JPS60239811A - Device for correcting travelling distance of unmanned carrier car at the time of abrasion of tire - Google Patents

Abstract

PURPOSE:To omit the changing work of a set value of a travelling distance and to prevent the generation of an accident due to the unexecution of the work by calculating a correcting distance signal and comparing said signal with a distance signal up to a destination to execute processing required up to the destination. CONSTITUTION:When an unmanned carrier car is started, the number n3 of pulses obtained during travelling before correction is detected by a pulse detecting sensor 9. If marks M1, M2 are detected by a mark detecting sensor 15, a CPU11 calculates the number n4 of sectional pulses obtained when the carrier car travels a correcting section D formed by both the marks M1, M2 and stores the calculated value in a RAM12. Then, the CPU 11 reads out the mumbers n2, n1 of sectional pulses obtained in a section D and between stations S1 and S2 by an unabrased tire 3 from the RAM12, calculates the number n5=n3Xn2X n4 of pulses obtained during the travelling after correction and compares n5 with n1. When both the values concide with each other, the CPU11 stops a driving motor 6 and executes the processing at the destination, and in case of inconsistency, travels the carrier car until coincidence.

Description

DETAILED DESCRIPTION OF THE INVENTION Object of the Invention (Field of Industrial Application) The present invention relates to a travel distance correction device for an automatic guided vehicle when tires are worn out.

(Prior Art) In general, an automated guided vehicle is guided to travel along an operating course consisting of a running road surface and a guide line laid on the road surface. When moving the automated guided vehicle to a destination, the number of pulses proportional to the distance to the preset destination is compared with the number of pulses proportional to the actual distance traveled, and when the set pulse and the detected pulse match, the automatic guided vehicle A method has been adopted to stop the running of the vehicle.

(Problem to be Solved by the Invention) However, in the above-mentioned automatic guided vehicle travel guidance method, when the tires of the drive wheels wear out, even if the detected pulse number matches the set pulse number, the actual traveling Due to the difference in distance,
There is a problem in that the automatic guided vehicle cannot be accurately stopped at the target station. For this reason, each time the tire wears and exceeds a certain limit, the set pulse number must be changed, but this operation is very troublesome, and instead of being a fool, it is continuously corrected in proportion to tire wear. It is impossible to do so.

The present invention addresses the problem of not being able to continuously correct tire wear in proportion to tire wear.

Structure of the Invention (Means for Solving the Problems) In order to solve the above-mentioned problems, the present invention includes a traveling distance detecting means provided on the automatic guided vehicle side and configured to detect the traveling distance, and a traveling distance detecting means on the road surface side. a correction section forming means disposed on the operation course; a correction section detecting means provided on the automatic guided vehicle side and for detecting the correction section forming means; A distance signal before correction (n3) output from the mileage detection means, a correction section signal output from the correction section detection means, and a section distance signal (n3) when traveling in the correction section with unworn tires.
2), and the distance signal (n4) when traveling in the correction section with tires with low wear are calculated and compared, n5=n8Xn2/n
4 Output the corrected distance signal (05)'ft expressed by the above formula, compare the corrected distance signal (n5) with the distance signal (nl) to the destination, and perform processing at the destination. (Operation) The present invention automatically corrects the actual number of detected pulses in proportion to tire wear, and accurately moves and stops the automated guided vehicle to its destination. This makes it possible to simplify the operation by eliminating the need to change the number of set pulses, which was conventionally required, and prevent accidents caused by forgetting to change the number of pulses.

(Embodiment) An embodiment embodying the present invention will be described below with reference to the drawings. As shown in FIG. The automatic guided vehicle 1 is guided to run along the LK. There are first and second stations s1. s2 is placed. Further, first and second marks M1. M2 is installed.

As shown in FIG. 2, a body frame 2 of the automatic guided vehicle 1 is provided with a driving wheel 3 and a steering wheel 4, and the driving wheel 3 is driven by a transmission 5 and a drive motor 6. There is. A gear-shaped slit plate 8 is fitted onto the rotating shaft 7 of the drive motor 6, and a pulse detection sensor 9 is provided so as to correspond to the teeth 8a of the slit ('i&8).

Then, the teeth 8a of the slit plate 8 are moved by the drive motor 6.
The number of pulses is detected as being proportional to the rotational speed of the automatic guided vehicle 1, that is, the actual traveling distance of the automatic guided vehicle 1. The automatic guided vehicle 1 also includes an interface 1g, a CPU (central processing unit) 11, and two memories 12, namely ROM (read-only memory) and RAM (read-write memory).
A microcomputer 13 configured by the following is installed. Signal beam from the pulse detection sensor 9
The data is input to the microcomputer 13 via a cable 14. Further, a mark detection sensor 15 for detecting the first and second marks Ml and M2 is provided on the lower surface of the vehicle body frame 2, and a signal from the sensor is transmitted via a lead wire 16 to a microcomputer 13.
I am trying to input it to .

Theoretically set number of pulses n1 required for the automatic guided vehicle 1 ft to travel from the first station S1 to the second station 82 (destination) when the tires 3a on the driving side of the ROMKH1 of the microcomputer 13 are not worn out.
is memorized. Similarly, the theoretical set number of pulses n 1 necessary to drive the automatic guided vehicle 1 from the second station S2 to the first station 81 (next destination)
1 is stored. Further, the number of section pulses 02 when traveling in the correction section with the unworn drive side tire 3a is stored in the ROM.

Next, the operation of the traveling distance correcting device for the automatic guided vehicle 1 constructed as described above when the tires are worn out will be explained with reference to FIG. 3.

Now, FIG. 1 shows a state in which the automatic guided vehicle 1 has stopped corresponding to the first station S1, and the drive-side tires 38 have worn out by a predetermined amount. In this state, when the drive motor 6 is started and the automatic guided vehicle 1 is started, the pulse detection sensor 9 detects the number n3 of pulses during traveling before correction. And mark detection sensor 15 mark Ml.

When M2 is sequentially detected, these detection signals are input to the microcomputer 13, and the CPU calculates the number of pulses n4 when traveling in the pulse correction section formed by both marks Ml and M2. , the number of pulses n
4 is stored in RAM.

By the way, the number of pulses n2 in the section when traveling in the correction section with unworn tires 3a and the correction section D(i
- Once the number n4 of pulses in the bus when traveling is determined, the number n5 of pulses during travel after correction is expressed by the following equation.

n 5 = n 3 X n 2 / n 4...
・・・・・・・・・−・−0・・ ■Therefore, based on the above calculation formula, the CPU of the pulse mini n5i microcomputer 13 during the running after correction calculates this pulse number 05 and the destination, that is, the second Comparing the theoretical number of pulses n1 up to station S2, both pulse numbers nl and n5
If they match, the drive motor 6 is stopped and processing is performed at the destination, and if the number of pulses nl and n5 do not match, the unmanned vehicle 1 is driven until the number of pulses n5 matches 01. let

After the processing at the destination is completed, the unmanned vehicle 1 is driven from the second station toward the next destination, that is, the first station, but in this case, marks Ml, M are placed on the road surface R.
Since there is no mark 2, mark detection is not performed, and the number n3 of pulses during running before correction is detected, and the number n3 of pulses, the number 04 of pulses in the correction section previously stored, and the number n2 of pulses in the section stored in the ROM. A correction pulse n5 is calculated, and n5 is compared with the theoretical number of pulses n (+) to reach the destination. When both pulse numbers n1" and n5 match, the next 8 out of 4
I)+! Small hun sashiyu? 7 When the unmanned vehicle 1 moves from the first station 81 to the second station S2 again, the mark detection sensor 15 detects the marks Ml and M2, and the number of pulses n in the correction interval is
4 is newly calculated and stored in the RAM, and the corrected pulse number n5 is calculated using this new pulse number 04.

In this way, in the embodiment of the present invention, the number of corrected pulses n5 is calculated in proportion to the wear amount of the tires 3a on the drive side I using the above-mentioned calculation formula (2), and this number of pulses 15 and the pulses on the road to the destination Compare the number n1 with both pulse numbers nl,
Since the processing at the destination is performed when n5 matches, the processing at the destination can be performed reliably even if the tires wear out, and the theoretical number of pulses to the destination can be changed. Compared to conventional products, which require maintenance and inspection, the effort required for maintenance and inspection can be reduced.

Note that the present invention can also be embodied in the following embodiments.

(1) In the embodiment described above, the distance traveled to the destination was set to the theoretical path path, V speed, nIJ-1, ROMFr1, inertia, etc., but instead of this, the drive side tire 3a was set to a state where the tires 3a on the drive side were not worn out. The unmanned vehicle 1 is driven to the destination and the actually counted pulse number is stored as 01 in the ROM.

(2) The number of interval pulses n2 is set to a theoretical number of pulses.

Effects of the Invention As detailed above, the present invention is capable of correcting the mileage signal in proportion to tire wear, and as a result, it is possible to operate an unmanned vehicle reliably at the destination, and it also eliminates the need for conventional methods. It is possible to omit the work of changing the set value of the travel distance to the destination that has been set, and to prevent accidents caused by forgetting the change work.

[Brief explanation of the drawing]

Figure N1 is a road surface plan showing the work system of unmanned vehicles.
The figure is an enlarged side view of the unmanned vehicle, and FIG. 3 is a flowchart for explaining the mileage correction operation. Unmanned vehicle...1, Drive wheel...3, Tire...3a,
Drive motor...6, Rotating shaft...7, Slit plate...8, Pulse detection sensor...9, Microcomputer...13, Mark detection sensor...15, Station...sl, s2, Mark...Ml, M2,
Pulse correction section...D, Theoretical number of pulses to the destination...n11 Number of pulses in the section when traveling in the correction section with unworn tires...n2, Correction while driving with worn tires Number of previous pulses...n3, number of pulses when traveling in the correction section with worn tires...n4, number of pulses during running after correction..."5゜Patent applicant: Toyota Industries Corporation. person
Patent Attorney On 1) Hiroshi Nobuo Figure 1 Figure 2

Claims (1)

[Scope of Claims] 1. Travel distance detection means provided on the automatic guided vehicle side and configured to detect travel distance; correction section forming means provided on the driving course on the road surface side; a correction section detection means provided on the vehicle side and for detecting the correction section forming means; and a distance signal (n8) before correction that is also provided on the automatic guided vehicle side and output from the travel distance detection means. , a correction section signal output from the correction section detection means, a section distance signal (n 2 ) when traveling in the correction section with unworn tires, and a distance signal when traveling in the correction section with worn tires. (
n4) and outputs the corrected distance signal (n5) expressed by the above formula n5=n8Xn2/n4,
The corrected distance signal (n5) and the distance signal to the destination (n
1) A travel distance correction device for an automatic guided vehicle when tires are worn out, characterized in that it is further configured with a control device that performs processing at a destination by comparing the above. 2. The unmanned conveyance system according to claim 1, wherein the travel distance detection means is composed of a slit plate fixed to the rotation shaft of the drive motor and a pulse detection sensor arranged opposite to the slit plate. Mileage correction device for car tires when worn. 3. The travel distance correction device for tire wear in an automatic guided vehicle according to claim 1, wherein the correction section forming means is a pair of marks arranged at a constant interval on the road surface. 4. The travel distance correction device for tire wear in an automatic guided vehicle according to claim 1, wherein the correction section detection means is a mark detection sensor configured to detect the pair of marks.