Guidance system for unmanned transporting vehicle

• US 4,711,316 A
• Filed: 09/23/1986
• Issued: 12/08/1987
• Est. Priority Date: 09/24/1985
• Status: Expired due to Term

• Current Assignee: Japan Tobacco Inc.
• Original Assignee: Japan Tobacco Inc.
• Inventors: Suzuki, Takehiro, Katou, Yukio, Shimada, Susumu
• Primary Examiner(s): Love, John J.
• Assistant Examiner(s): CAMBY, RICHARD M
• Application Number:
  US06/910,833
• Time in Patent Office: 441 Days
• Field of Search: 180/167, 180/168, 180/169, 364/424, 364/447, 364/449, 364/450, 318/587
• US Class Current: 180/168
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 1/0261 using magnetic plots

Abstract

A guidance system for an unmanned transporting vehicle which runs along a guide track. The guide track is composed of a belt-shaped light reflective material and laid out on a floor or the like. The unmanned transporting vehicle has two rows of photodetectors longitudinally arranged thereon forwardly of the front wheel. Since the two rows of the photodetectors are spaced apart from each other with a distance less than the width of the guide track, increasingly forwardly photodetectors begin failing to detecting the guide track earlier when the vehicle runs off the guide track. The vehicle is equipped with control means for controlling the steering mechansim of the vehicle in response to the detection count value such that the front wheel is swivelled to correct the vehicle deviation at a sufficiently early stage.

Claims

1. A guidance system for an unmanned transporting vehicle which runs along a guide track comprising a belt-shaped light-reflective guide track laid out on a floor or the like, said belt-shaped light-reflective guide track having a predetermined width:

and at least one unmanned transporting vehicle including body means;

front wheel means and rear wheel means mounted to said body means;

drive means for driving at least one of said front wheel means and rear wheel means;

a steering mechanism for causing said front wheel means to swivel rightward and leftward;

a plurality of photodetectors mounted to said body means forwardly of said front wheel means and longitudinally arranged in a right-hand row and a left-hand row above a said belt-shaped light-reflective guide track, said photodetectors including plural pairs of photodetectors, each pair including a right-hand photodetector and a left hand photodetector, said right-hand and left-hand photodetectors being positioned with a spacing less than said predetermined width, said right-hand photodetector having a light projecting element set to project light onto the belt-shaped light reflective guide track and a light receiving element to receive the light reflected thereby for detection of the guide track, said left hand photodetectors having a light projecting element set to project light onto said guide track and a light receiving element to receive the light reflected thereby for detection of the guide track;

control means for controlling said steering mechanism such that said front wheel means is caused to swivel leftward when photodetectors in the right-hand row fail to detect the guide track whereas said front wheel means is caused to swivel rightward when photodetectors in the left-hand row fail to detect the guide track, the degree of said swivelling of the front wheel means being substantially in proportion to the number of photodetectors which fail to detect the guide track.

2. A guidance system according to claim 1, wherein said control means has a drive motor which controls said steering mechanism and a plurality of switch circuits connected in parallel with each other and placed in series with said drive motor, each of said switch circuits having a switch corresponding to each of said photodectors and a current limiting resistor in parallel with said switch, said drive motor controlling said steering mechanism by closing said switch when corresponding photodetector fails to detect the guide track.

3. A guidance system according to claim 1, wherein said control means includes a single front wheel, said rearwheel means including a pair of rear wheels, said pair of wheels being provided symmetrically with respect to said front wheel.

4. A guidance system according to claim 3, wherein said photodetectors are positioned on one lateral side of said front wheel.

5. A guidance system according to claim 1, wherein said front wheel means includes a pair of front wheels, said rear wheel means including a pair of rear wheels.

6. A guidance system according to claim 5, wherein said photodetectors are positioned between said front wheels.

7. A guidance system according to claim 1, wherein said guidance system further comprises a plurality of magnets placed along said belt-shaped light-reflective guide track to indicate positions requiring vehicle operations, a magnet detector mounted to said vehicle for detecting said magnets to produce an output, and said control means including a memory unit having a plurality of programs, means to select one of said programs, a decoder for decoding a selected program and executing the content of said selected program in response to the output of said magnet detector.

8. A guidance system according to claim 7, wherein said belt-shaped light-reflective guide track has a common section and branch sections, said common section and branch sections defining branch-off points.

9. A guidance system according to claim 8, wherein said magnets include first magnets placed immediately upstream of said branch-off points to indicate positions requiring left turn or right turn of the vehicle, said control means upon detection of said magnets setting the steering mechanism free from influence of photodetectors and said selected program instructing that front wheel is caused to swivel leftward or rightward, said control means setting again the steering mechanism under the influence of the photodetectors when at least one of said photodetectors in either the left-hand row or the right hand-row fails to detect the guide track.

10. A guidance system according to claim 7, wherein said magnets include second magnets placed along the guide track to indicate positions requiring a halt of the vehicle, said selected program instructing a halt of said vehicle upon detection of said second magnets, said control means including a drive control means which brings the vehicle to a halt in accordance with the instructions.

11. A guidance system according to claim 7, wherein said guide track has intersections.

12. A guidance system according to claim 11, wherein said magnets include third magnets placed immediately upstream of said intersections to indicate positions requiring another-vehicle detection, said selected program instructing another-vehicle detection upon detection of said magnets, said vehicle further including another-vehicle detection means which is actuated in accordance with said instructions and said another-vehicle detection means transmits a warning signal to another vehicle and receives a warning signal from said another-vehicle such that one of two vehicles is stopped.