TRAVEL CONTROL DEVICE FOR UNMANNED CONVEYANCE VEHICLE
First Claim
1. A travel control device for an unmanned conveyance vehicle, comprising:
- a first magnetic sensor that is arranged in an unmanned conveyance vehicle to detect a guide tape laid down along a road travel surface;
a plurality of second magnetic sensors that are arranged on left and right sides of the first magnetic sensor to detect magnetic markers laid down along the road travel surface on the sides of the guide tape;
a magnetic member that is arranged above the first and second magnetic sensors to improve detection sensitivities of the magnetic sensors; and
a control unit that performs guided travel and various operation controls of the unmanned conveyance vehicle on the basis of detection signals from the first and second magnetic sensors,wherein the control unit includes erroneous determination preventing means, wherein, when a plurality of detection signals output from the second magnetic sensors include only one ON signal, the erroneous determination preventing means determines the ON signal to be valid, and when the detection signals include a plurality of ON signals, the erroneous determination preventing means determines all the ON signals to be invalid.
1 Assignment
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Accused Products
Abstract
An unmanned conveyance vehicle (11) includes a detecting device (23) that has a plurality of sensing elements (25), first to fourth marker sensors (31-34) arranged on both sides of the sensing elements 25, and a magnetic member (35). The sensing elements (25) detect positions of guide tapes (12, 13) laid down along a road travel surface. The marker sensors (31-34) detect magnetic markers (14A-14D) laid down along the road travel surface. The magnetic member (35) is arranged above the sensing elements (25) and the marker sensors (31-34). When a left end (35a) of the magnetic member (35) moves to a position above the branch guide tape (13), the first marker sensor (31) operates, and the left end (35a) is magnetized to the north pole by the magnetic flux of the branch guide tape (13). A right end (35b) of the magnetic member (35) is magnetized to the south pole to operate the third marker sensor (33). As a result, ON signals are output from the first and third marker sensors (31, 33) to an erroneous determination preventing section (52) of a control unit (22). The erroneous determination preventing section (52) determines the ON signals to be invalid.
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Citations
5 Claims
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1. A travel control device for an unmanned conveyance vehicle, comprising:
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a first magnetic sensor that is arranged in an unmanned conveyance vehicle to detect a guide tape laid down along a road travel surface; a plurality of second magnetic sensors that are arranged on left and right sides of the first magnetic sensor to detect magnetic markers laid down along the road travel surface on the sides of the guide tape; a magnetic member that is arranged above the first and second magnetic sensors to improve detection sensitivities of the magnetic sensors; and a control unit that performs guided travel and various operation controls of the unmanned conveyance vehicle on the basis of detection signals from the first and second magnetic sensors, wherein the control unit includes erroneous determination preventing means, wherein, when a plurality of detection signals output from the second magnetic sensors include only one ON signal, the erroneous determination preventing means determines the ON signal to be valid, and when the detection signals include a plurality of ON signals, the erroneous determination preventing means determines all the ON signals to be invalid. - View Dependent Claims (2, 3, 4, 5)
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Specification