JPS59191617A - Controlling method of automatic travelling truck - Google Patents

Abstract

PURPOSE:To avoid the detection mistake of a point marker owing to the soil of a line and also to attain the steering control even when a point marker is detected, by using a tape having a higher reflection factor than a white tape serving as the line for the point marker. CONSTITUTION:A point marker 21 having a higher refrection factor than a white tape 10 is provided to said tape 10. Comparators 22 and 23 to which the reference value E is set are added to discriminate the tape 10 from the marker 21. Then it is decided that an automatic travelling truck has passed the marker 21 from the change of outputs of both comparators 22 and 23. The steering control is also carried out even when a detector 7 passes the marker 21 since the output levels of comparators 13 and 14 have no change. As a result, it is possible to avoid the detection mistake of the marker 21 due to the soil of a line. Furthermore the steering control is possible even when the marker 21 is detected.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a method for controlling a self-propelled transport vehicle that detects a route formed on a floor surface and travels along the route. be.

Conventional configurations and their problems In recent years, self-propelled transport vehicles have been attracting a lot of attention as one of the systems used to streamline logistics.

A conventional method of controlling a self-propelled transport vehicle will be described below.

Figure 1 is a side view of the self-propelled carrier, and Figure 2 is a plan view of the same. In the figure, 1 is the main body of the self-propelled carrier, 2 is the driving wheel, and 3 is the driven wheel. is self-propelled by the drive motor 4 of the drive wheels 2. A steering device 6 detects the white line tape 1o with a detector 7, controls the steering motor 6 with a control circuit 8, and automatically steers the vehicle so as to trace the white line tape 10.

Figure 3 is a diagram of the conventional route, where the white tape is 80 to 1°.
A black tape 11 with a length of 100 mm is provided, and this black tape 11 is used as a point marker.

FIG. 4 shows a conventional route detection circuit. When the detector 7 is on the white tape 10, the comparator 13゜140 output level (D is high level, the black tape point marker 1
The variable resistors 19 and 20 are adjusted so that when the voltage is above 1, the level is Low.

Self-propelled transportation with the route detection circuit as described above 34. −
2 The car is moving along the route, and the detector 7 detects the white tape 1o.
When the black tape point marker 11 is reached, the output level of the comparator 13.
becomes. Advancing further, the detector 7 is exposed to the white tape 10.
is detected, the output levels C and D of the comparators 13 and 14 become Hiqh again, and the self-propelled transport vehicle determines that it has passed the point marker.

However, in the above-mentioned conventional configuration, even when the white tape 10 is soiled and the detector detects the soiled portion 12, the comparator 13 detects the soiled portion 12 in the same manner as the black tape point marker 11.
Since the output level C1D of ', 14 is low, there is a problem of point marker detection errors. The steering device 5 is controlled when the detector 7 is detecting the white tape 10, and the steering device 5 is not controlled when the detector 7 is passing the black tape point marker 11. Therefore, there was a constraint that black tape point markers 11 had to be provided on straight sections of the route.

Purpose of the Invention The present invention solves the above-mentioned conventional problems and is disclosed in Japanese Unexamined Patent Publication No. 5
9-191617 (2) It is possible to prevent malfunctions of self-propelled transport vehicles due to dirt on the route,
An object of the present invention is to provide a self-propelled transport vehicle that can perform steering control even when a point marker is detected.

Structure of the Invention In order to achieve the above object, the present invention includes a white tape detector and a tape detector with a higher reflectance than the white tape.
This system is configured to control a tape with high reflectivity provided on a line made of white tape as a point marker.

DESCRIPTION OF THE EMBODIMENT FIG. 5 is a diagram of a route in an embodiment of the present invention, in which aluminum tape point markers 21 having a length of 80 to 100 mm are attached to a white tape 1o.

FIG. 6 is an output characteristic diagram of the detector 7, where a represents the output level of the detector 7 on the black tape marker 11, C represents the output level on the old aluminum tape point marker 21 on the white tape 1o, and . b represents the reference value B of the comparators 13 and 14, and d represents the reference value E of the other comparators 22 and 23.

52-:・ FIG. 7 shows a route detection circuit in an embodiment of the present invention. That is, in this example, comparators 22 and 23 are added, and the output of the detector 7 is compared with the reference value E set by the variable resistor 24.

As shown in FIG. 6, the output level A of the detector 7 is
It can be seen that the output level is higher when it is on the aluminum tape point marker 21 than when it is on the white tape 10. Therefore, in order to distinguish between the white tape 10 and the aluminum tape point marker 21, comparators 22 and 23 whose reference value is set to d are added to the conventional route detection circuit shown in FIG. 4 to detect the route as shown in FIG. 7. Detect the route using the circuit.

When the self-propelled transport vehicle moves forward while tracing the white tape 10 of the route shown in FIG. 6, the detector 7 approaches the aluminum tape point marker 21 from the white tape 10, and the route detection circuit shown in FIG. 7 is compared. Output level F of devices 22 and 23
, G changes from Low to High, the detector 7 detects 1 degree of white tape as it moves forward, and the comparator 22.2
3's output level 15G becomes Low again, and it is determined that the self-propelled transport vehicle has passed the point marker 21.

Furthermore, even when the detector 7 passes the aluminum tape point marker 21, the output level of the comparators 13 and 14 remains High, and the steering device 6 operates in the same way as when the detector 7 is tracing the white tape 10. control is performed.

As described above, according to this embodiment, the point markers for the routes of self-propelled transport vehicles are made of aluminum tape, which has a higher light reflectance than the white tape 10, making it possible to distinguish them from dirt on the routes. Therefore, the problem of point marker detection errors can be solved. Furthermore, even when the detector 7 passes the point marker, the comparator 13 for steering the detection circuit is connected.
The output level of 14 is the same as when the detector 7 is tracing the white tape, and the steering device 5 is controlled even when the detector 7 is passing the point marker. Needless to say, point markers can be provided at curved places, and have the advantage that point markers can be provided even at the throat of route 7, --.

Effects of the Invention The present invention provides a point marker on the route of a self-propelled transport vehicle, which has a higher light reflectance than the route, so that it can be distinguished from dirt on a single route, and further, when the self-propelled transport vehicle passes the point marker. Since the steering control can be performed even when the vehicle is moving, it is possible to realize an excellent control method for a self-propelled transport vehicle, which has the effect of allowing point markers to be placed anywhere along the route.

[Brief explanation of the drawing]

Fig. 1 is a side view of the self-propelled transport vehicle, Fig. 2 is a plan view of the self-propelled transport vehicle, Fig. 3 is a conventional route map, and Fig. 4 is a conventional route detection circuit for the self-propelled transport vehicle. 5 is a route map in an embodiment of the present invention, FIG. 6 is a characteristic diagram of a detector, and FIG. 7 is a block diagram of a route detection circuit in an embodiment of the present invention. 10...Route, 21...Point marker, 22゜23...Comparator. Name of agent: Patent attorney Toshio Nakao and one other person Japanese Patent Publication No. 1983-191617 (3) Figure 1 Figure 2 Figure 3! ? Figure 4 Figure 5

Claims (1)

[Claims] The vehicle is placed on the floor and is configured to run along this route while detecting a route made of white line tape that has a different reflectance from the floor surface, and has a tape that has a higher reflectance than the route made of the white line tape. A method for controlling a self-propelled transport vehicle, characterized in that the white line tape is provided on a portion of the route, and the tape portion with a high reflectance is used as a point marker.