JP6110119B2 - Automatic carrier and display control method of automatic carrier - Google Patents

Description

  The present invention relates to an automatic conveyance vehicle that moves while recognizing its own position by measuring the surrounding environment, and a display control method for the automatic conveyance vehicle.

  The automated guided vehicle is controlled so as to move to a destination while towing a cart carrying luggage or the like through a predetermined passage such as a factory or a warehouse using a battery as a driving source. The aisle is a dual-purpose aisle through which workers can walk and walks through the side (side) of the automated guided vehicle. On the other hand, the automated guided vehicle is provided with a distance sensor for detecting the surrounding environment, and moves toward the destination based on the distance data detected by the distance sensor and map data held in advance in the normal state.

  When the automatic transport vehicle detects an obstacle that obstructs movement ahead of the route to the destination, the automatic conveyance vehicle determines that it is abnormal and stops moving. Thereafter, the automated guided vehicle continues to stop until the obstacle is removed by the operator. In addition to detecting obstacles, the automated guided vehicle stops moving and continues to stop until the operator removes the obstacle even when there is an abnormality inside the guided vehicle. Normally, when an abnormality such as that described above occurs, the content of the abnormality is displayed by a display device provided in the automated guided vehicle.

  Conventionally, as this kind of abnormality display device, Japanese Patent Application Laid-Open No. 10-124145 can be cited. In Patent Document 1, when a self-diagnosis error occurs in an automated guided vehicle, the recovery method from the abnormal situation and the abnormal environment is directly displayed in characters, so that the recovery operation can be performed quickly and accurately. , History data including the content and time of occurrence of abnormalities remains even after recovery work is performed, so that the abnormality history can be displayed at a later date, making it possible to perform maintenance inspections and technical improvements in a short time. .

JP-A-10-124145

  However, in Patent Document 1, various screens are prepared, a screen indicating normality is displayed when normal, a screen indicating abnormality, a monitor menu screen, and an abnormality history screen are displayed when an abnormality is judged, and any screen is always displayed on the display device. Has been.

  In general, the automatic guided vehicle stops even during normal operation, and stops at, for example, lunch break, waiting for passage of another automatic guided vehicle, waiting for an elevator, waiting for luggage, and the like. As shown in Patent Document 1, if the screen is always displayed on the display device, the automatic guided vehicle that is stopped cannot determine whether it is an abnormal stop or a normal stop unless the display contents are carefully viewed. Even if it is stopped, a busy walking worker may overlook it. In addition, it is useless because no one sees the display device displayed on the automatic guided vehicle during unattended operation, which is also contrary to power saving.

  SUMMARY OF THE INVENTION In view of the above-described conventional problems, the present invention provides an automatic conveyance vehicle and an automatic conveyance vehicle display control method in which an abnormal state of an automatic conveyance vehicle that has stopped abnormally is promptly communicated to an operator and power consumption of a display device is suppressed. Is.

In order to solve the above problems, the present invention provides a moving mechanism that moves a transport vehicle, a distance sensor that detects an environment around the transport vehicle, a display device that displays a driving state of the transport vehicle, and a power source for the respective units. In an automatic transport vehicle that includes a battery to be supplied and moves to a destination based on distance data detected by the distance sensor,
A control device for controlling the operation of each of the parts, and a control device for transmitting an abnormality signal when an abnormality is included in at least one of the distance data of the distance sensor and the data indicating the state inside the transport vehicle;
A motor driver that stops the moving mechanism in response to the abnormal signal;
A display control unit that receives the abnormal signal and controls lighting of the display device;
In the stop state of the transport vehicle due to the abnormal signal, when the distance sensor detects that the transport vehicle is approaching, the control device outputs a lighting signal to the display control unit, and the display device is changed from the off state to the on state. It is characterized by controlling.

  Further, in the automatic transport vehicle described above, the control device detects an object approaching the transport vehicle by expanding a detection range of the distance sensor when the transport vehicle is stopped from a detection range when the transport vehicle is moving. It is characterized by that.

  In the automatic guided vehicle described above, the control device widens a detection range of the side surface of the transport vehicle so that the distance sensor detects an operator approaching the side surface of the transport vehicle when the transport vehicle is stopped. It is characterized by.

  Further, in the automatic guided vehicle described above, the control device outputs a blinking signal having a different cycle according to the type of abnormality included in the data, and controls the lighting of the display device from the unlit state to the blinking state. It is characterized by.

  In the automatic guided vehicle described above, the control device outputs a blinking signal in which a blinking period at a serious abnormality is set shorter than that at a minor abnormality.

  In the automatic guided vehicle described above, the control device outputs a lighting signal indicating the type of abnormality included in the distance data and the state data, and displays the abnormality type from the extinguished state. It is characterized by controlling lighting.

  Further, in the automatic guided vehicle described above, the display device includes a backlight, and the control device outputs a lighting signal to control the backlight of the display device from a light-off state to a light-on state. To do.

In order to solve the above-described problems, the present invention controls a moving mechanism that moves a transport vehicle, a distance sensor that detects an environment around the transport vehicle, a display device that displays a driving state of the transport vehicle, and the respective units. A display of an automatic transport vehicle that includes a control device and outputs an abnormality signal when the control device includes an abnormality in at least one of distance data of the distance sensor and data indicating a state inside the transport vehicle. In the control method,
Stop the moving mechanism based on an abnormal signal of the control device,
When the distance sensor detects that the distance sensor approaches the transportation vehicle in a stopped state of the transport vehicle, the control device controls the display device from a light-off state to a lighting state.

  Further, in the automatic vehicle display control method described above, the control device outputs a blinking signal having a different cycle according to the type of abnormality included in the data, and the display device blinks from the off state. It is characterized by controlling lighting.

  Further, in the display control method for an automatic guided vehicle described above, the control device outputs a flashing signal in which a flashing period at a serious abnormality is set shorter than that at a minor abnormality, and the display device is turned off. The lighting control is performed in a blinking state.

  In the automatic vehicle display control method described above, the control device outputs a lighting signal indicating the type of abnormality included in the data, and displays the type of abnormality from the extinguished state. It is characterized by controlling lighting.

  Moreover, in the display control method for an automatic guided vehicle described above, the display device includes a backlight, and the control device outputs a lighting signal to control the backlight of the display device from a light-off state to a light-on state. It is characterized by that.

  According to the present invention, the abnormal state of the automatic guided vehicle that has stopped is promptly communicated to the operator, so that the abnormality countermeasure can be taken promptly. In addition, since the power consumption of the display device can be suppressed, the automatic guided vehicle can be operated for a long time.

It is a block diagram of the automatic conveyance vehicle of this invention Example. It is a block diagram of the control system of the automatic conveyance vehicle of this invention Example. It is an operation | movement flow of the display apparatus of an Example of this invention. It is explanatory drawing of the detection range of the distance sensor at the time of normal of the Example of this invention. It is explanatory drawing of the detection range of the distance sensor at the time of the abnormal stop of this invention Example. It is explanatory drawing of the display screen of the display apparatus of an Example of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram of an automated guided vehicle according to an embodiment of the present invention. 1 is a main body of an automated guided vehicle, 2 is a control device that controls the operation of each part described below, and 3 is a laser distance sensor (L sensor) of a distance sensor, which is a distance sensor 3a installed in front of the traveling direction of the guided vehicle It consists of the distance sensor 3b installed in. The distance sensors 3a and 3b measure the distance from the sensor to the object in the environment by measuring the time from when the object is irradiated with the laser until the irradiated laser is reflected by the object and returned to the sensor. A laser irradiation unit (not shown) is provided. By measuring the laser irradiation unit while rotating it at every constant rotation angle, the environment around the transport vehicle is detected as distance data.

  Reference numeral 4 denotes a display device that displays the operation state of the transport vehicle, and is composed of a liquid crystal display having a backlight. 5 is an emergency stop switch that urgently stops the transport vehicle when operated by an operator in an emergency, 6 is a motor driver that rotationally drives or stops the wheels 9a and 9b of the moving mechanism, and 7 is an electric power for each part of the transport vehicle. The batteries 8a and 8b to be supplied are bumper sensors that are installed before and after the transport vehicle and detect that they hit an object.

  FIG. 2 is a configuration diagram of a control system of the automatic guided vehicle according to the embodiment of the present invention. The same parts as those in FIG. Reference numeral 10 denotes a display control unit that controls lighting of the display device 4 according to a command from the control device 2, and receives an image signal and a backlight lighting signal from the control device 2 as commands. Reference numeral 11 denotes a storage unit that holds map data, and reference numeral 12 denotes hardware and devices installed inside the transport vehicle.

  The control device 2 receives distance data on the front, rear, left and right of the transport vehicle detected by the distance sensors 3a and 3b and data indicating the state of the transport vehicle, and outputs a control signal to the motor driver 6 and the display control unit. Data including the normal state and the abnormal state output from the battery 7, the hardware, and the device 12 is used as data indicating the state inside the transport vehicle. The abnormal state of the battery 7 is, for example, when the voltage drops below a specified value, and the abnormality of the hardware or device 12 is when an abnormal signal is detected in the hardware system or device system.

  When the data of each part is normal, the control device 2 compares the distance data detected by the distance sensors 3a and 3b with the map data stored in the storage unit 11 in advance on the map data of the transport vehicle. And the motor driver 6 is controlled to move to the destination based on the estimation result.

  Next, display control of the display device 4 will be described with reference to FIG. The control device 2 captures data output from the battery 7, hardware, and device 12 as distance data of the distance sensors 3a and 3b and data indicating the state of the inside of the transport vehicle at all times while the transport vehicle is traveling. In step 100, it is determined whether or not these data are normal. If all the data is normal (no abnormality is included), the display device 4 is turned off (backlight is turned off) in step 101. At this time, if the display device 4 is turned off, the light-off state is maintained. Although not shown in the flow, the transport vehicle 1 continues to travel.

  When it is determined in step 100 that the data includes an abnormality, the wheel 9 that is the moving mechanism is stopped in step 100A, and the transport vehicle 1 is stopped. Specifically, the motor drive 6 stops the driving of the wheels 9 by the abnormal signal output from the control device 2.

  At the same time, it is determined in step 102 whether an obstacle has been detected. The detection of the obstacle is determined by whether or not an abnormality is included in the distance data of the distance sensor 3a because the transport vehicle 1 is moving forward. If there is an obstacle on the moving route, the detected distance data includes distance data of a short distance that is not planned in the map data, and therefore it is determined that there is an obstacle based on the short distance data.

  When an obstacle is detected in step 102, a continuous lighting mode (A) in which the backlight of the display device 4 is continuously lit (lighting with an extremely long period) is set in the control device 2 in step 103. At this time, the image signal is also set in the control device 2 at the same time, and becomes an image signal for guiding the type of abnormality such as “There is an obstacle”, “please remove the obstacle”, and countermeasures against the abnormality. After the display mode of the display device 4 is set in step 103, the process proceeds to step 107.

  When no obstacle is detected in step 102, it is determined in step 104 whether or not the battery voltage has dropped below a specified value. When it is determined that the battery voltage is equal to or less than the specified value, a blinking mode (B) in which the backlight of the display device 4 blinks in a long cycle is set in the control device 2 in step 105. At this time, the image signal is also set in the control device 2 at the same time, and becomes an image signal that guides the abnormality type and countermeasures such as “battery voltage drop” and “charge the battery”. After setting the display mode of the display device 4 in step 105, the process proceeds to step 107.

  When the battery voltage is not determined to be less than or equal to the specified value in step 104, it is determined that the type of abnormality is a serious abnormality other than an obstacle or battery, and in step 106, the flashing mode (C ) Is set in the control device 2. At this time, the image signal is also set in the control apparatus 2 at the same time, and becomes an image signal for guiding the type of abnormality such as “hard device abnormality” and “check the hardware device” and countermeasures against the abnormality. After setting the display mode of the display device 4 in step 106, the process proceeds to step 107.

  In this embodiment, the types of abnormalities are obstacles (minor abnormalities), low battery voltage (medium abnormalities), and hard device abnormalities (major abnormalities). It is set shorter than the time of abnormality. Since the display with a short blinking cycle gives an impression of urgency to humans, it is easily noticed by workers. The type of abnormality may be set other than the above.

  In each of the above steps 103, 105, and 106, processing for setting a blinking mode is performed, and the backlight of the display device 4 is maintained in the off state. Therefore, the display control in the set mode such as blinking is performed after step 107 after these steps.

  In step 107, the obstacle detection range is expanded. That is, the detection range of the distance sensors 3a and 3b is expanded to make it easier to detect workers around the transport vehicle 1. Since the worker walks on the side surface of the transport vehicle 1, the detection range of the side surface of the transport vehicle 1 is expanded. The distance sensor 3a detects (measures) the front and side of the transport vehicle, and the distance sensor 3b detects (measures) the rear and side of the transport vehicle.

  Next, in step 108, it is determined whether or not a worker approaching the transport vehicle is detected in the expanded detection range. The approach of the worker is detected by the distance data changing with time. In particular, since the transport vehicle 1 is stopped in this detection, the approach is detected with high accuracy. Since the distance sensors 3a and 3b detect the worker and the object (thing) without distinguishing them, in step 108, it is determined whether a person (thing) is detected.

  When it is determined in step 108 that the worker has approached, in step 109, a lighting signal of one of the set lighting modes (continuous lighting mode A, flashing mode B, flashing mode C) is controlled. The backlight of the display device 4 is turned on. At the same time, an image signal is also sent, and a message for guiding the type of abnormality and countermeasures against the abnormality is displayed on the display device 4 in one of the lighting modes.

  In step 109, the display device is turned on from the state where it has been extinguished, and it is turned on at the moment when the worker approaches the transport vehicle. Become. In addition, since the blinking cycle is changed according to the type of abnormality, the display contents and the urgency level are strongly appealed to the worker, and the detection range of the distance sensor is expanded while the transport vehicle is stopped. An operator's approach can be detected accurately and promptly, and an abnormal state can be clearly indicated to a worker in a timely manner, thereby prompting prompt measures against the abnormality.

  Further, when the worker approaches the transport vehicle and then leaves, the backlight of the display device is turned off again.

  The display unit 4 is always turned off during normal operation. Even if the display 4 stops due to an abnormality, the backlight keeps turning off until an operator is detected. It is turned on for the first time when it is detected, and it is turned off again when the worker leaves. Therefore, the lighting time is extremely short, and significant power saving can be realized.

  Next, the relationship between the passage, the transport vehicle, and the worker will be described. FIG. 4 is an explanatory diagram of the detection range of the distance sensor when the transport vehicle is normally moving or stopped. The conveyance vehicle 1 moves in the center of the passage with the width W, and the worker M walks near the end of the passage. A broken line 13 is a detection range formed around the transport vehicle 1 by the distance sensors 3a and 3b. This detection range 13 is formed in a range of length l1 in front of the transport vehicle 1, length l2 in the rear, lengths l3 and l4 in the side, and a range in which the worker M walking on the side is not detected. It is formed.

  FIG. 5 is an explanatory diagram of the detection range of the distance sensor when the transport vehicle is abnormally stopped. The same parts as those in FIG. 4 are denoted by the same reference numerals. In the step of expanding the obstacle detection range of step 107 in FIG. 3, the detection ranges 14 on both sides of the transport vehicle 1 are expanded from l3 to L3 and from l4 to L4, respectively. These extended lengths L4 and L4 are set to widths for detecting the worker M walking along the side surface of the transport vehicle 1. Therefore, when the worker passes the side of the conveyance vehicle that is abnormally stopped, the worker is immediately detected, and the display device 4 is turned on from the unlit state in step 109 of FIG. Since the display device 4 is turned on from the unlit state, it is easy for a worker who is walking with a different requirement to easily notice and measures are easily taken.

  When the abnormality countermeasure is completed and the transport vehicle 1 returns to normal, the detection range 14 in FIG. 5 is returned to the detection range 13 in FIG. 4. The detection range is expanded or reduced by adjusting the sensitivity of the distance sensors 3a and 3b or by adjusting the range of data captured by the control device 2 from the data detected by the distance sensors 3a and 3b. Is called.

  Next, the display screen of the display device 4 will be described. FIG. 6 is an explanatory diagram of a display screen of the display device 4 according to the embodiment. The display screen is a touch panel type liquid crystal screen, and a backlight (not shown) is arranged on the back. 20 is a display indicating that the servo is operating (the transport vehicle is operating), 21 is a display indicating that the servo is stopped (the transport vehicle is stopped), 22 is a display indicating that the brake is released, and 24 Is a display indicating brake lock, 25 is a display indicating activation, 26 is a display indicating stop, 27 is a display indicating the remaining battery level, and 28 is a message indicating the type of failure and countermeasures for the failure. It is a display device.

  In normal operation of the transport vehicle, the start, brake release, and servo ON indicators are displayed. When the transport vehicle stops due to an abnormality, a display of stop, brake lock, and servo OFF is displayed instead of the display of the display. Further, the display 28 displays a message for guiding the type of abnormality and countermeasures. FIG. 6 shows a hard disk and a device abnormality among the types of abnormality.

  When the conveyance vehicle stops due to an abnormality and an operator is detected, the backlight of the display device 4 starts to be turned on at a predetermined cycle. Therefore, all display contents in FIG. Is displayed.

  DESCRIPTION OF SYMBOLS 1 ... Automatic conveyance vehicle, 2 ... Control apparatus, 3, 3a, 3b ... Distance sensor, 4 ... Display apparatus, 6 ... Motor driver, 7 ... Battery, 9, 9a, 9b ... Moving mechanism, Wheel, 10 ... Display control part , 11: Storage unit, 12: Hard device, 13: Detection range of distance sensor during normal movement of transport vehicle, 14: Detection length of distance sensor during abnormal stop of transport vehicle, l3, l4, L3, L4 ... the length of the detection range on the side of the transport vehicle, M ... the operator.

Claims (11)

A moving mechanism for moving the transport vehicle, a distance sensor for detecting the environment around the transport vehicle, a display device for displaying the operation state of the transport vehicle, and a battery for supplying power to each unit, the distance sensor detecting In an automated guided vehicle that moves to a destination based on the measured distance data,
A control device for controlling the operation of each of the parts, and a control device for transmitting an abnormality signal when an abnormality is included in at least one of the distance data of the distance sensor and the data indicating the state inside the transport vehicle;
A motor driver for stopping the moving mechanism based on the abnormal signal;
A display control unit for controlling lighting of the display device based on the abnormal signal;
In the stop state of the transport vehicle due to the abnormal signal, when the distance sensor detects that the transport vehicle is approaching, the control device outputs a lighting signal to the display control unit, and the display device is changed from the off state to the on state. control and,
The control apparatus detects an object closer to the transport vehicle by expanding the detection range of the distance sensor when the transport vehicle is stopped than the detection range when the transport vehicle is moving . In the automatic conveyance vehicle of Claim 1 ,
The control device widens the detection range of the side surface of the transport vehicle so that the distance sensor detects an operator approaching the side surface of the transport vehicle when the transport vehicle stops. In the automatic conveyance vehicle according to claim 1 or 2 ,
The control device outputs a blinking signal having a different cycle according to the type of abnormality included in the data, and controls the lighting of the display device from the extinguished state to the blinking state. In the automatic conveyance vehicle according to claim 3 ,
The said control apparatus outputs the blink signal which set the blink period at the time of a serious abnormality shorter than the time of a slight abnormality. In the automatic conveyance vehicle in any one of Claims 1-4 ,
The control device outputs a lighting signal indicating the type of abnormality included in the distance data and the state data, and controls the lighting so that the display device displays the type of abnormality from the off state. car. In the automatic conveyance vehicle in any one of Claims 1-5 ,
The display device includes a backlight, and the control device outputs a lighting signal to control the backlight of the display device from a light-off state to a light-on state. A moving mechanism that moves the transport vehicle; a distance sensor that detects an environment around the transport vehicle; a display device that displays an operation state of the transport vehicle; and a control device that controls each of the units. In a display control method for an automatic transport vehicle that outputs an abnormality signal and controls the display device when an abnormality is included in at least one of sensor distance data and data indicating a state inside the transport vehicle.
Stop the moving mechanism based on an abnormal signal of the control device,
When the distance sensor detects the approaching to the transport vehicle in the stop state of the transport vehicle, the control device controls the display device from the off state to the on state ,
The control device detects an approach of the automatic conveyance vehicle, which detects a thing approaching the conveyance vehicle by expanding a detection range of the distance sensor when the conveyance vehicle is stopped from a detection range when the conveyance vehicle is moving. Method. In the automatic vehicle display control method according to claim 7 ,
Display control of an automatic transport vehicle characterized in that the control device outputs a blinking signal having a different cycle according to the type of abnormality included in the data, and controls the display device to be turned on from blinking to blinking. Method. In the display control method of the automatic guided vehicle according to claim 8 ,
The control device outputs a blinking signal in which a blinking period at a serious abnormality is set shorter than a minor abnormality, and controls the lighting of the display device from a light-off state to a blinking state. Display control method. In the display control method of an automatic guided vehicle according to any one of claims 7-9,
The control device outputs a lighting signal indicating the type of abnormality included in the data, and controls the lighting of the display device so that the display device displays the type of abnormality from the unlit state. . In the display control method of an automatic guided vehicle according to any one of claims 7-10,
A display control method for an automated guided vehicle, wherein the display device includes a backlight, and the control device outputs a lighting signal to control the backlight of the display device from a light-off state to a light-on state.

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