JPH07111651B2 - Derailment prevention device for emergency stop of automated guided vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention derails a predetermined traveling path when an automated guided vehicle traveling along the predetermined traveling path inputs an emergency stop signal and makes an emergency stop. The present invention relates to a derailment prevention device for preventing such a situation.

(Prior Art) Conventionally, an unmanned guided vehicle that generally travels along a traveling guide line shuts off all power of the unmanned guided vehicle when, for example, an emergency stop switch mounted on the vehicle is pressed during traveling. By doing so, the unmanned guided vehicle was brought to an emergency stop.

(Problems to be Solved by the Invention) In the case of the conventional general automated guided vehicle, when the emergency stop switch is pressed to make an emergency stop, all power sources of the automated guided vehicle are cut off, and therefore, the steering controller is used. Since steering becomes impossible, the unmanned guided vehicle 21 deviates from the predetermined traveling path centered on the traveling guide line 22 as shown in FIG. There is a problem in that it may come into contact with the existing wall surface 23 or various equipment.

Therefore, in the present invention, even when the emergency stop switch for stopping the automatic guided vehicle is pressed, by continuing the power supply to the steering controller for a predetermined time, steering by the steering controller is enabled, and the unmanned vehicle is operated. The technical problem to be solved is to prevent the guided vehicle from coming off the traveling guideway.

(Means for Solving the Problem) A technical means for solving the above problem is to provide a derailment prevention device at the time of an emergency stop of an automated guided vehicle, which includes a drive controller and a steering controller, and travels along a predetermined traveling path. In an unmanned guided vehicle, when an emergency stop signal for stopping the traveling unmanned guided vehicle in an emergency is input, a predetermined time from when the emergency stop signal is input,
It is configured to include a control unit that continues to supply power to the steering controller and stops supply of power to the steering controller after the lapse of the predetermined time.

(Operation) According to the derailment prevention device for an emergency stop of the automatic guided vehicle having the above-described configuration, when the emergency stop signal is input to the moving automatic guided vehicle, the control means causes the steering controller to perform a predetermined time, By continuing the supply of power and stopping the supply of power to the steering controller after the elapse of the predetermined time, steering by the steering controller can be performed until the automatic guided vehicle stops, and the automatic guided vehicle derails from the predetermined traveling path. Prevent that.

(Embodiment) Next, an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 shows a state in which when the automated guided vehicle 1 is traveling at a high speed on a straight traveling guide line 2, an emergency stop switch 3 on the vehicle is pressed to make an emergency stop. Also, the second
The figure shows that while the automated guided vehicle 1 is traveling at high speed on the curved guide line 2A, the emergency stop switch 3 on the vehicle is pressed,
It shows the state of emergency stop.

As shown in FIGS. 1 and 2, a drive wheel 5 for both traveling drive and steering is attached to the front portion of the lower surface frame 4 of the automatic guided vehicle 1, and driven wheels 6 are provided to the left and right of the rear portion. Installed on. Further, pickup coils 7L and 7R for detecting the magnetism generated from the traveling guide wire 2 or 2A are attached at positions symmetrical to the traveling center axis of the automatic guided vehicle 1. Also, the drive wheel 5
A drive motor 8 for driving the motor is attached. Further, an electromagnetic brake 9 for braking the drive motor 8 is connected to the drive motor 8.
The drive wheel 5, the drive motor 8 and the electromagnetic brake 9 are mounted on a common base, and this base is the third base.
It is configured to be rotated by the steering motor 12 shown in the figure. And the above steering motor 12
Is controlled by a steering controller 10 attached to the inside or the lower surface of the automated guided vehicle 1, for example.
The steering controller 10 is connected with the pickup coils 7L and 7R. On the other hand, the drive motor 8 is controlled by the drive controller 11 mounted inside or on the lower surface of the automatic guided vehicle 1. When the magnetism from the traveling guide wire 2 detected by each of the pickup coils 7L and 7R is balanced, the automated guided vehicle 1 travels straight along the traveling guide wire 2. Further, when the traveling guide wire 2A is curved as shown in FIG. 2, when the automatic guided vehicle 1 approaches the curve, the magnetism detected by each of the pickup coils 7L and 7R becomes unbalanced. The controller 10 turns the steering motor 12 to steer the unmanned guided vehicle 1 until the detected magnetism of the pickup coils 7L and 7R is balanced, thereby causing the unmanned guided vehicle 1 to travel along a traveling guide line 2A in a curve. Is.

On the other hand, on the upper surface or the side surface of the automatic guided vehicle 1, a plurality of emergency stop switches 3 for making an emergency stop of the automatic guided vehicle 1 are attached.

FIG. 3 is a control block diagram for controlling the entire automated guided vehicle 1.

As shown in the figure, the automatic guided vehicle 1 is equipped with a microcomputer 13, which is used to turn on / off the drive controller 8, the steering controller 10, the emergency stop switch 3, and the electromagnetic brake 9. Brake switch 14 etc. are connected. When an emergency stop signal is output from the emergency stop switch 3 to the microcomputer 13, the microcomputer 13 turns off the brake switch 14 to brake the drive motor 8 and brake the drive wheels 5. For example, by outputting a forced control signal to the steering controller 10 for 5 seconds, the control of the steering controller 10 is continued without shutting off the power source of the steering controller 10, the unmanned guided vehicle 1 is steered, and the unmanned guided vehicle is controlled. 1 is running guide line 2 or
Control along 2A is performed to prevent derailment from a predetermined traveling path.

The microcomputer 13 is a drive controller 8
A vehicle speed command signal is output to drive the drive motor 11 at high speed, medium speed, or low speed. When the drive motor 11 is overloaded, for example, a drive abnormality signal is output from the drive controller 8 to the microcomputer 13. Automated guided vehicle 1
Is deviating from the driving guide line 2 or 2A,
Steering controller 10 to microcomputer
A course out signal is output to 13.

FIG. 4 is a flow chart showing the derailment prevention processing by the microcomputer 13 when the automatic guided vehicle 1 is in an emergency stop.

As shown in this flowchart, when one of the emergency stop switches 3 is pressed and an emergency stop signal is output from the emergency stop switch 3 to the microcomputer 13, the microcomputer 13 executes the above-mentioned steps as shown in step S1. After confirming the input of the emergency stop signal, the forced control signal is output to the steering controller 10 for 5 seconds, for example, as shown in step S2. In step S3, it is determined whether or not 5 seconds have elapsed since the emergency stop signal was input, and if it is determined that 5 seconds have not yet elapsed, while braking the drive motor 8 as shown in step S4, While steering the unmanned guided vehicle 1 by operating the steering controller 10, when it is determined that 5 seconds have passed, the output of the forcible control signal to the steering controller 10 is stopped and the unmanned guided vehicle is operated as shown in step S5. Shut off all power to car 1.

Due to the derailment prevention processing at the time of the emergency stop of the automatic guided vehicle 1 described above, an emergency stop signal from the emergency stop switch 3 is sent from the microcomputer 13 while the automatic guided vehicle 1 is traveling at high speed.
Even if it is output to the automatic guided vehicle 1,
Alternatively, you can stop without derailing from 2A.

The present invention is not limited to the type of traveling along a traveling guide line, but can be applied to a trackless guided vehicle.

(Effects of the Invention) As described above, according to the present invention, an unmanned guided vehicle that includes a drive controller and a steering controller and that travels along a travel guide line is provided for emergency stop of a running unmanned guided vehicle. When the emergency stop signal is input, the power supply to the steering controller is continued for a predetermined time after the emergency stop signal is input, and the power supply to the steering controller is stopped after the predetermined time elapses. Since the automatic guided vehicle can be stopped without derailing from the predetermined traveling path centered on the traveling guide line, it is possible to prevent the automatic guided vehicle from colliding with the wall surface near the traveling path or various equipment. The effect is that it can be prevented.

[Brief description of drawings]

FIG. 1 is a plan view showing a linear traveling state of an automatic guided vehicle, FIG. 2 is a plan view showing a curved traveling state of the automatic guided vehicle, FIG. 3 is a control block diagram, and FIG. 4 is a diagram showing an automatic guided vehicle. FIG. 5 is a flow chart diagram of derailment prevention processing at the time of emergency stop, and FIG. 5 is an explanatory diagram showing a problem of the conventional automatic guided vehicle. 1 …… Unmanned guided vehicle, 2,2A …… Running guide line 3 …… Emergency stop switch 5 …… Drive wheels 7L, 7R …… Pickup coil 8 …… Drive motor 10 …… Steering controller 11 …… Drive controller 13… … Microcomputer

Claims (1)

[Claims] 1. An unmanned guided vehicle comprising a drive controller and a steering controller and traveling along a predetermined traveling path, when an emergency stop signal for stopping the traveling unmanned guided vehicle in an emergency is input, The automatic guided vehicle is equipped with a control means for continuing the power supply to the steering controller for a predetermined time after the emergency stop signal is input and stopping the power supply to the steering controller after the lapse of the predetermined time. Derailment prevention device during an emergency stop.