JPS6272012A - Automatic conveying vehicle - Google Patents

Abstract

PURPOSE:To run an automatic conveying vehicle smoothly in a preset route by providing a memory function and switching combinations of modes of two sensors during the run. CONSTITUTION:When sensors A and B detect a stop mark 5, the counted value of an address counter 8 is increased and a two-bit output indicating a mode is generated on output lines A and B of a memory 7 according to preprogrammed contents. A logic control part 11 sends a signal to a steering motor 12 according to the outputs of the two sensors and output of the memory 7 to perform run control. A timer 9 is provided so that the vehicle enters a normal run mode a specific time later after turning right or left in right or left turning mode. If data indicating a stop is generated by the memory 7, a motor for running is so controlled by increasing the number of data bits that the vehicle is stopped where the sensor part 10 detects the stop mark 5.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is applicable to automatic guided vehicles, more specifically, to transportation of parts and products in a factory, transportation of documents from desk to desk in an office, or transportation of documents in a restaurant. This invention relates to a photoelectric induction type simple automated guided vehicle that transports and supplies food.

[Conventional technology]

Conventionally, a pair of sensors consisting of a light emitter and a light intensity detector has been provided, and their ON (1) and OFF (0)
There were automatic guided vehicles that traveled on routes (reflective tape) based on signals. It is designed to prevent derailment by automatically correcting (steering) so that when both sensors are ON, the train will run straight, and when one of them is OFF, both will be ON. The transport vehicle can then be stopped by turning off both sensors through an artificial operation such as pasting non-reflective tape on the route.

[Problem that the invention seeks to solve]

By the way, when using this conventional automatic guided vehicle, for example, when driving on a branch road as shown in Fig. 5, you have to choose between turning right, turning left, or stopping. For example, if you try to move it to the left, the automatic correction effect will work and you will try to move it in the opposite direction, making it impossible to achieve your goal. Also, it is possible to lead to the other route by blocking one route with a stop mark, but in that case, the vehicle body shakes due to the sudden change in direction, causing the vehicle to drop the cargo or, in the case of liquids, has the disadvantage of spilling.

The present invention was made in order to eliminate such drawbacks of the conventional technology, and is equipped with a memory function, and by switching the combination of two sensor modes when driving, it is possible to drive a preset route. ,Also,
To provide an automatic guided vehicle that can select a running direction at a branch point and run smoothly, and is free from dropping or spilling loaded objects.

[Means for solving problems]

The automatic guided vehicle according to the present invention has a box-shaped vehicle body 1 on which a plate for placing cargo is fixed on the top, a front wheel 2 (usually one), a rear wheel 3, a ), a steering motor that tilts the front wheels 2 left and right through, for example, a plurality of gears, and a battery for operating these motors. Consists of a built-in memory mechanism. Sensors A and B are installed on the front of the vehicle body 1 with an interval approximately equal to the width of the route 4. Sensors A and B are
Usually, it consists of a light emitter using a light emitting diode and a light amount detector using a phototransistor.
The route is determined by the strength of the signals from ,B. That is, in FIG. 2, when sensors A and B are in the state A, that is, when both sensors A and B are on line 4, both are O.
N, and the front wheels continue to move straight. Next, the state of the mouth, that is, if sensor A deviates from line 4, sensor A
Only the side is turned off, and the steering motor operates to turn the front wheels to the right and return the vehicle to the track.

In the opposite position, the steering motor rotates in the opposite direction and the front wheels turn to the left. The second state is sensor A
, B is located on the black stop mark 5 pasted across the route 4. In this case, both sensors A and B are turned off, the traveling motor stops, and the conveyance vehicle stops there.

The above is the normal driving mode, that is, the mode in which both sensors are controlled to be in the same detection state, but in the present invention, a left turn mode, a right turn mode, and a passing mode are also used.

In the left turn mode, normal (straight) driving occurs when the left sensor A is off the line 4 and the right sensor B is on the line 4, as shown in Figure 3A, and in this case the steering motor does not operate. Then, when both sensors A and B are located outside Route 4, the steering motor is activated, and the front wheels are turned to the right, correcting the situation to A, that is, running on the left edge. Furthermore, in case C, where both sensors A and B are on route 4, and in case 2, where sensor B is outside route 4, the front wheels are turned to the left, and the situation is corrected to state A.

In right turn mode, the operation is completely opposite to left turn mode,
Drive on the right end of Route 4.

In the normal running mode, the vehicle stops on the stop marker 5, but in the passing mode, the vehicle passes without stopping there.

In the present invention, the traveling direction of the vehicle body is determined by programming a combination of these modes in advance. FIG. 4 is a block diagram of the control circuit.

[Action of the invention]

The operation of the present invention will be explained with reference to FIG.

The circuit block shown in FIG. 4 includes a program control section 6 that sets predetermined contents and corresponding addresses in a memory 7 and an address counter 8, a sensor part 10 consisting of at least two detection sections, and a vehicle body. A timer 9 for changing the control mode when a predetermined running state is reached, and a logic control section for controlling the steering motor 12 in response to values continuously output from the memory 7 and outputs from the timer 9 and the sensor part 10. 11 is included. Here, sensors A and B are stove mark 5
When detected, the count value of the address counter 8 is incremented, and an output indicating the mode consisting of 2 bits as shown in the table below is generated on the output lines A and B of the memory 7 according to the preprogrammed contents.

The logic control unit 11 sends signals to the steering motor 12 from the outputs of the two sensors and the output of the memory 7, and performs driving control.

The timer 9 is provided to return the vehicle to the normal driving mode after a predetermined period of time after making a right or left turn in the right turn mode or left turn mode. In this embodiment, data consisting of 2 bits is used, so the types of modes output from the memory 7 are 4f! as shown in the table above. Ill
However, it is also possible to set other modes by increasing the number of data bits. For example, when data indicating a stop is generated from the memory 7, a driving motor (not shown) can be controlled so as to stop the vehicle at the point where the sensor part 10 detects the stop mark 5.

In the example shown in FIG. 5, a method of detecting a stop mark 5 and turning left while driving in the normal driving mode in which at least one sensor detects reflected light will be described. 8
is incremented, and a signal indicating the left turn mode is given to the logic control section 11 from the memory 7. As a result, the steering is controlled in the left turn mode so that the vehicle body runs on the left end. Therefore, the vehicle will reliably travel on the left lane and turn left smoothly without shaking. After entering the left turn mode, the timer 9 starts operating, and when a predetermined period of time has elapsed, a signal is sent to the logic control section 11 to set the steering control to the normal driving mode. Note that the same applies to right turns. Generally speaking, the stove mark 5 is pasted 20 cm to 30 cm before the turning point, although it varies depending on the traveling speed, and in the passing mode, the vehicle continues traveling regardless of the detection of the stove mark 5. In addition, a jump mode is provided in which the value of the address counter 8 is preset according to jump data, and when the count value of the address counter 8 reaches a predetermined value, a jump address is generated from the memory 7 and the address counter 8 is preset. It is possible to operate repeatedly in the running mode.

〔Effect of the invention〕

Since the present invention is as described above, it is possible to set the traveling route of the conveyance vehicle in advance, including turning left and right, stopping, etc., and automatically run the vehicle according to the route, and also, without shaking when turning left or right. Since it runs smoothly, there is no risk of dropping or spilling the loaded items.

[Brief explanation of drawings]

FIG. 1 is a front view of the automatic vehicle transport according to the present invention, FIG. 2 is a diagram showing the normal running mode, FIG. 3 is a diagram showing the left end running mode, FIG. 4 is a block diagram of the control circuit, and FIG. The figure is a diagram showing a left turn method at a branch road. Explanation of symbols 1...-Vehicle body, 2--Front wheels, 3...-Rear wheels, 4-Route, 5-Stop mark Patent applicant Saitama Parts Industry Co., Ltd. Figure 5 Figure 2 Figure 3 Normal driving mode to

Claims (2)

[Claims] (1) An automatic guided vehicle that has at least two sensors and travels along a route of a predetermined width, and has a normal driving mode in which the two sensors are controlled so that they are in the same detection state; and a right/left turn mode in which the detection states of the sensors are controlled to be in different states, respectively, so that the automatic guided vehicle traveling in the normal driving mode is controlled by the right/left turn mode for a predetermined period of time when making a right or left turn. An automatic guided vehicle that is characterized by: (2) An address counter that increases the count value by detecting a stop mark provided on the route, a memory from which the content addressed by the address counter is read, and the detection outputs of the two sensors and the addressed content and a timer for maintaining the right/left turn mode for a predetermined period of time after detection of the stop mark when the addressed content is a right/left turn mode. An automatic guided vehicle according to claim 1.