JPS59202515A - Method and device for guidance of unmanned truck - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method and device for guiding an unmanned trolley by automatically controlling the direction when the unmanned trolley moves along a guidance zone if the unmanned trolley deviates from its direction. .

An unmanned trolley is a trolley that has a power source on it and is able to run automatically.Currently, such devices that are able to run unmanned are used in peripheral equipment of automatic warehouses and goods transport equipment in production lines. It is used in many conveyance equipment in automatic processing lines, etc., and its feature is that it does not have dedicated rails.The fact that it does not have dedicated rails means that it can run on general factory aisles, so it is not suitable for forklifts, etc. Advantages include being able to use a space shared with humans and being able to easily change the running route.

Conventionally, electromagnetic induction methods and optical guidance methods have been put into practical use as driving methods for unmanned trolleys.

As shown in Fig. 1, the electromagnetic induction method uses a pair of detectors d and d attached to a trolley C to detect the induced magnetic field generated by passing an electric current through an induction wire embedded in the floor of a moving vehicle a. By controlling the running direction so that the detection intensities are the same, the trolley is made to run along the guide line. That is, when a current is passed through the induction wire l) embedded in the running surface a, an induced magnetic field e is generated, and the system runs while detecting this induced magnetic field e with a pair of detectors d and d. If the centers of d and d shift in either direction from the guide line, there will be a difference in the intensity detected by detectors d and d, so by controlling the running direction of the trolley so that the difference becomes zero, This allows the trolley to run along the guide line.

In addition, in this electric vA induction method, when guiding the bogies to branch or merge along a complicated route, the current flowing through the induction wire is an alternating current with a different frequency for each route, and at the point where they intersect, the following There is a method of branching or merging the bogies by transmitting the frequency of the route to be traveled to the bogies from the ground. That is,
As shown in FIG. 2, when moving the cart C to point A, by giving a command to the cart C at the branch point f to run along the guide line b1 of frequency F1, the cart C moves to the guide line b+ In addition, when moving a bogie running on a guide line to point B at a branch point, the bogie is set to have a frequency of F2 at a branch point Q. If a command is given to run along the guide line, the trolley will branch to point B along the guide line b2. Methods of transmitting command signals to the bogies at each branch point include transmitting signals from the ground using radio, light, or sound waves, or burying multiple coils in one place under the running road surface and excitation and de-energization of each coil. There is a method in which a device displays a certain pattern and the truck detects this pattern and issues a travel command. In addition, there is a method in which the frequencies of the guide wires are all the same, and the route is sequentially switched as the cart advances to guide the cart.

However, this guidance method has the following problems.

■ Since the guide wire needs to be buried under the running road surface,
The installation work is complicated, and it is difficult to relocate or change the route, discover and repair broken guide lines, etc.

■ Induction power supplies with different frequencies and electrical work are required, and the control equipment for the route the bogie travels is complex.

■ The guide wire breaks due to subsidence of the running surface a or sudden vibration.

■ Because the magnetic field is adversely affected by conductors near the guide wire, there are many restrictions on the structure of the road surface.

For example, on a reinforced concrete floor, etc., the reinforcing bars and guide wires need to be separated by at least a certain value, so it is necessary to make the distance between the running surface and the reinforcing bars larger than necessary.

■ Since there is a practical upper limit to the strength of the induced magnetic field, the allowable deviation limit between the vehicle body and the guiding wire is small.

Next, in the optical guidance method, a light reflector is installed on the floor of the running surface, the light emitted from the bogie is reflected by this light reflector, and the bogie is guided by detecting the relative position of the reflected light and the bogie. This is a method to do so.

That is, as shown in FIG. 3, light emitted from a light source provided on the side of the cart C is reflected by a reflector i on the running surface a, and the position of the light receiving part j that detects the reflected light is used to determine whether the cart C or This method detects the relative relationship between the reflectors i and controls the running direction of the truck according to the amount of deviation. k is a running wheel.

In this method, for example, as shown in Fig. 4, when the light emitted from the light source is detected at the left side of the light receiving part J, the cart C is shifted to the right side of the reflector i, so the amount of shift is A running direction correction command is given to the bogie C in accordance with this, and the trajectory is corrected so that the bogie C moves to the left side.

As another optical method, there is a method in which the amount of reflection from a reflector is detected by a pair of light receiving sections, and the position is controlled so that the opposite Ill is the same.

In the case where the trolley C is branched or merged along a complicated route 1 using such an optical guidance method, there are various methods in which dedicated light receiving sections are provided for left and right branching and for straight running, respectively. As a command signal to the bogie at each branch point, there are methods of transmitting signals from the ground using radio, light, sound waves, etc., or a method of installing another reflecting part near the guiding reflection and receiving the reflected light from the above-mentioned light. There is a method in which a travel command is issued by receiving light at a part and detecting the pattern.

However, these optical guidance systems have the following problems.

1) Reflection of light is likely to be inhibited by the adhesion of dust, etc. to the derivative.

2) Light reflection is likely to be inhibited due to damage to the dielectric surface.

3) If the running surface is uneven, it is difficult to install the reflector and the reflector is easily peeled off.

As mentioned above, both the conventional electromagnetic induction method and the optical induction method have many problems. The installation method is complicated.

Furthermore, in any of the conventional systems described above, if the cart is to be moved at right angles, it is necessary to install a sensor with the same structure as a normal guidance sensor on the side of the cart.

However, this arrangement requires that both sensors have the same functional accuracy, and is uneconomical if the accuracy of normal travel and right-angle movement does not need to be the same.

In view of these conventional problems, the present invention introduces a new method as a guidance method, diversifies functions and saves labor, and at the same time provides a dedicated sensor for moving in a direction perpendicular to the normal travel path. This was done to simplify orthogonal movement.

Embodiments of the present invention will be described below with reference to the drawings.

As shown in Figures 5 to 9, a magnetic guide band (1) extending in the direction in which the unmanned vehicle is to run is laid on the running surface (2), and a point (3) where it intersects at right angles. Install the magnetic code board (4) in front of the

On the other hand, the unmanned trolley (5) has a body part (6) and a loading platform part (7).
The vehicle body part (6) has running drive wheels (
8) so as to be driven independently in the forward and reverse directions by independent travel drive motors (9), and the vehicle body (
The loading platform (7) located on the top of the vehicle body (6)
It is supported so as to be able to rotate around a pivot axis α0 set at the center. The loading platform (7) has a set of casters with driven wheels 0]) attached to the front and rear ends, as well as a magnetic detection stager α.
■ and 0 → are installed, and the magnetic detection sensor α side α is installed on both left and right sides of the loading platform (7), and the magnetic detection sensor α side α is simpler than the other side, and the output level is the same as that of the magnetic detection sensor α■ 0 in the right angle direction. Magnetic detection sensors α→ and α→ for guidance exclusively for movement are arranged at intervals that are equal to or wider than the width of the induction band (1) extending in the perpendicular direction. Furthermore, in the present invention, the trolley (
5), the rotation of the travel drive motor (9) is controlled by the arithmetic device 0υ connected to the magnetic detection sensor α→α) and the value calculated by the arithmetic device α→. It is equipped with a travel drive control device OQ that issues commands to move, and other batteries, etc., and the arithmetic unit αG has the function of calculating the amount of deviation of the bogie (5) based on the signal from the magnetic detection sensor α■α corridor. Magnetic detection sensor 0 when passing code plate (4)
■A progera is installed to display a lucky sign when the truck (5) approaches the intersection (3) based on the signal from α.

The above-mentioned magnetic detection sensor α■α is composed of a large number of magnetic detection elements The magnetic detection sensors α■ (l are connected to the arithmetic unit α pupil, and It is displayed as an address in the arithmetic unit αυ, and when any magnetic detection element α'I) detects magnetism, the address corresponding to that element 0 is displayed, and at the same time, the display is The distance between the specified address and the reference position address is calculated. In addition, magnetic detection sensor 030 exclusively for right-angle movement
When → detects magnetism, this detection signal causes the arithmetic unit 0υ
A command is given to the traveling drive control device 0Q from the drive control device 0Q.

In addition, in the present invention, if the magnetic poles of the induction bands (1) and (1) are N poles, the magnetic detection sensor α■α book α4αΦ also has N poles and 1~, and the code plate (4) has N poles and S poles on the top surface. When the magnetic detection sensor 0■ on the tip side detects the magnetic field of the polarity of the code plate (4) by arranging the poles appropriately, the arithmetic unit α→ will indicate that there is a crossing point (3) in the pattern of the ON signal. , a control command capable of temporarily stopping the bogie (5) at the intersection point (3) can be given to the traveling drive motor (9) via the control device α0.

To explain the guidance as the trolley (5) approaches the intersection point (3), we will now refer to the state in which the center of the magnetic detection sensor α (6) coincides with the center of the guidance band (1). Among the magnetic detection elements α, the plurality of magnetic detection elements 0 in the center of the magnetic detection sensor 0 are inductive bands (1).
As long as the magnetism of is detected and this is displayed as the center address in the calculation device 0→, the amount of deviation is zero and divided by the calculation device α, so the central Yoshi induction of the detection sensor 0■ The cart (5) is run with the middle and L of the band (1) aligned.

For example, if the truck (5) shifts to the right side while traveling, a plurality of magnetic detection elements 07 located on the left side of the center (C) of the magnetic detection sensor α■ provided on the truck (5) as shown in FIG. ) will detect the magnetism of the induction band (1). Now, the distance from the center (C) of the magnetic detection sensor (12) to the n-1st magnetic detection element α force sensing magnetism is 11, and the distance to the 7th + 2nd magnetic detection element α force is also 11. 12, the center of the magnetic detection sensor α→ (
The distance from C) to the center line of the guide band (1) is L-
It is expressed as 20'', and this distance is the amount of deviation from the guidance zone (1).

The above-mentioned magnetic sensing elements αη from the first to the nth
is detecting magnetism, the arithmetic unit 0→displays the above n-1st to n2th addresses, and calculates the above L-b±b, and the magnetic detection sensor α
The actual shift amount to the right or left when the center (C) of 2 is used as a reference is determined.

Once the amount of deviation is determined, a control command that makes the amount of deviation zero is sent from the travel drive control device aQ to the travel drive motor (9).
), which controls the rotation of the left and right drive wheels (8) to control the direction of the truck. Signals are fed back from the travel drive motor (9) to the travel drive control device 0→ and the arithmetic unit (1→), and direction control is performed until the amount of deviation becomes zero.
The magnetic detection sensor of the trolley (5) (the center of one is the induction band (
The trolley (5) is automatically guided to match the center of 1).

Next, when the cart (5) changes direction by 90 degrees at the intersection point (3), the following method is used.

When the trolley (5) comes before the intersection (3), the magnetic detection sensor α→ at the front end passes over the code plate (4).

At this time, the magnetic detection sensor α■ detects the magnetic poles arranged on the upper surface of the code plate (4). The magnetic pattern on the top surface of the code plate (4) is predetermined, and this pattern is programmed to indicate the presence of the nearby intersection point (3), so the magnetic detection sensor α■ detects the code plate (
By detecting the magnetism of 4), the arithmetic unit αG displays that there is an intersection point (3), and the travel drive motor (9)
A command is given to stop at a stop command point (not shown) provided at an intersection point. As a result, when the cart (5) stops after passing the coat plate (4), the stopping position will be at the intersection point (
3).

When the truck (5) approaches the intersection (3) and stops, the loading platform (7) is temporarily fixed by a fixing device (not shown), and then the driving wheels (8) are driven to rotate in opposite directions. As a result, the vehicle body section (6) is rotated under the loading platform section (7) around the pivot axis (10) 3. As shown in FIG. 5, the vehicle body section (6) is rotated by 90 degrees. When the traveling drive wheels (8) are moved parallel to the guide band (1) in the perpendicular direction as shown by the two-dot chain line, each traveling drive motor (
9) are driven in the same direction at the same speed, and the travel drive wheels (8) are rotated in the same direction to travel in the X direction or Y direction.

At this time, the magnetic detection sensors α and α■ are located on the loading platform (7).
Therefore, in a method in which the loading platform (7) is fixed and only the vehicle body (6) is rotated 90 degrees, the guide band (1)
It is not possible to guide the vehicle when traveling at right angles to the vehicle.

However, in the present invention, since the orthogonal movement sensor 01α→ is separately provided on the cart (5), when the cart (5) runs along the guide zone (1) and moves in the orthogonal direction,
The separately provided sensor 0304 ensures clear guidance to the guidance zone (1).

In the above, if the function of the magnetic detection sensor for guidance for normal driving is not required for guidance in the right angle direction,
As shown in Fig. 10, magnetic detection sensors α and α9) are installed on the loading platform (7) of the cart (5), and the sensed magnetic force is converted into voltage. (1) Find the amount of deviation from the center and send the value to the traveling drive control device α9, the center of the sensor (19) α9),
That is, it is possible to control the guide point of the truck so that it reaches the center of the guide zone (1).

In Fig. 5, the right-angle movement sensors 03α→ are installed on the sides of the cart (5), but a pair of sensors are attached only to the center of the cart (5) for guidance. Good too.

As described above, according to the present invention, in addition to the magnetic detection sensor for guidance during normal running, the magnetic detection sensor for guidance during right-angle movement is separately attached to the trolley, and Since it can be guided in the right angle direction, the following excellent effects can be achieved.

(i) Since the sensor for right-angle movement uses something as simple as the magnetic detection sensor for guidance during normal driving, the structure of the sensor for right-angle movement can be simplified.

(11) By setting the deviation amount of the guide band to the same voltage level, the guidance control device for normal running can be used.

(iii) The intersection of the guide bands can be easily displayed and the guide can be easily switched to the right angle direction at the intersection.
) Since the guide strip only needs to be laid on the running surface, installation and relocation of the guide strip is easy. () The guide strip is not affected by the magnetic material that exists under the installation surface.

(vi) Even if the surface of the induction band is damaged, it will not adversely affect the induction as long as magnetism is present.

[Brief explanation of the drawing]

Figures 1 to 4 are schematic diagrams of the conventional system, Figure 5 is a plan view of the device of the present invention, Figure 6 is a side view of Figure 5, and Figure 7 shows the relationship between the magnetic detection sensor and the induction band. 8 is a front view showing a state in which the magnetic detection sensor is shifted, FIG. 9 is a block diagram of the device of the present invention, FIG. 10 is an explanatory diagram showing another example of the present invention, and FIG. 11 10 is a diagram showing a detection state of the amount of deviation in the case of FIG. 10. FIG. (1) (1)...Induction zone, (3)...Cross point, (4)
... code plate, (5) ... bogie, (6) ... car body, (7) ... loading platform, (8) ... traveling drive wheel, (
10... Rotating axis, α force 06α304... Magnetic detection sensor, α force... Arithmetic device, 0Q... Traveling drive control device, α force... Magnetic detection element. (g) castle castle

Claims (1)

[Scope of Claims] 1) In a method for guiding an unmanned trolley in which a bogie runs along a guide zone, the bogie is guided to run along the guide zone while detecting the magnetism of the magnetic guide zone, and the above-mentioned guidance is performed. A method for guiding an unmanned trolley, characterized in that in another guidance zone perpendicular to the belt, a separately prepared sensor dedicated to right-angle movement is used to guide the trolley so that there is no deviation in direction. 2) A magnetic detection sensor for straight movement, which is composed of a large number of magnetic detection elements, and a sensor for perpendicular movement, which is different from the sensor, are attached to the cart, and the sensor detects the deviation of the cart by receiving the signal from the magnetic detection sensor. The bogie is equipped with a calculation device that calculates the amount and issues commands to eliminate the deviation of the bogie, and a control device that controls the drive section of the bogie based on the instructions from the calculation device, and a magnetic guide strip is perpendicular to the running road surface. A guidance device for an unmanned trolley, characterized in that it is installed by