JPH0761510A - Automated conveyance apparatus - Google Patents

Abstract

PURPOSE:To provide an automated conveyance apparatus facilitating formation of a travel path for an automated guided vehicle, enabling performance of complicated control with less malfunction due to stains and damages of the floor surface, and facilitating alteration of the travel path resulting from the layout change of equipment in a factory. CONSTITUTION:An automated conveyance apparatus is provided with an automated guided vehicle 1 which is equipped with a for-signpost magnetic coating film line 10a as converted to permanent magnet, for-writable/readable data magnetic coating film line 10b, both being formed in parallel on a floor 11, a magnetic sensor 6b, de-magnetizer 7, and magnetizer 8 corresponding to the for-writable/readable-data magnetic coating film line 10b, a signpost sensor 6a corresponding to the for-signpost magnetic coating film line 10a, and control means 3, 4, and 5 to which the above-mentioned sensors and devices are connected. As a result, even in the case where the floor 11 is stained or damaged, complicated control can be performed on the automated guided vehicle 1 without malfunction as in the case of using an optical reader. Thus, it is possible to easily alter the travel path of the automated guided vehicle 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned conveying device using a magnetic coating line capable of writing and reading information.

[0002]

2. Description of the Related Art In a conventional unmanned conveying apparatus, a guide used for an unmanned conveying vehicle, etc., is prepared by kneading a magnetic powder with rubber or a synthetic resin, molding it into a sheet, and magnetizing it. Some were generated, and some were used by kneading powder of soft magnetic material with rubber or synthetic resin and without magnetizing. In addition, there is a method in which a white paint is used to draw a line and the line is detected by an optical sensor.

[0003]

The conventional unmanned conveying device has the following problems.

(1) In the case of a method in which magnetic powder is kneaded with rubber or synthetic resin to form a sheet and then magnetized to generate a magnetic flux, as a guide for guiding an automatic guided vehicle, Although it will adhere to the floor in the factory, etc., it may be difficult to reliably adhere due to unevenness or stains on the floor surface, or it may be damaged due to protrusion from the floor surface, resulting in problems after adhesion construction. .

(2) In the case of the sheet type method in which the soft magnetic powder is kneaded with rubber or synthetic resin and used without being magnetized, an AC magnetic field is generated in the magnetic sensor for detecting this. Excitation coil and detection coil are required,
The device becomes complicated. In addition, it is easily affected by external disturbances and may be erroneously recognized by the sensor.

(3) In the case of a method of drawing with a white paint or tape and detecting with an optical sensor, this wire may become dirty, or dust or dust may adhere to this wire and the sensor may erroneously detect. .

(4) When the traveling path is to be changed due to the relocation of the equipment in the factory after it is installed once, in addition to the replacement of the magnetic rubber sheet or the white tape, the modification of the program or the replacement of the sensor etc. Large-scale modification work is required.

(5) Depending on the type of luggage loaded, the route or route may be changed, or multiple unmanned guided vehicles may overtake.
Complex control such as waiting and parallel running is difficult. In addition, at the corners and intersections of the running road, it is necessary to devise a method such as once placing it on a turntable to change the direction. The present invention is intended to solve the above problems.

[0009]

[Means for Solving the Problems]

(1) The unmanned conveyance device of the present invention is a strip-shaped magnetic coating line for signposts formed on the floor surface and made into a permanent magnet, and a strip-shaped writable / readable strip formed on the floor surface parallel to the magnetic coating line for the signposts. Of the information magnetic coating line, the magnetic sensor corresponding to the information magnetic coating line, the degaussing device, the magnetizing device, the guidepost detection sensor corresponding to the information magnetic coating line, and the control device to which these are connected. It is characterized by having an automatic guided vehicle provided.

(2) According to the present invention, in the unmanned conveying apparatus according to the above-mentioned invention (1), the magnetic coating line for signpost and the magnetic coating line for information have a kneaded material of magnetic powder and paint on the floor surface, respectively. It is characterized in that it is a magnetic coating line for a signpost which is applied in the form of a strip and is formed in parallel and made into a permanent magnet, and a writable and readable magnetic coating line for information.

(3) According to the present invention, in the automatic guided vehicle according to the above-mentioned invention (1), the automatic guided vehicle includes a guidepost detection sensor, a magnetic sensor, a degaussing device, a magnetizing device, and a control device.
The route information detected by the signpost detection sensor, the traveling speed / direction information detected by the magnetic sensor, and the loading / unloading information are input to the control device, which controls the traveling and loading / unloading control of the automated guided vehicle. And an automatic guided vehicle in which the control device records necessary information at a predetermined external position via a degaussing device and a magnetizing device.

[0012]

In the above invention (1), in the automatic guided vehicle, the guidepost detection sensor detects the traveling path from the magnetic coating line for the target and inputs it to the control device, and the magnetic sensor travels the traveling speed from the magnetic coating line for information.・ Detects direction information, loading / unloading information, etc. and inputs them to the control device.

Under the control of this control device, the automatic guided vehicle performs acceleration, deceleration at a predetermined position on the travel route, direction change with a predetermined radius of gyration, start / stop, loading, unloading, and the like. In addition, the magnetizing device and the demagnetizing device write / erase information to / from the information magnetic coating film line, and accumulate the traveling management information of the automatic guided vehicle.

In the present invention, in addition to the magnetic coating line for the signpost, the magnetic coating line for information formed in parallel with the magnetic coating line for the signpost is provided to control the automatic guided vehicle. It is possible to change routes, change routes, overtake multiple unmanned guided vehicles, and perform complex control such as waiting and parallel running.

Further, since the two magnetic coating lines are used, the automated guided vehicle can accurately detect the information even when the floor surface is soiled, unlike the case where the conventional optical reading device is used. Since it is controlled by the above, there is no malfunction.

In the above-mentioned invention (2), the magnetic coating line for the signpost and the magnetic coating line for information in the above-mentioned invention (1) are formed by applying a kneaded material of magnetic powder and paint on the floor surface. It can be easily formed on the floor surface, and even when the traveling route of the automatic guided vehicle is changed, its modification is easy.

In the above invention (3), the automatic guided vehicle is provided with a magnetic sensor, a magnetizing device, and a degaussing device, and its traveling control and the like are performed by inputting information stored outside, and information such as traveling management. Can be stored externally, so that it is possible to reduce the size and weight of the control device mounted on the automatic guided vehicle.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described with reference to FIGS. The present embodiment shown in FIGS. 1 to 4 is an automated guided vehicle 1 traveling on a floor surface 11, a magnetic coating line 10a for a signpost formed on the floor surface 11 for indicating a traveling path of the automated guided vehicle 1, and the same. The magnetic coating line 10a for information, which is formed on the floor surface 11 in parallel with the magnetic coating line 10a for signpost and is capable of writing and reading various information, is provided.

The automated guided vehicle 1 has a rear wheel 2b of the vehicle body 1a.
Drive unit 4 coupled to the vehicle, direction control device 5 coupled to the front wheels 2a of the vehicle body 1a, guide sign detection sensor 6a, magnetic sensor 6b, and degaussing device 7 provided at the bottom of the vehicle body 1a.
And a magnetizing device 8, the drive device 4, the direction control device 5, the guidepost detection sensor 6a, the magnetic sensor 6a, the degaussing device 7 and the magnetizing device 8 are connected by an electric wire 9, and the central control device. 3 is provided with an automatic voice generator 12.

The magnetic coating film wire 10a for signpost and the magnetic coating film wire 10b for information are magnetic powders of ferrite powder having an average particle size of 0.96 micrometer, vinyl-based, epoxy-based, urethane-based, It is formed by kneading a coating material made of any one resin such as a saturated polyester resin in a volume ratio of 1: 1 and applying the same in a strip shape on the floor surface, and in the meantime, each of them is the above-mentioned unmanned The guidepost detection sensor 6a and the magnetic sensor 6a provided on the carrier 1 are arranged at equal intervals.

The magnetic coating wire 10a for the signpost is coated with a kneaded material of magnetic powder and paint, and when drying is completed, it is made into a permanent magnet by using an appropriate magnetizing device.

In the above, the unmanned guided vehicle 1 moves unmanned so as not to deviate from the traveling path, while constantly detecting the magnetism of the magnetic coating line 10a for the signpost by the signpost detection sensor 6a. The magnetic coating line 10a for the signpost is 15 from the coating surface.
Since the magnetic flux density is 4 gauss or more even at a position separated by more than a millimeter, even if dirt or small dust on the coating film surface is present between the signpost detection sensor 6a and the magnetic coating wire for signpost 10a, it may malfunction. Few.

On the other hand, in the information magnetic coating film line 10b, various kinds of information are recorded as magnetic signals in front of a curve in the traveling path of the automatic guided vehicle 1, at a stop position, a loading / unloading position of a load, and the like. Magnetization is not applied to those parts other than those specified.

The control of the automatic guided vehicle 1 utilizing the information magnetic coating line 10b will be specifically described below with reference to FIG.

For example, at the point a before the curve, a magnetic signal "There is a curve in which direction with a radius of gyration of which distance is several meters" is written on the information magnetic coating film line 10b and read. The information detecting magnetic sensor 6b sends the read information to the central controller 3. Upon receiving this information, the central control device 3 commands the drive device 4 to change to an appropriate speed, and also commands the direction control device 5 to indicate the radius of gyration and the direction of rotation.

Further, at point d before the loading position of the luggage,
"How many centimeters will reach the position where you will load your load."
Is written in the information magnetic coating film line 10b, and the information detection magnetic sensor 6b is read from the magnetic signal.
Sends the read information to the central control unit 3.

Upon receiving this information, the central control unit 3 commands the drive unit 4 to stop at an appropriate position. In addition, the automatic voice generator 12 emits a synthetic sound such as "An automated guided vehicle has arrived. Please load your luggage."

If the specific information indicating the position, the date, and the number of times of passage are recorded as a magnetic signal at a specific position of the information magnetic coating film line 10b, the automatic guided vehicle 1 can identify the specific position on the specific day. It is possible to determine how many times it has passed.

For example, when the information detecting magnetic sensor 6b reads a magnetic signal "X number of times of passage" from the information magnetic coating film line 10b at the above-mentioned specific position, the degaussing device 7 once erases the magnetic signal. , The magnetizing device 8 again, "X + 1 times"
By recording the magnetic signals of and, the number of passages of the automated guided vehicle 1 can be counted. Alternatively, it is possible to perform an operation in which the number of times is subtracted by 1 for each passage, and the automated guided vehicle 1 is stopped when the number of times reaches 0.

In this embodiment, a magnetic coating line 1 for a signpost is used.
0a and the magnetic coating wire 10a for information are used. In each case, the kneaded material of the magnetic powder and the paint is applied to the floor surface 1.
1 is applied in a strip shape, and even if there is some unevenness on the floor surface 11, reliable application is possible.

Further, it is hard to be damaged even when a person steps on it or a trolley passes by, and even if it is damaged, it is sufficient to reapply it. In the case of a magnetic coating line for a signpost, if it is magnetized. Because it is good, it is easy to repair.

Further, each of the magnetic coating lines 10a, 10
Since b can be easily formed on the floor surface, even if the traveling route of the automatic guided vehicle 1 needs to be changed, the correction can be easily performed.

The magnetic coating line 10a for the signpost has a magnetic flux density of 4 at a position 15 mm or more away from the coating.
Since a magnetic flux of Gaussian or higher can be generated, unlike the case of the conventional optical reading device, by properly setting the distance between the sensor 6a and the coating film, it is possible to prevent surface contamination and some dust. It is not affected and can be used as a signpost.

One of the above two magnetic coating lines for information, the magnetic coating line for information 10b, records various kinds of information such as a corner of a traveling road, an intersection, a stop position, etc. as a magnetic signal, and the automatic guided vehicle 1 Moves while detecting these magnetic signals with the magnetic sensor 6b, so it is possible to change destinations and routes depending on the type of loaded luggage, and to perform complicated control such as overtaking, waiting, and parallel running between multiple automated guided vehicles. Is.

Further, even at a corner or an intersection, control such as decelerating and changing the direction of the front wheel 2a is possible without using a turntable or the like.
Since the information from the central control unit 3 can be written in the magnetizing device 8 in a, it is also possible to write information such as a certain position or how many times the route has been passed to a specific position of the information magnetic coating film line 10a. It is possible.

In the case of this embodiment, two continuous magnetic coating lines are used because the magnetic coating line for guide sign 10a is continuously peeled off due to its front-back relation even if it partially peels off. This is because traceability is possible, and the information magnetic coating line can be written and read anywhere.

[0037]

The unmanned conveying apparatus of the present invention is provided with a magnetic coating for signposts, which is a permanent magnet formed parallel to each other on the floor surface, a magnetic coating line for writable and readable information, and a magnetic coating for the same information. By providing an unmanned guided vehicle provided with a magnetic sensor, a degaussing device, a magnetizing device corresponding to a line, a signpost detection sensor corresponding to the above-mentioned magnetic paint line for a signpost, and a control device to which these are connected, Even if the floor surface is dirty, such as when using an optical reading device, it does not malfunction and complicated control of the automated guided vehicle is possible, making it easy to change the travel route of the automated guided vehicle. Realize a device that can do.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of an embodiment of the present invention.

FIG. 2 is a view on arrow AA of FIG.

FIG. 3 is a perspective view of FIG. 1.

FIG. 4 is an explanatory view of the operation according to the above embodiment.

[Explanation of symbols]

 1 Automated guided vehicle 1a Vehicle body 2a Front wheel 2b Rear wheel 3 Central control device 4 Drive device 5 Directional control device 6a Signpost detection sensor 6b Magnetic sensor 7 Degaussing device 8 Magnetization device 10a Magnetic paint line for signpost 10b Magnetic paint line for information 11 Floor 12 Automatic voice generator

Claims (3)

[Claims] 1. A strip-shaped magnetic coating film for a signpost which is formed on the floor surface and is made into a permanent magnet, and a strip-shaped magnetic coating film for writing and reading which is formed on the floor surface in parallel with the magnetic coating film line for the guidepost. Line, and a magnetic sensor corresponding to the information magnetic coating line, a degaussing device, a magnetizing device, a guidepost detection sensor corresponding to the information magnetic coating, and a control device to which these are connected. An unmanned conveyance device characterized by comprising: 2. The unmanned conveying device according to claim 1, wherein the magnetic coating line for signpost and the magnetic coating line for information are applied in parallel to each other by applying a kneaded material of magnetic powder and paint onto the floor surface in a strip shape. An unmanned conveying device comprising a magnetic coating line for a sign that is formed and made into a permanent magnet and a magnetic coating line for writable and readable information. 3. The automatic guided vehicle according to claim 1, wherein the automatic guided vehicle comprises a signpost detection sensor, a magnetic sensor, a degaussing device, a magnetizing device, and a controller, and the route information and the magnetic field detected by the signpost detection sensor. The traveling speed / direction information detected by the sensor and the loading / unloading information are input to the control device, which controls the traveling and loading / unloading control of the automatic guided vehicle, as well as the degaussing device and the magnetizing device. An automatic guided vehicle, wherein the control device is an automatic guided vehicle in which necessary information is recorded at a predetermined external position via the automatic guided vehicle.