JPS6370308A - Guiding equipment for moving car - Google Patents

Abstract

PURPOSE:To simultaneously read out plural marks without putting a specific mark or the like indicating a reading start position by indicating a control mark as the existence of mark chips positioned on both ends out of plural mark chips. CONSTITUTION:A baking plate 2 on which control marks (m) are arrayed like a string are arranged along the advancing direction of a moving car A, plural mark chips m1-m4 to be displayed are fitted to each mark and control information for guiding the moving car is displayed based on the existence and combination of the mark chips m1-m4. Simultaneously with the reading based on a mark sensor 8, control information for the mark chips m1-m4 is read out by a mark reading control means 100. The information read out from the sensor 8 and the means 100 is supplied to a control means 9 and the moving car A is guided to a prescribed position by the control means 9. When mark chips positioned on both ends out of the mark chips m1-m4 are read out by the sensor 8, the mark (m) is read out by the means 100, so that the reading position can be accurately read out without an error.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a plurality of vehicles arranged in a row along the traveling direction of a moving vehicle, and each capable of displaying a plurality of types of information. A control mark is provided that displays control information for guiding a moving vehicle based on the presence or absence of the plurality of mark pieces and a combination of the displayed information, and a mark sensor that reads the control mark is configured to detect the presence or absence of the plurality of mark pieces and the combination of the displayed information. This invention relates to guidance equipment for a moving vehicle that is provided on the moving vehicle side so that display information can be read simultaneously.

[Conventional technology]

The above-mentioned type of guidance equipment for moving vehicles is used, for example, at intersections where traveling routes diverge or merge, in order to automatically drive vehicles transporting various goods along predetermined travel routes in factories, warehouses, etc. Control marks for instructing various driving control information such as position and stop position are provided so as to be read by a mark sensor on the moving vehicle side.

Incidentally, as a means for forming the mark piece, a permanent magnet is used to form the mark piece, and its magnetic pole (S or N) is
The magnetic type is configured to display information on the parts that make up the control mark depending on the arrangement and the presence or absence of magnets, and the part that makes up the control mark depending on the arrangement and presence of mark pieces each colored in a different color. An optical system or the like configured to display information can be used.

By the way, since a plurality of mark pieces are arranged in a row along the traveling direction of the moving vehicle, in order to read the plural mark pieces at the same time while the moving vehicle is moving,
In order to avoid erroneously reading the positions of the mark pieces located at the front and back in the direction of travel of the moving vehicle, the mark sensor on the moving vehicle side was configured to be able to read multiple mark pieces at the same time. It is necessary to combine the display information of the plurality of mark pieces to determine the control information.

Therefore, conventionally, in addition to the plurality of mark pieces constituting the control mark, a trigger mark piece is provided that displays specific information indicating the reading start position, and a dedicated mark for reading this trigger mark piece is provided. A sensor was installed (see Japanese Patent Application No. 61-133229). [5 points to be solved by the invention] However, in the above conventional configuration, there is a trigger mark that displays specific information indicating the start of reading a plurality of mark pieces, and a mark sensor dedicated to reading the trigger mark. This has the disadvantage of making the equipment configuration complicated and expensive.

The present invention has been made in view of the above circumstances, and its purpose is to read multiple mark pieces simultaneously without using a trigger mark piece or a dedicated mark sensor. The purpose is to make them readable at the same time.

[Means for solving problems]

A characteristic configuration of the moving vehicle guidance equipment according to the present invention is that the control mark is formed such that mark pieces located at both ends of the plurality of mark pieces are present, and the mark sensor is configured to: The apparatus is provided with a mark reading control means that starts reading the control mark when the mark pieces located at both ends are read, and its functions and effects are as follows.

[For production]

That is, a plurality of mark pieces are arranged in a row so that a mark piece is always located at both ends, and as the mark sensor detects the mark pieces located at both ends, the plurality of mark pieces By starting to read the control mark made up of mark pieces, there is no need to provide a special mark to read multiple mark pieces at the same time.
A plurality of mark pieces arranged in a row can be read simultaneously without erroneously positioning them.

〔Effect of the invention〕

Therefore, a control mark made up of a plurality of mark pieces can be read without any special mark indicating the reading start position, while ensuring that the reading position is correct.
I was able to make the target b"i read it.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIG.
A) is attached to the traveling road surface and installed along the traveling route with the intersection (CR) to form a line for guiding moving vehicles, and to set up the loading and unloading station (ST) for traveling. It is located at the sideways portion of the route.

In addition, a branching start point or a merging start point at each intersection (CR), a deceleration start point for decelerating the moving vehicle (A) at a point on the near side of the merging at the intersection (CR), a point on the near side of the station (ST), etc. , and the station (S
A control system for instructing the moving vehicle (A) various traveling control information such as a stop position for automatically stopping the moving vehicle (A) at T) as a combination of magnetic pole arrangements of a plurality of permanent magnets. Place the It mark (m) on the induction band (L).
It is installed on the road surface at the sideways portion of the road.

Further, the mobile vehicle (A) is informed of the branching/merging direction at the intersection (CR) and the next station (ST).
), etc., from the central control unit (outlet), the ground side communication equipment (1a) is connected to each station (
ST).

To explain the induction band (L), resin mixed with a magnetic material is formed into a thin strip shape, and the front side is magnetized so that the N pole is the N pole and the back side is the S pole, and the back side is magnetized. It is coated with adhesive.

To explain the structure of the control mark (m), as shown in FIGS. 1 and 2, it is a mark formed into a thin strip of resin mixed with a magnetic material in the same manner as the induction band (L). Using four pieces of magnet pieces (ml) to (m4), check the presence or absence of magnet pieces (ml) to (m,) at the set position and the magnetic pole (S pole or N pole) formed on the front side. The contents of the information to be displayed are expressed in combination with the following.

In other words, the magnet pieces (m1) to (m4) are formed so as to be able to display two different types of information by having different magnetic poles (S pole or N pole) formed on their front sides, and each magnet piece Three types of information can be displayed depending on the presence or absence of magnetic poles and magnet pieces (m1) to (m4) at set positions (m1) to (m4).

In addition, the four magnet pieces (ml) to (m4) are attached in advance to one base plate (2) so that they are lined up in a row at a predetermined interval, and each magnet piece is (ml)～(
By filling the space between m4) with epoxy resin, etc.
The entire surface is formed flat, and these magnet pieces (m1)
When the moving vehicle (A) passes over ~(m4), it may damage the magnet pieces (m1)~(m4) or damage the magnet pieces (m1).
This is to prevent any steps or the like from occurring between .

Then, the one base plate (2) is placed on the four (n stone pieces (m1) to (m4)) placed on the moving vehicle (
One control mark (m) is formed by pasting the guide strip (L) on the road surface on the right side of the guide strip (L) so that the guide strips are lined up in a line along the traveling direction of A).

However, among the four magnet pieces (m1) to (m4) arranged in a row on the single base plate (2), the first magnets are located at both ends with respect to the vehicle traveling direction. piece (m
, ) and the fourth magnet piece (lI14) may have different magnetic pole arrangements, but they must be provided, and one of the four E9 stone pieces (m1) to (m, ) A first magnet piece (mI) and a fourth magnet piece (mI) located at both ends
m4) Using mark pieces, that is, magnet pieces, which display a small amount of information by themselves depending on the magnetic pole arrangement and the presence or absence of the two magnetic pieces (m=) and (ms) located inside the respective magnetic poles. However, it is possible to display multiple types of control information.

To explain the configuration of the moving vehicle (A), as shown in FIGS. 3 and 4, a pair of left and right idle wheels (3) are provided on the rear side of the vehicle body, and a driving motor (4) is provided with a pair of left and right idle wheels (3). The steering motor (5) is configured to be able to be driven and stopped at will.
A steering wheel that also serves as a propulsion wheel is supported so that its direction can be changed freely (
6) is provided on the front side of the vehicle body.

Further, a magnetic sensing type steering control sensor (7) for detecting deviation in the width direction of the vehicle body with respect to the guide band (L) is provided at the lower front of the vehicle body with its detection surface facing downward. At the same time, a magnetically sensitive mark sensor (8) for detecting the control mark (m) is provided at the bottom of the vehicle body.

Further, a vehicle body side communication device (1b) for the ground side communication device (1a) is provided on the side of the vehicle body facing the station (ST), and the steering control sensor (7) and mark sensor (8) are provided on the side of the vehicle body facing the station (ST). ) and the detection information from the communication device (
A control device (9) is provided which discriminates the information instructed via the mobile vehicle (A) and controls the traveling of the mobile vehicle (A). In FIG. 3, (10) is a drive device for the traveling motor (4) and the steering motor (5).

To explain the structure of the mark sensor (8), as mentioned above, the control mark (m) is displayed by the combination of the arrangement positions of the plurality of magnet pieces (m1) to (m4) and their magnetic poles. A plurality of magnet pieces (ml) to (m
4) Magnet pieces (m, ), (m4) located at both ends of
), these multiple magnet pieces (m1)
Since the magnetic pole arrangement of ~(m,) and its arrangement position will be determined, the above-mentioned multiple 121. piece of magnet (II+1)
~ (m4) A plurality of proximity sensors (St) ~ (G4) that operate simultaneously and can determine the sensing magnetic pole and the presence/absence of the magnetic pole are mounted on the single base plate (m4) at positions corresponding to the respective arrangement positions. 2) Magnet piece (mυ~(
m4) are installed so that they are lined up in a line in the longitudinal direction of the vehicle body at intervals corresponding to the interval.

To explain the proximity sensors (Sl) to (G4), as shown in FIG. A pair of S-pole magnetic sensors (S and L) are provided.

However, the proximity sensors (S+) located at both ends.

(G4) is the remagnetic sensor (SN) that constitutes them.

In order to output a signal (P) to start reading the control mark (m) when one of the proximity sensors (St ), (G4.), the remagnetic sensor (S
ol), (ss) A pair of OR gates (G+), (G+) that calculate the logical sum of their respective output signals, and a logical product of the outputs of the pair of OR gates (G+), (c+). An AND gate (Gz) is provided, so
Proximity sensor (S,) as the mark sensor (8) ~
(G4) is a plurality of mark pieces (
Mark pieces (m
The mark reading control means (100) is configured to start reading the control mark Cm) upon detecting υ, (m=).

That is, when the moving vehicle (8) approaches the control mark (m), each of the plurality of proximity sensors (S,) to (G4) constituting the mark sensor (8) activates the corresponding plurality of proximity sensors (S,) to (G4). As the magnet pieces (ml) to (m4) are positioned directly above each other, the plurality of proximity sensors (S, ) to (G4
), two proximity sensors (Sl
), (G4) are the two magnet pieces (m
, ), and (m4) at the same time. and,
Two proximity sensors (Sl) located at both front and rear ends (G4
．． ) simultaneously senses the magnet pieces (m, ), '(m4), a reading start signal (
P) is output, and the control device (9) is controlled to start reading and determining the control mark (m) as the reading start signal (P) is input. That's what I do.

Therefore, the control mark (m) made up of the plurality of magnet pieces (ffl1) to (m4) can be read accurately without making any mistakes even without providing a mark for starting reading. It is possible to do so.

To explain the configuration of the steering control sensor (7), four N-pole magnetic sensors (G9) that operate by sensing the Ni magnetism are arranged at predetermined intervals in the vehicle width direction. At the same time, in a state where the mobile vehicle (A) is along the guide band (L) within a tolerance, the two north pole magnetic sensors (SN) located inside the guide band (L) Two N located above the inner side of both edges and located on the outer side
The polar magnetic sensor (5N) is connected to both am
4'fl.

It is arranged so that it is located on the outside and above.

That is, in a state where the moving vehicle (A) is along the width direction of the guide band (L) within a tolerance, the four N-pole magnetic sensors constituting the steering control sensor (7) (
The two sensors located on the inside of SN) are activated to sense the magnetism of the induction band (L), and the two sensors located on the outside are both maintained in an inactive state. Thus, the steering operation is performed by controlling the operation of the steering motor (5).

Then, the moving vehicle ( 8) automatically diverge and merge along the designated travel route at the intersection (CR), and automatically travel between the stations (ST) while decelerating and stopping at predetermined points; Each loading operation will be performed accurately.

Incidentally, among the plurality of magnet pieces (m1) to (m4), S
Drill a hole to identify the magnetic pole only for those formed on the pole, or
The pole and the south pole may be colored in different colors so that the magnetic poles formed on the surface side of the plurality of magnet pieces (ml) to (m4) can be easily distinguished visually.

[Another example]

In the above embodiment, the mark pieces (m1) to (m4) are formed using permanent magnets, and the magnetic poles of the mark pieces (m1) to (m4) are made different so that two different types of information can be displayed. In the above example, the mark pieces (m1) to (m4) can be configured to display different information using different display colors. form, and
The mark sensor (8) may be configured with a color sensor that identifies colors, and the mark pieces (ml) to (m4)
, and the specific configuration of the mark sensor (8) that reads it can be changed in various ways. In addition, mark reading control means (
100), the mark pieces (m1) to (m,
) and the configuration of the mark sensor (8) that reads it. By the way, when the mark sensor <8) is configured with a color sensor, it is configured as a color image sensor that can identify the color of imaged information using a color video camera, etc., and multiple mark pieces (ml) ~
(m4) may be configured to be readable at the same time.

Further, in the above embodiment, four mark pieces (rn1) to (m
4) are arranged in a line along the vehicle traveling direction to form one control mark (m). A plurality of mark pieces may also be arranged in a plurality of rows in the width direction of the vehicle body to form a plurality of types of control marks (m) that can be displayed, and the control marks (m) are formed. The number and arrangement of mark pieces (m1) to (m4) can be changed in various ways depending on the type of control information to be displayed.

Further, in the above embodiment, the vehicle guiding line is formed using a magnetic guiding band (L), and the means for automatically driving the traveling vehicle along the guiding line is constructed of a magnetic induction type. As shown in the example above, for example, a moving vehicle can be made to travel automatically by installing light-reflecting tape or four bands colored in a specific color, and by receiving the reflected light from the light-reflecting tape and identifying the detected color. The specific configuration of each part for making the mobile vehicle run automatically, such as an optically guided configuration, may be changed in various ways depending on the configuration of the mobile vehicle to which the present invention is applied. It is not limited to only.

[Brief explanation of the drawing]

The drawings show an embodiment of the guidance equipment for moving vehicles according to the present invention,
Fig. 1 is a block diagram showing the structure of the mark reading control means, Fig. 2 is a plan view showing the structure of the control mark, Fig. 3 is a block diagram showing the schematic structure of the control system, and Fig. 4 is a block diagram showing the structure of the control system. FIG. 3 is a schematic plan view showing the layout. (A)...Moving vehicle, (m1) to (m4)...
... Mark piece, (m) ... Control mark, (
8)...Mark sensor, (100)...
- Mark reading control means.

Claims (1)

[Claims] [1] A plurality of mark pieces (m_1) arranged in a row along the traveling direction of the moving vehicle (A), and each of which can display a plurality of types of information. A control mark (m) is provided that displays control information for guiding the moving vehicle based on the presence or absence of ~(m_4) and the combination of the displayed information, and a mark sensor (8) that reads the control mark (m) is provided. A guidance facility for a moving vehicle provided on the moving vehicle side so that the presence or absence of the plurality of mark pieces (m_1) to (m_4) and display information thereof can be read simultaneously, the control mark (m_4) being provided on the moving vehicle side.
m), the plurality of mark pieces (m_1) to (m_4)
Mark pieces (m_1) (m_2) located at both ends of
The mark sensor (8) is formed so that the mark pieces (m_1), (
m_4), the control mark (m)
Mark reading control means (10
0) Guidance equipment for moving vehicles. [2] The mark pieces (m_1) to (m_4) are formed so as to be able to display two different types of information by the magnetic poles of permanent magnets, and the mark sensor (8) detects the magnetic poles of the sensed magnet and the presence or absence of magnetism. The guidance equipment for a moving vehicle according to claim 1, which is constituted by a magnetic sensor capable of freely detecting. [3] The mark pieces (m_1) to (m_4) are formed to be able to display different information depending on different display colors, and the mark sensor (8) is constituted by a color sensor that identifies colors. The guiding equipment for a moving vehicle according to claim [1].