JP2015103050A - Mobile body and automatic separation system of mobile body and towed object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a moving body that enables a towed object to be automatically separated.SOLUTION: A moving body 10 according to the present invention comprises: a driven unit 20; a drive device 30; a guide line detection unit 40; a control unit 50; and a coupling unit 70. The moving body 10 runs on a guide line 110. The drive device 30 rotates the driven unit 20. The driven unit 20 is rotated, thereby the moving body 10 runs. The guide line detection unit 40 detects the guide line 110. The control unit 50 controls the drive unit 30 in such a way that the number of rotations of the driven unit 20 increases on the basis of a detection result of the guide line detection unit 40. The coupling unit 70 couples a towed object 130. On the basis of a shape of the guide line 110 and the increase in the number of rotations of the driven unit 20, the coupling unit 70 is separated from the towed object 130.

Description

  The present invention relates to a moving body and an automatic separation system between the moving body and a to-be-towed object.

  2. Description of the Related Art Conventionally, as a moving body that conveys a person, an object, or the like, a vehicle that unmannedly travels a predetermined travel route based on a travel control program is provided. This moving body is controlled to travel according to the shape of the travel route. Such a moving body is disclosed in Patent Document 1.

  The automatic guided vehicle (moving body) disclosed in Patent Document 1 can detect a marker laid before the curve section of the travel route and change the steering speed between the straight section and the curve section. . Here, the steering speed is a change speed of the direction of the steering wheel. According to the moving body disclosed in Patent Document 1, it is possible to prevent the moving body from derailing along a curve by appropriately changing the steering speed.

Japanese Patent Laid-Open No. 06-314125

  For example, in a factory, there is a case where it is desired to use an automatic guided vehicle (moving body) in order to carry parts unattended. The purpose is to allocate the human labor necessary for transportation work to work other than transportation in the factory and to increase the operating rate of the whole factory.

  However, the moving body disclosed in Patent Document 1 requires a manual disconnecting operation when the object to be pulled to be pulled by the moving body is disconnected at a specified point. For this reason, it has been difficult to maintain a smooth conveyance flow.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a moving body and an automatic separation system between the moving body and the to-be-towed object, which can automatically detach the to-be-towed object. .

  The moving body according to the present invention includes a driven part, a driving device, a guide line detection part, a control part, and a connecting part. The moving body travels on a guide line. The drive device rotates the driven part. The movable body travels as the driven part rotates. The guide line detection unit detects the guide line. The control unit controls the driving device such that the number of rotations of the driven unit increases based on a detection result of the guide line detection unit. The said connection part connects with a to-be-towed object. Based on the shape of the guide line and the increase in the rotational speed of the driven part, the connecting part is separated from the to-be-towed object.

  The automatic separating system for a moving body and a to-be-towed object according to the present invention includes the above-described moving body, a guide line, and a to-be-towed object.

  According to the present invention, it is possible to automatically detach a to-be-to-be-triggered object from a moving body without hindering a smooth flow of conveyance on the conveyance route. As a result, the factory utilization rate can be increased.

It is a figure which shows the outline of a structure of the automatic separation system of the mobile body which concerns on Embodiment 1 of this invention, and a mobile body and a towed object. It is a figure which shows an example of the shape of the guide line which concerns on Embodiment 1 of this invention. It is a figure which shows the positional relationship of a moving body and a to-be-towed object at the time of the to-be-towed object cut | disconnected from a moving body in the automatic separation system which concerns on Embodiment 1 of this invention. It is a figure for demonstrating the operation | movement at the time of the interruption section driving | running | working of the moving body which concerns on Embodiment 1 of this invention. It is a block diagram which shows an example of a structure of the moving body which concerns on Embodiment 1 of this invention. It is a figure which shows an example of the connection state of the connection part which concerns on Embodiment 1 of this invention. It is a figure which shows the state in which the latching part in Embodiment 1 of this invention is latched by the upper end part of the front wall of a towed object from the inner side of a towed object. It is a figure which shows the state in which the latching part in Embodiment 1 of this invention is latched by the upper end part of the front wall of a towed object from an upper side. It is a figure which shows the state in which the latching | locking part in Embodiment 1 of this invention is latched by the upper end part of the front wall of a towed object from the right side. It is a figure which shows the state of a latching part when the connection part in Embodiment 1 of this invention is cut | disconnected from a towed object from the inner side of a towed object. It is a figure which shows the state from which the modification of the latching part in Embodiment 1 of this invention is latched by the upper end part of the front wall of a towed object from the inner side of a towed object. It is a figure which shows the outline of a structure of the automatic separation system of the mobile body which concerns on Embodiment 2 of this invention, and a mobile body and a to-be-towed object. It is a block diagram which shows an example of a structure of the moving body which concerns on Embodiment 2 of this invention.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a moving body and an automatic separation system between the moving body and a to-be-towed object according to the present invention will be described below with reference to the drawings. However, the present invention is not limited to the following embodiments. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and description thereof will not be repeated. In addition, the drawings schematically show each component as a main component for easy understanding. The width, interval, thickness, length, and the like of the illustrated components are different from actual ones for the convenience of drawing. Note that the materials, shapes, dimensions, and the like of the components shown in the following embodiments are merely examples and are not particularly limited, and various changes can be made without departing from the effects of the present invention. It is.

[Embodiment 1]
(Basic configuration)
With reference to FIGS. 1-3, the basic structure of the moving body 10 which concerns on Embodiment 1 of this invention and the automatic separation system 100 of the moving body 10 and the to-be-towed object 130 is demonstrated. FIG. 1 is a diagram schematically illustrating the configuration of a moving body 10 and an automatic separation system 100 according to Embodiment 1 of the present invention. FIG. 2 is a diagram illustrating an example of the shape of the guide line 110 according to the first embodiment of the present invention. FIG. 3 is a diagram illustrating a positional relationship between the moving object 10 and the to-be-towed object 130 when the to-be-to-be-triggered object 130 is separated from the moving object 10 in the automatic separation system 100 according to the first embodiment of the present invention.

  The moving body 10 includes a driven unit 20, a driving device 30, a detection unit 40, a control unit 50, and a connection unit 70. The automatic separation system 100 includes a moving body 10, a guide line 110 indicating a travel route of the moving body 10, a marker 120 provided along the guide line 110, and a to-be-triggered object 130.

  The moving body 10 is, for example, a transport vehicle, a towing vehicle, a cart, or a go-kart. The moving body 10 automatically travels (unmanned travel). The moving body 10 moves along the traveling direction X.

  The connection part 70 is connected to the to-be-towed object 130. When the connecting unit 70 connects the moving body 10 and the to-be-triggered object 130, the moving body 10 travels by pulling the to-be-triggered object 130.

  The driven part 20 is rotatable. As the driven part 20 rotates, the moving body 10 travels. The driven part 20 is, for example, a driving wheel. The driven unit 20 is provided in a pair of left and right on the front side of the moving body 10. As the driven part 20 rotates, the moving body 10 travels on the guide line 110. In the first embodiment, two driven parts 20 are provided, but the number of driven parts 20 is not particularly limited.

  The driving device 30 is coupled to the driven unit 20 and rotates the driven unit 20. The drive device 30 includes, for example, a drive motor. The driving device 30 may include a cam mechanism including a gear or the like.

  The detection unit 40 detects the guide line 110 and the marker 120. The detection unit 40 outputs a detection signal indicating the detection result to the control unit 50. The detection unit 40 serves as a guide line detection unit that detects the guide line 110 and a marker detection unit that detects the marker 120.

  The control unit 50 distinguishes the detection signal received from the detection unit 40 into a signal indicating the guide line 110 and a signal indicating the marker 120. The control unit 50 controls the driving device 30 so that the moving body 10 travels on the guide line 110 based on a signal indicating the guide line 110. For example, when the control unit 50 detects a curved portion of the guide line 110 (curve section of the travel route) from a signal indicating the guide line 110, the traveling mobile body 10 bends along the curved portion of the guide line 110. The drive device 30 is controlled. Specifically, the control unit 50 controls the drive device 30 so that a difference occurs in the rotation speed between the left and right driven units 20.

  Further, the control unit 50 determines the command content corresponding to the detected marker 120 based on the signal indicating the marker 120. The command content is defined in advance corresponding to the arrangement of the markers 120, for example. For example, the control unit 50 stores a table in which the relationship between the command content and the marker 120 is defined. The control unit 50 outputs a signal corresponding to the command content to the driving device 30. The driving device 30 rotates the driven unit 20 at a rotation speed (rotational speed) corresponding to the signal output from the control unit 50.

  Further, the control unit 50 controls the drive device 30 based on the detection result of the detection unit 40 so that the rotational speed of the driven unit 20 increases at a specified position on the travel route. Specifically, the control unit 50 recognizes whether or not the guide line 110 is detected based on the detection signal output from the detection unit 40. The control unit 50 outputs a signal corresponding to the recognition result to the driving device 30. The driving device 30 increases the rotational speed (rotational speed) of the driven unit 20 in accordance with the signal output from the control unit 50. Thereby, the moving body 10 travels at an accelerated speed.

  As shown in FIG. 2, the guide line 110 is provided with an interrupted section 111 having a predetermined distance. With respect to the traveling direction X of the moving body 10, the start position of the discontinuous section 111 indicates the end portion of the guide line 110 (hereinafter referred to as “guide line end section”) 112, and the end position of the discontinuous section 111 is the guide position. A start end portion (hereinafter referred to as “guide line start end portion”) 113 of the line 110 is shown. In addition, a bent portion (hereinafter referred to as “guide line bent portion”) 114 is formed in the guide line 110 at a location a predetermined distance before the guide line end portion 112.

  According to the shape of the guide line 110 shown in FIG. 2, in the discontinuous section 111, the control unit 50 of the moving body 10 recognizes that the guide line 110 is no longer detected and increases the rotational speed of the driven unit 20. . Specifically, when detecting the guide line end portion 112, the control unit 50 controls the driving device 30 so that the rotational speed of the driven unit 20 increases. At this time, as shown in FIG. 3, the to-be-towed object 130 reaches the guide line bent portion 114.

  The connecting portion 70 is automatically disconnected from the to-be-triggered object 130 based on the shape of the guide line 110 and the increase in the rotational speed of the driven portion 20. Specifically, in order to separate the moving body 10 and the to-be-towed object 130 at a predetermined point, the guide line 110 is previously provided with an interrupted section 111 and a guide line bent portion 114 is formed. The moving body 10 travels at an accelerated speed when the detection line 40 is detected by the detection unit 40. At this time, the to-be-towed object 130 reaches the guide line bent portion 114. As a result, the connecting portion 70 is separated from the to-be-towed object 130 at the guide line bent portion 114. At this time, the separated to-be-to-be-triggered object (hereinafter referred to as “separated to-be-triggered object”) 130 travels by inertial force and stops at a position away from the guide line 110. For this reason, the separated towed object 130 after stopping does not hinder the traveling of the other moving body 10 traveling on the guide line 110.

  According to the first embodiment, the connecting portion 70 is separated from the to-be-triggered object 130 based on the shape of the guide line 110 and the increase in the rotational speed of the driven portion 20. Thereby, the to-be-towed object 130 can be automatically separated from the moving body 10 without hindering a smooth flow of conveyance. Therefore, by using the automatic separation system 100 for the unmanned transport route in the factory, it is possible to increase the operating rate of the factory.

(Operation example)
With reference to FIGS. 2-4, the operation example of the moving body 10 which concerns on Embodiment 1 of this invention is demonstrated. FIG. 4 is a diagram for explaining an operation during traveling of the discontinuous section 111 of the moving body 10 according to the first embodiment of the present invention. The to-be-towed object 130 moves along the traveling direction Y.

  The moving body 10 is pulling the to-be-drawn object 130. The connecting portion 70 is connected to the front end of the to-be-towed object 130. Details of the connecting portion 70 will be described later with reference to FIGS. FIG. 2 shows a state where the moving body 10 is traveling along the traveling direction X in front of the guide line bent portion 114. The to-be-triggered object 130 travels along the traveling direction X (Y) by being pulled by the moving body 10.

  As shown in FIG. 3, the moving body 10 passes through the guide line bent portion 114 along the guide line 110. Along with this, the connecting portion 70 reaches the vicinity of the guide line bent portion 114. While the connecting portion 70 passes near the guide line bent portion 114, the traveling direction X of the moving body 10 and the traveling direction Y of the to-be-towed object 130 are angles according to the shape (curvature radius) of the guide line bent portion 114. Form. At this time, the distance between the guide line bent portion 114 and the guide line end portion 112 is determined in advance so that the detection unit 40 passes over the guide line end portion 112. As a result, at the timing when the traveling direction X of the moving body 10 and the traveling direction Y of the to-be-triggered object 130 form a predetermined angle, the detection unit 40 at the detection position 42 guides the guide line end 112 (the guide line 110). It is possible to detect the start position of the discontinuous section 111).

  When the detection unit 40 detects the terminal position of the guide line 110 (guide line terminal unit 112), the control unit 50 controls the driving device 30 so that the rotational speed of the driven unit 20 increases. The connecting portion 70 passing through the vicinity of the guide line bent portion 114 is pulled more strongly in the acceleration traveling direction Z of the moving body 10 than the non-accelerated traveling of the moving body 10 according to the accelerated traveling of the moving body 10. As a result, the connecting part 70 is separated from the to-be-towed object 130. The separated towed object 130 travels along the traveling direction Y with inertia.

  The separated towed object 130 travels with inertia in a direction corresponding to the shape of the guide line 110, but soon stops at a place other than on the guide line 110 due to road surface resistance, air resistance, or force action such as braking by a person. . For this reason, the separated towed object 130 after stopping does not prevent the other moving body 10 traveling on the guide line 110 from proceeding. As long as it is a separated towed object 130 (for example, an empty cart) in an unloaded state, it may be left at its stop position. Similarly, when the succeeding mobile body 10 (the towing vehicle) repeatedly separates the empty cart at a predetermined point, the separated empty carts gather at a certain location.

  When the to-be-triggered object 130 includes an automatic brake mechanism, the to-be-triggered object 130 may be stopped using the automatic brake mechanism after the connecting portion 70 of the moving body 10 is disconnected from the to-be-triggered object 130. . Thereby, the to-be-towed object 130 becomes easy to gather in a specific location.

  The moving body 10 continues the detection operation of the guide line 110 by the detection unit 40 while accelerating the traveling section 111 of the guide line 110. As illustrated in FIG. 4, when the detection unit 40 detects the guide line start end portion 113 at the detection position 42, the detection unit 40 outputs a signal indicating the detection result to the control unit 50. Thereby, the mobile body 10 resumes traveling along the guide line 110. In addition, when the moving body 10 does not detect the guide line start end portion 113 after traveling a predetermined distance, the control unit 50 performs control to stop the moving body 10 so that the moving body 10 does not continuously run away. May be.

  As shown in FIGS. 2 to 4, the guide line 110 may be bent in the vicinity of the downstream side of the guide line start end portion 113. This is effective when the moving body 10 makes a U-turn along the guide line 110 after the moving body 10 cuts off the object 130 to be pulled.

  However, when the mobile body 10 starts to travel on the guide line 110 after the guide line start end 113 due to the influence of acceleration travel in the interrupted section 111 of the guide line 110, the travel speed of the mobile body 10 is the interrupted section of the guide line 110. 111 is higher than the previous traveling speed.

  Therefore, it is preferable to provide a marker 120 indicating a deceleration command for the moving body 10 immediately after the break section 111 of the guide line 110. Thereby, the moving body 10 can decelerate. Accordingly, the moving body 10 travels without derailing the curve, and can make a U-turn along the guide line 110 with certainty.

(Configuration example of moving body 10)
With reference to FIG. 5, the detail of the moving body 10 of Embodiment 1 is demonstrated. FIG. 5 is a block diagram illustrating an example of the configuration of the moving object 10 according to the first embodiment of the present invention.

  The moving body 10 includes a follower wheel 60. The control unit 50 includes a recognition unit 51, a command content determination unit 52, and a drive device control unit 53.

  The marker 120 is provided along the guide line 110 on at least one of the left side and the right side of the guide line 110. The guide line 110 and the marker 120 are formed of a colored tape or a colored paint. By forming the guide line 110 and the marker 120 with a colored tape, the guide line 110 and the marker 120 can be easily peeled off from the ground or floor surface. Therefore, the travel route can be easily changed. In addition, when the guide line 110 and the marker 120 are formed of a colored paint, the travel route can be easily changed. Specifically, when the travel route is changed, the paint forming the guide line 110 and the marker 120 may be peeled off or the paint may be overcoated with the same color paint as the travel surface. In addition, since the guide line 110 and the marker 120 are formed of colored tape or colored paint, it is possible to reduce a construction period required for laying and changing the guide line 110 and the marker 120.

  Note that the guide line 110 may be formed by a magnetic generation member (for example, an electromagnetic induction wire). In this case, a magnetic sensor is attached as a sensor for detecting the guide line 110.

  The follower wheel 60 supports the movable body 10 together with the driven unit 20. The slave wheels 60 are provided in a pair of left and right on the rear side of the moving body 10. The follower wheel 60 rotates as the mobile object 10 travels. In the first embodiment, two slave wheels 60 are provided, but the number of slave wheels 60 is not particularly limited.

  The detection unit 40 includes a plurality of optical reflective sensors (hereinafter, “optical reflective sensor” is simply referred to as “optical sensor”) 41. The optical sensor 41 is provided at the lower part on the front end side of the moving body 10. The plurality of optical sensors 41 are arranged in a horizontal row so as to be orthogonal to the traveling direction X of the moving body 10 when the moving body 10 travels in a straight section of the travel route. Thereby, the detection range of the detection part 40 can be expanded, and it becomes difficult for the moving body 10 to derail during curve driving | running | working. In the first embodiment, the number of the optical sensors 41 is eight, but the number of the optical sensors 41 is not limited to eight. By increasing the number of optical sensors 41, the arrangement density of the optical sensors 41 is increased, and the detection accuracy of the guide lines 110 and the markers 120 can be increased.

  As the moving body 10 travels, any of the plurality of optical sensors 41 passes over the guide line 110 and the marker 120. A signal output from each optical sensor 41 is transmitted to the recognition unit 51.

  The recognition unit 51 identifies the guide line 110 and the marker 120 based on the signal received from each optical sensor 41. For example, the recognition unit 51 recognizes the detection target first detected by any one of the optical sensors 41 as the guide line 110. Further, when the optical sensor 41 different from the optical sensor 41 that detects the detection target detects another detection target, the recognition unit 51 recognizes the detection target as the marker 120. At this time, the detection target detected first is continuously detected by any one of the optical sensors 41. The recognition unit 51 transmits the signal received from the optical sensor 41 that has detected the guide line 110 to the drive device control unit 53. The recognizing unit 51 transmits a signal received from the optical sensor 41 that has detected the marker 120 to the command content determining unit 52.

  The command content determination unit 52 determines the arrangement of the markers 120 based on the signal received from the recognition unit 51. The command content determination unit 52 determines the command content based on the determination result. The command content determination unit 52 transmits a signal indicating the confirmed command content to the drive device control unit 53.

  The drive device control unit 53 controls the drive device 30 so that the moving body 10 travels on the guide line 110 based on the signal received from the recognition unit 51 (signal indicating the guide line 110). For example, when the two optical sensors 41 at the center of the plurality of optical sensors 41 arranged in a horizontal row detect the guide line 110 when the moving body 10 travels in a straight section of the travel route, the driving device control is performed. The unit 53 controls the driving device 30 so that the guide line 110 is detected by the two optical sensors 41 at the center. In this case, when the moving body 10 enters the curved portion of the guide line 110 (curve section of the travel route), the optical sensor 41 different from the two central optical sensors 41 detects the guide line 110. Therefore, the detection position of the guide line 110 in the detection unit 40 changes. The drive device control unit 53 controls the drive device 30 so that a difference occurs in the rotation speed between the left and right driven units 20 according to the change in the detection position of the guide line 110. For example, the drive device control unit 53 controls the drive device 30 so that the number of rotations of the driven unit 20 located outside the curved portion of the guide line 110 (curve section of the travel route) increases. Thereby, the moving body 10 can bend along the guide line 110.

  The drive device control unit 53 controls the drive device 30 based on the signal received from the command content determination unit 52. The drive device 30 rotates the driven unit 20 at a rotation speed corresponding to the control content indicated by the signal output from the drive device control unit 53. For example, when the signal output from the drive device control unit 53 indicates the control content of “10% deceleration”, the drive device 30 decreases the rotational speed of the driven unit 20 by 10%. Further, the driving device control unit 53 receives a signal indicating information on the rotational speed of the driven unit 20 from the driving device 30, and maintains a state where the rotational speed of the driven unit 20 is reduced by 10%, for example, by PWM control. To do.

(Configuration example of connecting portion 70)
With reference to FIGS. 6-10, the detail of the connection part 70 of Embodiment 1 is demonstrated. FIG. 6 is a diagram illustrating an example of a connection state of the connection unit 70 according to the first embodiment of the present invention. FIG. 7 is a diagram illustrating a state in which the hooking portion 71 is hooked to the upper end 131 of the front wall of the to-be-triggered object 130 from the inside of the to-be-triggered object 130 in Embodiment 1 of the present invention.

  As shown in FIGS. 6 and 7, the connecting portion 70 includes a hooking portion 71 and a connecting band 77. The connection band 77 includes a band or a string formed in a ring shape. One end of the connection band 77 is loosely attached to the handle part 79 provided in the latching part 71, and the other end of the connection band 77 is attached to the handle part 80 at the rear of the moving body 10. The moving body 10 is connected to the to-be-towed object 130 through the connecting portion 70 by the hooking part 71 being hooked on a part of the to-be-to-be-towed object 130.

  The latching portion 71 includes a first projecting portion 72, a second projecting portion 73, a support portion 74, and a handle portion 79. The 1st protrusion part 72 and the 2nd protrusion part 73 are opposingly arranged in the front-back direction, and protrude below. The support part 74 forms an upper end part of the latching part 71 and supports the first protrusion part 72 and the second protrusion part 73. The support portion 74 has a support portion first end portion 75 at the right end and a support portion second end portion 76 at the left end along the longitudinal direction of the support portion 74. The handle portion 79 is provided in a U shape on the upper surface of the support portion 74.

  The shape of the first protrusion 72 when viewed from the front is a rectangular shape in which both lower corners are arc-shaped (rounded). The shape of the support portion first end portion 75 is an arc shape at the lower right corner, and the shape of the support portion second end portion 76 is an arc shape at the lower left corner. The first projecting portion 72 on the front side, the second projecting portion 73 on the rear side, and the support portion 74 form a downward U-shaped or substantially U-shaped cross-sectional shape, so that the latching portion 71 is pulled. 130 is hooked from above so as to be hooked on the upper end 131 of the front wall.

  The rear side second protrusion 73 includes a rod-shaped member. The number of rod-shaped members is not particularly limited, but two or more are preferable. By including the rod-shaped member in the rear-side second projecting portion 73, even when the to-be-towed object 130 loads the load up to the front end of the to-be-towed object 130, avoid the load when towing the moving body 10. Thus, the latching portion 71 can be latched. A bolt may be used as the rod-shaped member. Since the downward projecting length of the second projecting portion 73 from the support portion 74 can be adjusted, it becomes easier to latch the latching portion 71 while avoiding the load.

  FIG. 8 is a diagram showing a state in which the hooking portion 71 is hooked on the upper end 131 of the front wall of the to-be-towed object 130 from above in Embodiment 1 of the present invention. FIG. 9 is a diagram showing a state in which the hook portion 71 is hooked to the upper end portion 131 of the front wall of the to-be-towed object 130 from the right side according to the first embodiment of the present invention. As shown in FIGS. 8 and 9, the front wall of the pulled object 130 and the first protrusion 72 or the second protrusion 73 are not in close contact with each other. For this reason, even if the latching | locking part 71 is the state latched by the to-be-drawn object 130, it is movable to the up direction and the left-right direction (horizontal direction) with respect to the front wall of the to-be-towed object 130.

  Further, the lower end portion of the first protrusion 72 abuts on the step surface 132 of the front wall of the to-be-towed object 130. When the moving body 10 is pulling the to-be-triggered object 130, the second projecting portion 73 comes into contact with the rear surface of the front wall of the to-be-triggered object 130, so that the latching portion 71 does not come off the to-be-triggered object 130. That is, the connecting part 70 is not separated from the to-be-towed object 130.

  FIG. 10 is a diagram illustrating the state of the latching portion 71 when the connecting portion 70 is disconnected from the to-be-triggered object 130 from the inside of the to-be-triggered object 130 in Embodiment 1 of the present invention. FIG. 10 shows a case where the connecting portion 70 is disconnected from the to-be-triggered object 130 as the moving body 10 travels along the guide line bent portion 114 that is turning right as described with reference to FIG. 3. The connecting portion 70 passing through the vicinity of the guide line bent portion 114 is pulled more strongly in the acceleration traveling direction Z of the moving body 10 than the non-accelerated traveling of the moving body 10 according to the acceleration traveling of the moving body 10 (see FIG. 3). That is, the pull portion 79 is pulled by the connecting band 77 to the right substantially more strongly than when the moving body 10 is not accelerated. Due to the rapid and strong tension applied by the connecting band 77 to the pulling portion 79, the pulling portion 79 causes the upper surface of the support portion 74 (the latching portion 71) to the right with the lower right end of the support portion first end 75 as a fulcrum. The raised latch 71 is rotated rightward in the longitudinal direction of the support 74. The pivoted latching portion 71 is pulled along the traveling direction X of the moving body 10 by the connecting band 77 and pulled away from the to-be-triggered object 130. Thereby, the operation | movement which cut | disconnects the connection part 70 from the to-be-towed object 130 is completed.

  In addition, by making each shape of the corner on the lower side of the first protrusion 72, the corner on the lower right side of the support portion first end 75 and the corner on the lower left side of the support portion second end portion 76 into an arc shape, Depending on the shape of the guide line 110, the latching portion 71 can be easily rotated in the left-right direction.

  Moreover, it is preferable that the handle part 79 is provided with a stopper 78. The end of the connecting band 77 attached to the pulling portion 79 side is slidable along the longitudinal direction of the pulling portion 79, and the stopper 78 limits the sliding of the connecting band 77 to a predetermined section. As described with reference to FIG. 10, when the connecting portion 70 is separated from the to-be-towed object 130 in the right direction, the stopper 78 is provided in advance on the right side of the handle portion 79. Thereby, it becomes easy to rotate the latching | locking part 71 to the right direction. Similarly, when separating in the left direction, a stopper 78 may be provided in advance on the left side of the handle portion 79.

  Further, the length of the pulling portion 79 in the longitudinal direction may be provided near both ends of the upper surface of the support portion 74. In this case, the stopper 78 is not provided on the handle portion 79. When the connecting portion 70 is separated from the to-be-towed object 130 in the right direction, the connecting band 77 may be provided on the right pulling portion 79 in advance. Similarly, when separating in the left direction, the connecting band 77 may be provided in advance on the left pulling portion 79.

  Further, the connecting band 77 may be loosely attached to the handle 80 at the rear of the moving body 10. Thereby, when the connection part 70 is separated, the end part of the connection band 77 attached to the handle part 80 is easily slid along the shape of the handle part 80. As a result, the connecting band 77 moves moderately in the direction of pulling the latching portion 71, and the connecting portion 70 can be easily separated from the to-be-towed object 130.

(Modified example of connecting part 70)
With reference to FIG. 11, the modification of the connection part 70 of Embodiment 1 is demonstrated. FIG. 11 is a diagram illustrating a state in which the modified example of the hooking portion 71 is hooked on the upper end portion 131 of the front wall of the to-be-triggered object 130 from the inside of the to-be-triggered object 130 in Embodiment 1 of the present invention. . Moreover, FIG. 11 shows the case where the connection part 70 is cut | disconnected from the to-be-triggered object 130 by the moving body 10 driving | running | working the guide line bending part 114 which is turning right. Below, only a different point from the above-mentioned connection part 70 is demonstrated.

  The hooking portion 71 is hooked on the to-be-triggered object 130 while being inclined in the longitudinal direction of the support portion 74. The support part 74 has a support part first end 75 and a support part second end 76 having different heights. The support portion second end portion 76 is higher than the support portion first end portion 75. The latching portion 71 is latched on the upper end portion 131 of the front wall of the to-be-drawn object 130 in a state where the right side is lowered in the longitudinal direction of the support portion 74. As a result, the upper surface of the support portion 74 (the latching portion 71) is easily raised to the right side by the connecting band 77 when the moving body 10 is accelerated. The latching portion 71 that is raised rotates in the right direction. Accordingly, the connecting portion 70 can be easily separated from the to-be-towed object 130.

  In addition, when the to-be-towed object 130 is cut off from the moving body 10 only at the right-turn guide line bent portion 114, the shape of the corner portion on the lower left side of the support portion second end portion 76 does not need to be an arc shape. Similarly, when the to-be-towed object 130 is separated from the moving body 10 only at the left-turn guide line bent portion 114, the shape of the corner portion on the lower right side of the support portion first end portion 75 does not need to be an arc shape. .

  As described above with reference to FIGS. 2 to 11, the moving body 10 is covered by the acceleration traveling of the moving body 10 and the shape of the guide line 110 that is bent at a predetermined angle on the upstream side from the acceleration traveling position. The connecting portion 70 is disconnected from the towed object 130. Therefore, no personnel are required for disconnection, and the progress of the following moving body is not hindered, so that the operating rate of the factory can be increased.

  In addition, it is preferable that the predetermined angle of the guide line 110 that bends upstream from the position where the moving body 10 travels at an accelerated speed is in the range of 60 ° to 120 °. Thereby, the to-be-towed object 130 can be further reliably separated from the moving body 10.

  Moreover, the mobile body 10 may be capable of switching between automatic pilot travel and manual pilot travel. The moving body 10 may travel alone. At this time, the moving body 10 may travel with a person on it, or may travel with objects, animals and plants loaded thereon. The to-be-towed object 130 is, for example, a cart or a freight vehicle. The to-be-towed object 130 may carry a person, and may load things, animals and plants. The to-be-towed object 130 may include an automatic brake mechanism.

  Moreover, as the driven part 20, a plurality of driving wheels and an endless track (Catapillar (registered trademark)) spanning these driving wheels may be used. In this case, the moving body 10 may not include the slave wheel 60.

[Embodiment 2]
With reference to FIG. 12, the basic configuration of the moving body 10 and the automatic separation system 100 between the moving body 10 and the to-be-towed object 130 according to the second embodiment of the present invention will be described. FIG. 12 is a diagram showing an outline of the configuration of the moving body 10 and the automatic separation system 100 according to Embodiment 2 of the present invention. Only differences from the first embodiment will be described below.

  In the second embodiment, the left marker detection unit 43, the right marker detection unit 44, and the guide line detection unit 45 are provided independently. Each of the left marker detection unit 43, the right marker detection unit 44, and the guide line detection unit 45 includes a plurality of optical sensors 41. The guide line detection unit 45 detects the guide line 110. The left marker detection unit 43 and the right marker detection unit 44 detect the left marker 121 and the right marker 122 provided along the guide line 110.

  Details of the second embodiment will be described with reference to FIG. FIG. 13 is a block diagram illustrating an example of the configuration of the moving object 10 according to the second embodiment of the present invention. Only differences from the first embodiment will be described below.

  In the second embodiment, the control unit 50 includes a command content determination unit 52 and a drive device control unit 53. The detection signal output by the guide line detection unit 45 is transmitted to the drive device control unit 53. Detection signals output from the left marker detection unit 43 and the right marker detection unit 44 are transmitted to the command content determination unit 52.

  According to the second embodiment, the left marker detection unit 43, the right marker detection unit 44, and the guide line detection unit 45 are provided independently. Therefore, the positions of the left marker detection unit 43 and the right marker detection unit 44 can be easily associated with the position of the marker 120. As a result, it becomes easy to change the interval between the guide line 110 and the marker 120 according to the size of the space in which the moving body 10 is traveled.

  The mobile body and automatic disconnection system of the present invention include a self-propelled vehicle, a transport vehicle, a tow vehicle, a factory, a warehouse, a warehouse district, a container terminal, a hospital, a zoo, an amusement park, a museum, a theme park, a golf course, an airport, etc. It is suitably used for a system for automatically driving a car, a go-cart, a cart, an aircraft, or the like.

DESCRIPTION OF SYMBOLS 10 Mobile body 20 Driven part 30 Drive apparatus 40 Detection part 41 Optical reflection type sensor 42 Detection position 43 Left marker detection part 44 Right marker detection part 45 Guide line detection part 50 Control part 51 Recognition part 52 Command content determination part 53 Drive Device control unit 60 Follower wheel 70 Connecting portion 71 Latching portion 72 First projecting portion 73 Second projecting portion 74 Supporting portion 75 Supporting portion first end portion 76 Supporting portion second end portion 77 Connecting band 78 Stopper 79 Pulling portion 80 Handle portion DESCRIPTION OF SYMBOLS 100 Automatic disconnection system 110 Guide line 111 Guide line break section 112 Guide line terminal part 113 Guide line start part 114 Guide line bent part 120 Marker 121 Left marker 122 Right marker 130 Towed object 131 Upper end part 132 of front wall Step surface X Traveling direction of moving body Y Traveling direction of towed object Z Accelerated traveling direction of moving body

Claims (11)

A moving body traveling on a guide line,
A rotatable driven part for running the moving body;
A driving device for rotating the driven part;
A guide line detector for detecting the guide line;
A control unit that controls the driving device so that the number of rotations of the driven unit increases based on a detection result of the guide line detection unit;
A connecting portion for connecting to the towed object,
A moving body in which the connecting portion is disconnected from the to-be-towed object based on the shape of the guide line and the increase in the number of rotations of the driven portion. The guide line detection unit detects a terminal position of the guide line;
The moving body according to claim 1, wherein the control unit controls the driving device such that the number of rotations of the driven unit increases according to detection of the terminal position. The connecting portion includes a hooking portion to be hooked on the to-be-towed object,
The latching portion is
A first projecting portion and a second projecting portion which are arranged opposite to project downward, and
The moving body according to claim 1, further comprising: a support portion that supports the first protrusion and the second protrusion.   The movable body according to claim 3, wherein one of the first protrusion and the second protrusion includes at least one rod-shaped member.   The moving body according to claim 4, wherein the rod-shaped member includes a bolt.   The movable body according to any one of claims 3 to 5, wherein the hooking portion is hooked on the to-be-triggered object while being inclined in the longitudinal direction of the support portion. A marker detection unit for detecting a marker provided along the guide line;
7. The moving body according to claim 1, wherein the control unit controls the driving device such that the number of rotations of the driven unit decreases according to a detection result of the marker. . The moving body according to any one of claims 1 to 6,
The guide line;
A system for automatically separating a movable body and a to-be-towed object, including the to-be-towed object. A moving body according to claim 7;
The guide line;
The towed object;
A system for automatically separating a moving body and a to-be-towed object, including the marker.   The automatic separation system between the moving body and the to-be-towed object according to claim 8 or 9, wherein the guide line is bent at a predetermined angle upstream from a position where the moving body is accelerated.   The automatic separation system between the moving body and the to-be-towed object according to claim 10, wherein the predetermined angle is in a range of 60 ° to 120 °.

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