage device is played back, and the driving detection signal and obstacle are detected. An automatic guided vehicle system characterized by emitting an alarm sound when object detection signals are output at the same time. (5) In claim 3, the warning device is provided with a volume switching device, and when the travel detection device outputs only the travel detection signal, the warning sound is emitted at a low volume, and when the travel detection signal and the obstacle detection signal are output, the warning sound is emitted at a low volume. An automatic guided vehicle system that generates an alarm sound at a high volume when output signals are output at the same time, or when a travel detection signal from a travel detection device and a detection signal from a sensor are output together.