CN105074601B - automatic conveying vehicle and automatic conveying vehicle system - Google Patents
automatic conveying vehicle and automatic conveying vehicle system Download PDFInfo
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- CN105074601B CN105074601B CN201480018772.6A CN201480018772A CN105074601B CN 105074601 B CN105074601 B CN 105074601B CN 201480018772 A CN201480018772 A CN 201480018772A CN 105074601 B CN105074601 B CN 105074601B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
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Abstract
The present invention reduces the stand-by period of people in goods elevator, improves operating efficiency.Automatic conveying vehicle (10) includes travel mechanism (11), control device (14) and object detection sensors (15).Travel mechanism (11) makes vehicle (vehicle 35) mobile.Control device (14) controls travel mechanism (11) to guide vehicle (35).Object detection sensors (15) detection object.Control device (14) is moved in the route of different floors in vehicle (35) using elevator, it whether there is object using object detection sensors (15) detection elevator floor stops when vehicle (35) takes elevator, in the case where being judged as no object, the call signal for calling vehicle (35) car to be taken is exported to elevator.
Description
Technical field
The present invention relates to automatic conveying vehicle and automatic conveying vehicle system, automatic conveying vehicle is more particularly to set to cross over different buildings
The technology of the landline traveling of layer.
Background technology
In recent years, with factory and home-delivery center etc. logistics automation, goods conveying in automatic conveying vehicle (AGV,
Automatic Guided Vehicle) it is used widely.In the case of using automatic conveying vehicle, according to use environment not
Together, landline there is a situation where to cross over floor such as from Stall to three buildings.
In the case of this landline, automatic conveying vehicle is moved using goods with elevator between different floors.Make
In the case of goods elevator, automatic conveying vehicle is mounted with for example to control the control device of the goods elevator.
The control device is device of the automatic conveying vehicle using the goods elevator time control system goods elevator, to control goods electricity consumption
Calling, the setting of destination and the shutdown signal for closing goods elevator door of the elevator control gear output goods elevator of ladder.
When automatic conveying vehicle uses elevator, consider that widely used people and automatic conveying vehicle can not be simultaneously from secure context
Take the regulation of elevator.This is due to there is the worry that automatic conveying vehicle is contacted with people in the narrow space in elevator.
In addition, automatic conveying vehicle notifies the message when using goods elevator by revolving light, light or buzzer etc.,
Make one not go to take elevator.
Be used as the mobile technology of this automatic conveying vehicle, it is known to for example can promptly correspond to external environment condition change,
The technology (such as referenced patent document 1) moved while avoidant disorder thing.
Prior art literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2009-288931 publications
The content of the invention
The invention problem to be solved
But the inventors have found that the problem of that has as described below in the application technology of automatic conveying vehicle as described above point.
However, in the case where automatic conveying vehicle and people share goods elevator, there is the load for occurring situation as described below
Sorrow.Under the situation that goods is being used with elevator, people and automatic conveying vehicle have to wait for using and terminated in a certain same floor.
During using goods elevator, with elevator goods is called by " calling " for electricity consumption ladder of unloading goods using the moment of end in goods
Use elevator.Now, automatic conveying vehicle calls goods elevator by above-mentioned control device.
On the other hand, in the case of human, it is necessary to judge that goods is pressed the " call " button again with elevator using end.Its result
It is, always automatic conveying vehicle calling arrival elevator.
Therefore, people can not take goods elevator, the problem of there is useless stand-by period, operating efficiency and reduce.Particularly
In the case where automatic conveying vehicle is reached etc. after people, above mentioned problem becomes notable.
The purpose of the present invention can reduce in goods elevator the stand-by period of people for offer, improve the technology of operating efficiency.
Record and accompanying drawing of the above and other purpose and new feature of the present invention by this specification can be apparent.
Technical scheme for solving problem
The summary of representational invention in invention disclosed in the present application is simplyd illustrate as follows.
That is, the summary of representational invention is, applied to automatic conveying vehicle and automatic conveying vehicle system, and with following special
Levy.
Automatic conveying vehicle include make vehicle move travel mechanism, control the travel mechanism and guide vehicle control unit and
The object detection sensors of detection object.Also, control unit is in the route that vehicle is moved to different floors using elevator,
When vehicle takes elevator, detect that the stop in elevator whether there is object, be judged as no institute by object detection sensors
When stating object, the signal for calling the car to be taken of vehicle is exported to elevator.
In addition, automatic conveying vehicle system includes loading the elevator of goods and using the elevator in the transport road of different floors
The automatic conveying vehicle travelled on line.Elevator includes the electricity for receiving the call signal for the car that calling loads goods or automatic conveying vehicle
The elevator control gear of the lifting of terraced communicator and control car.
Travel mechanism that automatic conveying vehicle is moved including the use of vehicle, control travel mechanism and guide vehicle control unit and
The object detection sensors of detection object.
Control unit, in the route that vehicle is moved to different floors using elevator, when vehicle takes elevator, passes through thing
Body detecting sensor to whether there is object in the stop of detection elevator, when being judged as without the object, to elevator communication
The signal of the device output calling car to be taken of vehicle.
Also, elevator control gear makes car lift to automatic transport when communication device for elevator receives call signal
The floor of car boarding.
Invention effect
The effect obtained by representational invention in invention disclosed by the invention simplys illustrate as follows.
Operating efficiency can be improved.
Brief description of the drawings
Fig. 1 is the explanation figure of one of the automatic transport bassinet structure for representing embodiments of the present invention.
Fig. 2 is the block diagram of one for representing to be arranged on the control device structure on Fig. 1 automatic conveying vehicle.
Fig. 3 is to represent that the operator of present inventor's research and the goods of automatic conveying vehicle share caused problem points with elevator
Illustrate figure.
Fig. 4 is to represent the object detection scope using the object detection sensors being arranged on Fig. 1 automatic conveying vehicle
The explanation figure of one.
Fig. 5 is the explanation figure of one for representing the goods elevator structure that Fig. 1 automatic conveying vehicle is utilized.
Fig. 6 is the flow chart of one of the action of Fig. 5 goods elevator.
Fig. 7 is the flow chart of one of the action for representing the automatic conveying vehicle with the landline for taking goods elevator.
Fig. 8 is the explanation figure of one of the landline of automatic conveying vehicle traveling in the flow chart for represent Fig. 7.
Embodiment
In the following embodiments, for convenience's sake, it is divided into multiple embodiments or chapters and sections to carry out when needed
Illustrate, but in addition to situation about especially clearly stating, they are not related, but a side is the part of the opposing party
Or the relation such as whole variation, details, supplementary notes.
In addition, in the following embodiments, number of key element etc. (including number, numeral, amount, scope etc.) is being mentioned
In the case of, in addition to situation except being expressly defined as optional network specific digit in the situation or principle clearly stated etc., it is not limited to
The optional network specific digit, and can on optional network specific digit or under.
Moreover, in the following embodiments, its structural element (also including key element step etc.) is except the feelings clearly stated
Outside situation about clearly being needed in condition and principle etc. not necessarily, this is without explicit word.
Similarly, in the following embodiments, when referring to shape, position relationship of structural element etc. etc., except clear and definite
Can be expressly deemed that outside really not so situation etc. in the situation and principle of explanation, substantially comprise it is approximate with its shape etc. or
Similar thing.This for above-mentioned numerical value and scope similarly.
In addition, in whole accompanying drawings for illustrating embodiment, being accompanied by same symbol in principle to same part, and save
Slightly its repeat specification, in addition, in order that accompanying drawing is easily understood, also there is the situation for being accompanied by hacures even if plan.
<The summary of invention>
The first summary of the present invention is automatic conveying vehicle (automatic conveying vehicle 10).The automatic conveying vehicle includes travel mechanism
(travel mechanism 11), control unit (control device 14) and object detection sensors (object detection sensors 15).Travel mechanism makes
Vehicle (vehicle 35) is mobile.Control unit is controlled to travel mechanism and guides vehicle.Object detection sensors detection object.
Moreover, control unit is in the route that vehicle is moved to different floors using elevator, it is sharp when vehicle takes elevator
It whether there is object with object detection sensors detection elevator floor stops, in the case where being judged as no object, exported to elevator
Call the call signal of the car to be taken of vehicle.
In addition, the second summary of the present invention is automatic conveying vehicle.Automatic conveying vehicle includes elevator and automatic conveying vehicle is (automatic
Waggon 10).Elevator carries goods.The landline that automatic conveying vehicle is moved using elevator between different floors is up
Sail.
In addition, elevator has communication device for elevator (communicator 45) and elevator control gear (elevator control gear 46).
Communication device for elevator receives the call signal of calling goods or the car to be taken of automatic conveying vehicle.Elevator control gear controls sedan-chair
Railway carriage or compartment is lifted.
Automatic conveying vehicle includes travel mechanism (travel mechanism 11), control unit (control device 14) and object detection sensors
(object detection sensors 15).Travel mechanism makes vehicle (vehicle 35) mobile.Control unit is controlled to travel mechanism, guide car
.Object detection sensors detection object.
Moreover, control unit is in the route that vehicle is moved to different floors using elevator, it is sharp when vehicle takes elevator
It whether there is object with object detection sensors detection elevator floor stops, in the case where being judged as no object, exported to elevator
Call the call signal of the car to be taken of vehicle.
Elevator control gear makes car be elevated to automatic conveying vehicle and taken when communication device for elevator receives call signal
Floor.
Embodiment is described in detail below based on above-mentioned summary.
<The configuration example of automatic conveying vehicle>
Fig. 1 is the explanation figure of one of the automatic transport bassinet structure for representing present embodiment.
As shown in figure 1, automatic conveying vehicle 10 includes travel mechanism 11, driving wheel 12, universal wheel 13, control device 14, thing
Body detecting sensor 15, extraneous sensor 16, communication device for elevator 17 and wheel 35.
Travel mechanism 11 is equipped with vehicle 35.The travel mechanism for example by motor, drive the drive circuit and storage of the motor
Battery etc. is constituted, and produces power.Two driving wheels 12 and two universal wheels 13 are respectively equipped with vehicle 35.
Driving wheel 12 shown in hacures is arranged on the rear of vehicle 35, and universal wheel 13 is arranged on the traveling side as vehicle 35
To front portion.Travel mechanism 11 is connected by Poewr transmission mechanism (not shown) with driving wheel 12.In addition, travel mechanism 11 also may be used
Not drive driving wheel 12 by Poewr transmission mechanism, i.e., so-called direct drive mode.
Automatic conveying vehicle 10 rotates driving wheel 12 by using travel mechanism 11, makes the universal wheel 13 as driven pulley
Rotation, so that mobile.Object detection sensors 15 whether there is people or object on the direct of travel to detect automatic conveying vehicle 10
Deng sensor.Object detection sensors 15 are for example including infrared ray sensor, laser sensor, ultrasonic sensor, shooting
Machine or human body sensor etc..
Extraneous sensor 16 is the current location of acquisition automatic conveying vehicle 10 and the sensor of target location.Thus, automatically
Waggon 10 can carry out rail-free conveying in the case where guiding equipment without using magnetic recording tape etc..These object detection sensors 15 and outer
Boundary's sensor 16 is for example installed in the front portion of vehicle 35.
It is independently arranged here, object detection sensors 15 and extraneous sensor 16 may not be but is configured to a biography
Sensor.For example, in the case of rail-free conveying type automatic conveying vehicle, existing and using laser range sensor etc. to be passed as extraneous
The situation of sensor.
Laser range sensor is scanned to horizontal direction at certain intervals using infrared laser etc. per certain time.
By the way that the laser range sensor is used as into object detection sensors, people and thing are capable of detecting when, a sensor can be utilized
As object detection sensors and extraneous sensor.
In addition, the occasion of the rail-free conveying type automatic conveying vehicle with extraneous sensor 16 is illustrated in Fig. 1,
Or be not provided with extraneous sensor 16 and equipment is guided drawing for travelling with guiding band such as magnetic recording tape or white line etc. by guiding
Conductivity type automatic conveying vehicle.
In the case of using magnetic recording tape, automatic conveying vehicle is guided by the magnetic field for the magnetic recording tape generation being attached on floor.
In the case of the guiding band such as white line, the guiding band being attached on floor is identified automatic conveying vehicle, is guided in the guiding
Take traveling.
Communication device for elevator 17 carries out the communication with elevator control gear described later.Elevator control gear is arranged on goods electricity consumption
In ladder, the action control of the goods elevator is carried out.Communication device for elevator 17 is such as installed in the top of vehicle 35.
In addition, the communication mode of communication device for elevator 17 is using the specification of elevator control gear as standard, such as by infrared
Progress and the communication of elevator control gear such as line communication or radio communication.
Control device 14 controls travel mechanism based on the information obtained from object detection sensors 15 and extraneous sensor 16
11, the automatic transport control of automatic conveying vehicle 10 is carried out, and carry out the Control on Communication based on communication device for elevator 17.Control dress
14 are put to be arranged on vehicle 35.
<The configuration example of control device>
Fig. 2 is the block diagram of one of the structure for representing to be arranged on the control device on Fig. 1 automatic conveying vehicle.
As shown in Fig. 2 control device 14 includes object detection portion 18, elevator communication control unit 19, the and of position identification part 20
Travel mechanism's control unit 21.Object detection portion 15 is connected in object detection portion 18.The object detection portion 18 is based on object detection
The information that sensor 15 is obtained whether there is object in the particular range to judge the direct of travel of automatic conveying vehicle 10.
Extraneous sensor 16 is connected on position identification part 20.The measurement that position identification part 20 obtains extraneous sensor 16
The cartographic information for the environment that information is travelled with automatic conveying vehicle 10 matches, and recognizes current location and the mesh of automatic conveying vehicle 10
Cursor position, the wherein cartographic information is to measuring the progress statistical disposition of the measurement information in the running environment collected institute in advance
.
Elevator communication control unit 19 and obtains communication device for elevator and connect to the transmission of the indication signal of communication device for elevator 17
The signal received.Elevator communication control unit 19 identifies that automatic conveying vehicle 10 is located in position identification part 20 and can carried out and elevator control
During the position of the communication of device processed, to the transmission of the indication signal of communication device for elevator 17.Travel mechanism's control unit 21 is based on position
Current location and target location that identification part 20 is recognized move the control of mechanism 11, automatic conveying vehicle 10 is moved to mesh
Position.
<The application examples of goods elevator>
Here, being illustrated to goods with the typical application examples of elevator.
In goods elevator, boarding operation panel is provided with each floor.Be respectively equipped with the boarding operation panel " calling " button,
" closing the door " button and " using " lamp.In the absence of it is visible on the dual-purpose elevator of goods visitor " on " button or " under " button etc..
In goods elevator, it is arranged on the operation panel in car and is provided only with " enabling " button and represents pressing for destination
Button, in the absence of visible " closing the door " button on the dual-purpose elevator of goods visitor etc..
In addition, goods electricity consumption ladder has following feature：(1) it is only capable of specifying a destination；(2) it is bright in " using " lamp
During rising, " calling " push-botton operation of any floor is not bound by；(3) unless pressed destination button or " closing the door " button,
Otherwise door is not turned off, or needs a few minutes just to close automatically.
Goods as characterized above is illustrated with the use example of elevator.Here, to from car call to arrival target
Floor, operator are illustrated untill leaving car.
First, after the floor of stop is pressed the " call " button, " using " lamp of whole floors is lighted, and car starts
To the floor movement pressed the " call " button.Afterwards, car reaches floor and the enabling of stop.
Operator enters car, pressed after destination button, and door is closed, the mesh specified by car to destination button
Mark floor movement.Then, car reaches destination and opened the door.Operator leaves car, presses after the Close button, Men Guan
Close, " using " lamp of whole floors extinguishes.By upper, elevator is using terminating.
<Operator shares the problem of causing with automatic conveying vehicle>
Fig. 3 is to represent that the operator of present inventor's research and the goods of automatic conveying vehicle share caused problem points with elevator
Illustrate figure.
Fig. 3 represent goods elevator using and second floor stop operator 100 and automatic conveying vehicle 101 wait make
With the situation of elevator.In this condition, operator 100 is in order that with goods elevator, it is necessary to when " using " lamp extinguishes
Stop is first pressed the " call " button than automatic conveying vehicle 101.
However, automatic conveying vehicle 101 is communicated with control goods with the elevator control gear 102 of the action of elevator.Therefore,
The moment that can extinguish in " using " lamp sends the signal pressed the " call " button to elevator control gear 102, and operator 100
Can not first it be pressed the " call " button than automatic conveying vehicle 101.
Thus, the situation that goods elevator is preferably used in automatic conveying vehicle 101, operator 100 can not use is caused.
Therefore, the object detection sensors 15 of detection people and thing are equipped with Fig. 1 automatic conveying vehicle 10, goods electricity consumption is detected
It whether there is people or thing near the stop of ladder.
Then, only in the case where detecting nobody and thing, " calling " signal is sent with elevator to goods, goods electricity consumption is called
The car 40 of ladder, and when detecting people and thing, allows the preferential boarding of people, does not send " calling " signal.
As described above, the detection based on object detection sensors 15 need not distinguish people and thing, as long as people or thing.
In logistics center etc., the situation for placing article in the stop of goods elevator is quite few.Therefore, in the case of stop existence,
Operator is considered in order that being waited with goods elevator.
<The detection example of object detection sensors>
Fig. 4 is to represent the object detection scope using the object detection sensors being arranged on Fig. 1 automatic conveying vehicle
The explanation figure of one.Fig. 4 (a) represents the example of the object detection scope of object detection sensors 15 viewed from above.
As shown in Fig. 4 (a), object detection sensors 15 for example installed in automatic conveying vehicle 10 direct of travel front portion,
Detection range ARA in pie graph shown in dotted line.Detection range ARA represents the scope that object detection sensors 15 can be detected.
So, it can then be passed on the direct of travel of automatic conveying vehicle 10 if there is object in detection range ARA by object detection
Sensor 15 is detected.
Fig. 4 (b) represents the example of the object detection scope of automatic conveying vehicle when reaching goods elevator floor stops viewed from above
Son.
As illustrated, detection range ARA is to be enough to cover boarding operation panel 30 and the region for the grade of door 44 for being arranged at stop,
It is the region for the object for being capable of detecting when that stop is overall.Thus, the operator in being operated to boarding operation panel 30 is not only,
Even in operator or goods etc. in the case of the end of the door 44 of the opposite side of boarding operation panel 30, thing can be also realized
Physical examination is surveyed.
In addition, example of the object detection sensors 15 installed in the front portion of automatic conveying vehicle 10 is illustrated in the Fig. 4, but thing
The installation site of body detecting sensor 15 is not limited to this.Further, for the scope of detection object, not only automatic defeated
Send the front of car 10, also can at the rear of the automatic conveying vehicle 10 or side etc., or also can detect must be than Fig. 4 detection range
ARA is farther.Further, the object in region all around can be detected by installing multiple objects detection sensor 15.
<The configuration example of goods elevator>
Then, goods is illustrated with the structure of elevator.
Fig. 5 is the explanation figure of one of the structure for representing the goods elevator that Fig. 1 automatic conveying vehicle is utilized.
As shown in figure 5, goods electricity consumption ladder has the car 40 that automatic conveying vehicle 10 can be taken.The car 40 is hanged by hoist cable 41
Hang.Hoist cable 41 is connected with drag device 42.Then, hoist cable 41 is rolled or put down by the drag device 42, make car 40
Moved up and down inside hoistway 43.Liftway 43 is to make the space that car 40 is moved up and down.
Also, each floor that car 40 is stopped is provided with door 44.Each floor and the inside of car 40 difference that car 40 is stopped
Provided with communicator 45 that can be with the mutual receiving and transmitting signal of communication device for elevator 17.
In addition, the top of lift path 43 is provided with elevator control gear 46.Elevator control gear 46 controls traction to fill respectively
The action such as door 44 of 42, each floor is put, the signal that communicator 45 is received in each floor and car 40 is obtained, and it is logical to this
The transmission of the command signal of T unit 45.
In addition, although it is not shown, as shown in figure 4, each floor is provided with the horizontal side of door 44 has " calling " button, " closing the door "
The boarding operation panel 30 of button and " using " lamp.As described above, the boarding operation panel 30 is the operation that human hand operates elevator
Plate.In addition, although it is not shown, also being provided with the operation panel with the Close button and destination button in car 40.
<The action example of goods elevator>
Fig. 6 is the flow chart of one of the action of Fig. 5 goods elevator.
First, elevator on startup, is made whether the judgement (step S101) operated for human hand.If human hand is operated,
I.e. if the operation for the boarding operation panel 30 for passing through Fig. 4, then acted (step S102) according to the operation of human hand as it is.
In step S101 processing, in the case where being judged as non-human hand operation, then a certain floor is determined whether
Communicator 45 receives " calling " signal (step S103) from communication device for elevator 17.
In the case where not receiving " calling " signal, elevator return whether be human hand operation judgement (step S101).
In addition, in the case where the communicator 45 of a certain floor receives " calling " signal, the control traction dress of elevator control gear 46
42 are put, car 40 is moved to the floor (step S104) for receiving " calling " signal.
After the completion of the movement of car 40, the door 44 for the floor that the order car 40 of elevator control gear 46 is reached opens (step
S105).After door 44 is opened, elevator control gear 46 orders the communicator 45 of the floor to send elevator arriving signal (step
S106)。
Afterwards, elevator control gear 46 judges whether the communicator 45 in car 40 receives destination signal (step
Rapid S107).It is standby (step S108) in the case where not receiving destination signal, sentence again in step S107 processing
It is disconnected whether to receive destination signal.
In the case that communicator 45 in car 40 receives destination signal, the order of elevator control gear 46 is worked as
The door 44 of front opening is closed (step S109).Afterwards, the control of elevator control gear 46 drag device 42, mesh is moved to by car 40
Mark the floor (step S110) specified by floor signal.
After the completion of the movement of car 40, the door 44 for the floor that the order car 40 of elevator control gear 46 is moved to is opened
(step S111).After door 44 is opened, the communicator 45 in the order car 40 of elevator control gear 46 sends destination and reached
Signal (step S112).
Then, whether elevator control gear 46 judges the communicator 45 of reached floor from installed in automatic conveying vehicle
Communication device for elevator 17 on 10 is received completes signal (step S113) from ladder.
In the case where not receiving from ladder completion signal, (the step after standby certain time of elevator control gear 46
S114), judge whether to receive in step S113 processing again and complete signal from ladder.
In the case where receiving from ladder completion signal, the order of elevator control gear 46 closes (step when the door 44 of front opening
Rapid S115).Afterwards, elevator control gear 46, which is returned, judges whether elevator is the manual step S101 made of people.
<The traveling example of automatic conveying vehicle>
Then, Fig. 1 automatic conveying vehicle 10 is illustrated along the action taken when goods is travelled with the landline of elevator.
Fig. 7 is the flow chart of one of the action for representing the automatic conveying vehicle with the landline for taking goods elevator.
In the Fig. 7, for for example being illustrated in the landline traveling shown in Fig. 8.In addition, knot of the goods with elevator as shown in Figure 5
Structure is constituted, and carries out action illustrated in fig. 6.
Following example is illustrated in the figure 7：The boarding of the terraced stop of place PT1 traveling arrivals electricity consumption since the conveying of Stall
Start place PT2, place PT2 takes goods elevator since the boarding, second floor stop elevator from ladder complete place PT3
From ladder, travel to the conveying of same floor and complete place PT4.
First, the place PT1 since conveying of automatic conveying vehicle 10, in order to which the boarding for being moved to stop starts place
PT2 and start running (step S201).Under steam, the measurement information that extraneous sensor 16 is obtained is read in position identification part 20,
Recognize that the current location of automatic conveying vehicle 10 itself and the boarding of automatic conveying vehicle 10 start place PT2 based on the measurement information
Position.
The result that position identification part 20 is recognized is output to travel mechanism's control unit 21.Travel mechanism's control unit 21 is based on defeated
The positional information control travel mechanism 11 entered so that automatic conveying vehicle 10 reaches boarding and starts place PT2.
Here, when position identification part 20 is judged as reaching (step S202) after boarding starts place PT2, making travel mechanism 11
Action stop, notifying that reaching boarding starts place PT2 message to elevator communication control unit 19.Here, boarding starts place
PT2 is, for example, the position shown in Fig. 4 (b).
Reach boarding to start after the PT2 of place, travel mechanism's control unit 21 notifies to reach boarding to elevator communication control unit 19
Starting position PT2 message.Now, object detection portion 18 starts the detection of object detection sensors 15.Object detection portion 18 from
Object detection sensors 15 obtain detection information, judged based on the detection information be in the detection range ARA shown in Fig. 4 (b)
It is no to there is object (step S203).
In step S203 processing, when detecting object, it is judged as that stop has operator, in order to allow the operator
Preferentially keep holding state (step S204).By the processing, operator can preferentially take goods elevator.So, by
Reduced in the stand-by period of operator, can synthetically improve operating efficiency.
Then, after certain time, step S203 processing is performed again.In step S203 processing, do not examining
In the case of measuring object, object detection portion 18 notifies to be not detected by the message of object to elevator communication control unit 19.Elevator leads to
Letter control unit 19 receives the boarding from travel mechanism's control unit 21 and starts place PT2 notice and from object detection portion 18
The notice for being not detected by object, be judged as that automatic conveying vehicle 10 itself starts not having near place PT2 and stop positioned at boarding
There is object.
Then, elevator communication control unit 19 makes it send " calling " signal (step to the output order of communication device for elevator 17
S205).Receive after the instruction, communication device for elevator 17 to enter crudely-made articles electricity consumption ladder action control the nothing of elevator control gear 46
Line sends " calling " signal.
The car 40 of goods elevator is reached after stop, and the message for representing that the car 40 is reached is sent from elevator control gear 46
Elevator arriving signal.Elevator communication control unit 19 judges whether communication device for elevator 17 receives elevator arriving signal (step
S206)。
In the case where communication device for elevator 17 does not receive elevator arriving signal, into holding state until receiving electricity
Terraced arriving signal position (step S207), after some period of time, performs step S206 processing.
In step S206 processing, in the case where communication device for elevator 17 receives elevator arriving signal, elevator leads to
Letter control unit 19 makes communication device for elevator 17 terminate " to call " transmission (step S208) of signal.
Then, after car 40 is reached, elevator communication control unit 19 notifies communication device for elevator to travel mechanism's control unit 21
17 receive the message of elevator arriving signal.After receiving, travel mechanism's control unit 21 is based on position identification part 20 to external world
The measurement result that sensor 16 is obtained handled obtained by automatic conveying vehicle 10 itself position and car 40 in should take
The position multiplied, sends to travel mechanism 11 and instructs, the position (step that should be taken for making automatic conveying vehicle 10 be moved in car 40
S209)。
Automatic conveying vehicle 10 reach car 40 in the position that should be taken after (step S210), travel mechanism's control unit 21 to
Elevator communication control unit 19 sends the notice of the position that should be taken reached in car 40.Receive the elevator communication of the notice
Control unit 19 sends to communication device for elevator 17 and instructed, and it is sent destination signal (step S211).
Elevator communication control unit 19 judges that elevator communication is filled when elevator is moved according to destination signal (step S212)
Put whether 17 receive destination arriving signal (step S213).
In the case where communication device for elevator 17 does not receive destination arriving signal, it is judged as that elevator is lifted,
Judge whether communication device for elevator 17 receives destination arriving signal again.
In addition, in communication device for elevator 17 in the case where receiving destination arriving signal, elevator communication control unit
19 send instruction to communication device for elevator 17, make the transmission (step S214) of its target end floor signal.Also, elevator communication
Control unit 19 notifies to receive the notice of destination arriving signal to travel mechanism's control unit 21.
Travel mechanism's control unit 21 is external based on position identification part 20 after the notice of destination arriving signal is received
The measurement result that boundary's sensor 16 is obtained handled obtained by automatic conveying vehicle 10 itself position and elevator from ladder complete
Place PT3 position, sends to travel mechanism 11 and instructs, and automatic conveying vehicle 10 is moved to elevator and completes place (step from ladder
S215)。
Automatic conveying vehicle 10 reach elevator from ladder complete place PT3 after (step S216), travel mechanism's control unit 21 to
Elevator communication control unit 19 is sent to the notice for completing place PT3 from ladder up to elevator.Receive the elevator communication control of the notice
Portion 19 sends to communication device for elevator 17 and instructed, and sends it and completes signal (step S217) from ladder.
Elevator communication control unit 19 is so standby (step S218), after certain time, elevator communication control unit 19 to
Communication device for elevator 17 sends instruction, the transmission (step S219) for making it terminate to complete signal from ladder.
Afterwards, elevator communication control unit 19 notifies to terminate disappearing for the transmission from ladder completion signal to travel mechanism's control unit 21
Breath.Learn that travel mechanism's control unit 21 of the message for the transmission for terminating to complete signal from ladder is passed to external world based on position identification part 20
The measurement result that sensor 16 is obtained handled obtained by the position of itself of automatic conveying vehicle 10 and conveying complete place position
Put, send and instruct to travel mechanism 11, automatic conveying vehicle 10 is moved to mobile completion place PT4 (step S220), then, from
Dynamic waggon 10 reaches conveying and completes to complete conveying (step S221) during the PT4 of place.
Thus, by present embodiment, due to operator can be made preferentially to take goods elevator, therefore, it is possible to improve thing
The transfer efficiency of stream.
In addition, employing the object that detection goods elevator floor stops are set on automatic conveying vehicle 10 in the present embodiment
The structure of object detection sensors 15, but the object detection sensors 15 are not necessarily necessarily placed on automatic conveying vehicle 10.Example
Such as, object detection sensors 15 can be set on ceiling before the goods elevator of each floor etc., and detection Fig. 8 boarding starts ground
Whether point PT2 etc. has object.
Present inventor's proposed invention is specifically illustrated based on embodiment above, but the present invention not by
Limit in the above-described embodiment, various changes can be carried out in the range of its purport is not departed from without explicit word.
In addition, the present invention is not limited to above-mentioned embodiment, but contain various modifications example.For example, above-mentioned implementation
Mode is that in order to the present invention detailed description that illustrates and carry out with being easily understood, and non-limiting must possess illustrated whole
Structure.
In addition, a part for the structure of certain embodiment can be substituted for the structure of other embodiment, or can be at certain
The structure of other embodiment is added in embodiment.In addition, a part for the structure for each embodiment, can carry out it
The addition, deletion, replacement of its structure.
Indicia explanation
10 automatic conveying vehicles
11 travel mechanisms
12 driving wheels
13 universal wheels
14 control devices
15 object detection sensors
16 extraneous sensors
17 communication device for elevator
18 object detection portions
19 elevator communication control units
20 positions identification part
21 travel mechanism's control units
30 boarding operation panels
40 cars
41 hoist cables
42 drag devices
43 hoistways
44
45 communicators
46 elevator control gears
100 operators
101 automatic conveying vehicles
102 elevator control gears.
Claims (10)
1. a kind of automatic conveying vehicle, it is characterised in that including：
The travel mechanism for moving vehicle；
Control the travel mechanism, the control unit of the guiding vehicle；With
The object detection sensors of detection object,
The control unit, in the route that the vehicle is moved to different floors using elevator, elevator is taken in the vehicle
When, detect that the stop in the elevator whether there is object, be judged as without described by the object detection sensors
In the case of there is no operator around the vehicle during object, exported to the elevator and call the car to be taken of vehicle
Signal,
The stop in the elevator that the control unit is carried out proceeds to the presence or absence of the detection of object and is judged as in the elevator
Stop be not present object untill.
2. automatic conveying vehicle as claimed in claim 1, it is characterised in that：
The object detection sensors are infrared ray sensor, laser sensor or the ultrasonic sensor of detection object.
3. automatic conveying vehicle as claimed in claim 1, it is characterised in that：
The object detection sensors are the video camera or human body sensor of detection people.
4. automatic conveying vehicle as claimed in claim 1, it is characterised in that：
The automatic conveying vehicle carries out the trackless channel type of rail-free traveling for the measurement information obtained using laser sensor, makes
The object detection sensors are used as with the laser sensor.
5. automatic conveying vehicle as claimed in claim 1, it is characterised in that：
The control unit includes：
The object detection portion of object is judged whether based on the testing result of the object detection sensors；
The elevator communication control of the control signal of the output calling car when the object detection portion is judged as without object
Portion；With
Based on the control signal exported from the elevator communication control unit come the wireless elevator communication portion for exporting call signal.
6. a kind of automatic conveying vehicle system, it is characterised in that including：
Carry the elevator of goods；With
The automatic conveying vehicle travelled on landline of different floors is moved to using the elevator,
The elevator includes：
Communication device for elevator, it receives the call signal that calling loads the car of the goods or the automatic conveying vehicle；With
The elevator control gear of the lifting of the car is controlled,
The automatic conveying vehicle includes：
The travel mechanism for moving vehicle；
Control the travel mechanism, the control unit of the guiding vehicle；With
The object detection sensors of detection object,
The control unit, in the route that the vehicle is moved to different floors using elevator, elevator is taken in the vehicle
When, detect that the stop in the elevator whether there is object, be judged as without described by the object detection sensors
In the case of not having operator around the vehicle during object, calling the vehicle to communication device for elevator output will take
Car signal,
The stop in the elevator that the control unit is carried out proceeds to the presence or absence of the detection of object and is judged as in the elevator
Stop be not present object untill,
The elevator control gear makes the car lift to institute when the communication device for elevator receives the call signal
State the floor of automatic conveying vehicle boarding.
7. automatic conveying vehicle system as claimed in claim 6, it is characterised in that：
The object detection sensors are infrared ray sensor, laser sensor or the ultrasonic sensor of detection object.
8. automatic conveying vehicle system as claimed in claim 6, it is characterised in that：
The object detection sensors are the video camera or human body sensor of detection people.
9. automatic conveying vehicle system as claimed in claim 6, it is characterised in that：
The automatic conveying vehicle carries out the trackless channel type of rail-free traveling, institute for the measurement information obtained using laser sensor
Object detection sensors are stated for the laser sensor.
10. automatic conveying vehicle system as claimed in claim 6, it is characterised in that：
The control unit includes：
The object detection portion of object is judged whether based on the testing result of the object detection sensors；
The elevator communication control of the control signal of the output calling car when the object detection portion is judged as without object
Portion；With
The call signal is sent into the elevator based on the control signal exported from the elevator communication control unit to lead to
The elevator communication portion of T unit.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013-069380 | 2013-03-28 | ||
| JP2013069380A JP6250944B2 (en) | 2013-03-28 | 2013-03-28 | Automated guided vehicle and automated guided vehicle system |
| PCT/JP2014/054903 WO2014156458A1 (en) | 2013-03-28 | 2014-02-27 | Automatic guided vehicle and automatic guided vehicle system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105074601A CN105074601A (en) | 2015-11-18 |
| CN105074601B true CN105074601B (en) | 2017-09-01 |
Family
ID=51623452
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480018772.6A Active CN105074601B (en) | 2013-03-28 | 2014-02-27 | automatic conveying vehicle and automatic conveying vehicle system |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6250944B2 (en) |
| CN (1) | CN105074601B (en) |
| WO (1) | WO2014156458A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108578134A (en) * | 2018-03-15 | 2018-09-28 | 浙江大学医学院附属妇产科医院 | A kind of medical AGV trolleies intelligent dispensing system |
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| CN105905713B (en) * | 2016-05-31 | 2019-04-30 | 北京云迹科技有限公司 | Automatically exit from the system and method for elevator |
| CN105858372A (en) * | 2016-05-31 | 2016-08-17 | 北京云迹科技有限公司 | Elevator Internet of Things system and method |
| CN105858382A (en) * | 2016-05-31 | 2016-08-17 | 北京云迹科技有限公司 | System and method for automatically getting in/out of elevator |
| CN105905712B (en) * | 2016-05-31 | 2019-04-30 | 北京云迹科技有限公司 | The system and method for automatic disengaging elevator |
| CN106044419B (en) * | 2016-05-31 | 2019-04-30 | 北京云迹科技有限公司 | The system and method for automatic disengaging elevator |
| CN105858368A (en) * | 2016-05-31 | 2016-08-17 | 北京云迹科技有限公司 | System and method for automatically calling elevator |
| CN105858381A (en) * | 2016-05-31 | 2016-08-17 | 北京云迹科技有限公司 | System and method for remotely calling elevator |
| CN105858383B (en) * | 2016-05-31 | 2019-05-03 | 北京云迹科技有限公司 | The system and method for automatic disengaging elevator |
| CN106094609A (en) * | 2016-06-02 | 2016-11-09 | 芜湖智久机器人有限公司 | A kind of calling system of AGV |
| WO2018066052A1 (en) * | 2016-10-04 | 2018-04-12 | 三菱電機株式会社 | Autonomous moving body |
| CN107472059A (en) * | 2017-07-31 | 2017-12-15 | 合肥江淮朝柴动力有限公司 | A kind of flowing water line material is launched and uses AGV and its application method |
| CN109471427A (en) * | 2017-09-08 | 2019-03-15 | 杭州海康机器人技术有限公司 | Carry the method, scheduling system and computer readable storage medium of article |
| CN108750836B (en) * | 2018-05-29 | 2020-07-03 | 潍坊路加精工有限公司 | Elevator calling device, elevator calling system and method of AGV |
| CN108584577A (en) * | 2018-06-21 | 2018-09-28 | 广东嘉腾机器人自动化有限公司 | AGV docks control method, device and the storage medium of elevator |
| CN108892012A (en) * | 2018-08-23 | 2018-11-27 | 北京云迹科技有限公司 | Perceive the processing method and processing device of elevator position |
| CN109508005A (en) * | 2018-12-10 | 2019-03-22 | 无锡职业技术学院 | A kind of AGV trolley control system and control method that autonomous elevator is current |
| CN112061903B (en) * | 2020-08-27 | 2022-09-13 | 西安达升科技股份有限公司 | Elevator calling system and method for calling elevator unit and AGV equipment |
| JPWO2022190320A1 (en) * | 2021-03-11 | 2022-09-15 |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105074601A (en) | 2015-11-18 |
| WO2014156458A1 (en) | 2014-10-02 |
| JP6250944B2 (en) | 2017-12-20 |
| JP2014191786A (en) | 2014-10-06 |
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