CN104914860A

CN104914860A - Forklift automated guided vehicle, control method and control apparatus therefor

Info

Publication number: CN104914860A
Application number: CN201510096224.1A
Authority: CN
Inventors: 山本治正; 永冈淳; 古野英昭
Original assignee: Hitachi Ltd
Current assignee: Hitachi Ltd
Priority date: 2014-03-10
Filing date: 2015-03-02
Publication date: 2015-09-16
Also published as: KR20150105930A; JP2015170284A

Abstract

The invention provides a forklift automated guided vehicle capable of reducing the inherent risk of object contacting risk of a forklift, a control method and a control apparatus therefor. The forklift automated guided vehicle comprises a plurality of first obstacle detecting devices (2, 3, 4) which are arranged on the periphery of a vehicle body (1B) and detect the surrounding environment of the vehicle body (1B), a detection area memory portion which stores, in advance, vehicle body (1B) peripheral obstacle detection area (A) set according to the operation conditions including driving speed, turning direction and shifting action of the vehicle body (1B), and an obstacle detection and safe control portion 1S which sends the information of selected obstacle detection area (A) to the plurality of first obstacle detecting devices (2, 3, 4) according to the obstacle detection area (A) selected according to actual driving conditions of the vehicle body (1B). When obstacles are detected in the selected obstacle detection area (A), the driving vehicle is stopped.

Description

The unmanned transport vehicle of fork truck type, its control method and control device

Technical field

The present invention relates to the unmanned transport vehicle of fork truck type, its control method and control device.

Background technology

In unmanned transport vehicle, by people being separated with the respective travel route of unmanned transport vehicle, or by surrounding the travel route of unmanned transport vehicle with fence, people can be made not contact with unmanned transport vehicle, thus realize safety fundamentally.

But, in the utilization of reality, if unmanned transport vehicle is separated with the travel route of people, or the travel route of unmanned transport vehicle is surrounded with fence, unmanned transport vehicle then can be made identical with rail travel car, hinder the maximum advantage of unmanned transport vehicle, namely diversity ground uses.Therefore, adopted following mechanism as reducing the risk that contact with people and reducing the strategy of obstacle when contingency comes in contact and use: the contact detection mechanism formed by impact switch in the past, and the functional safety mechanism formed by the relative distance testing agency of use laser, infrared ray or hyperacoustic object.

In history, the travel speed of common unmanned transport vehicle fortune using the speed of less than 60m/ minute as safety, the risk of accident is low.

On the other hand, in the sales achievement of unmanned transport vehicle in Japan, the ratio of fork truck type accounts for 1 one-tenth, and has the trend of increase.Common unmanned transport vehicle is compared with unmanned fork lift, and due to the difference of purposes and with or without reasons such as goods transfers, dynamic action when making its body shapes, rideability and travel is completely different.In addition, there is people's fork truck that the industrial injury problem contacted with people also often occurs, thus seeking the method avoiding contacting with people matched with the characteristic of the fork truck being different from common unmanned transport vehicle always.

As the regulation of contact avoiding unmanned transport vehicle and people, in JIS D6802 unmanned transport vehicle system-safe general rule, require to arrange and avoid and the contact of people, proximity test device with the collision of the article of surrounding.As the example corresponding with proximity test device, following patent documentation 1 ~ 4 is proposed.

At first technical literature

Patent documentation

Patent documentation 1: Japanese Unexamined Patent Publication 11-305837 publication

Patent documentation 2: Japanese Laid-Open Patent Publication 63-180883 publication

Patent documentation 3: Japanese Unexamined Patent Publication 5-189039 publication

Patent documentation 4: Japanese Unexamined Patent Publication 9-26826 publication

Invent problem to be solved

On the other hand, as fork truck, have as inferior kind according to shape in JIS D6201: balanced type fork truck (counter balance forklift), across fortune fork truck (straddle forklift), pallet stacking fork truck (pallet stacking truck), side fork lift truck (side forklift), extended position fork truck (reach forklift), walkie fork fork truck, the extended position fork truck as electri forklift with the body Structure easily be automated is described.

Fork truck is different from common unmanned transport vehicle, and pallet fork is from the outstanding and lade and transporting thereon of car body, and thus there are the following problems: occurred space occupied by goods due to lade in car body front and produced the risk that this goods contacts with people; And from the risk that the pallet fork that car body is given prominence to contacts with people.

In addition, being undertaken by trailing wheel turning to, deflecting roller turns to the angle of more than 90 degree, in interior action when taking turns the convolution passed through with foreign steamer, the track at car body center, carry out the track of the trailing wheel turned to, the track of the periphery of goods, pallet fork end track different, thus the common unmanned transport vehicle of its Hazard ratio contacted with people is large.

Summary of the invention

The present invention makes in view of the foregoing, its object is to provide a kind of and can reduce the intrinsic unmanned transport vehicle of fork truck type to thing exposure risk of fork truck, its control method and control device.

For solving the scheme of problem

For reaching above-mentioned purpose, the unmanned transport vehicle of fork truck type related in the present invention 1 possesses: multiple first obstacle detector, and this first obstacle detector is configured at the surrounding of car body and detects the surrounding environment of described car body, surveyed area storage part, this surveyed area storage part prestores the detection of obstacles region set according to operational situation, described operational situation comprises travel speed, steering direction, the move loading action of described car body, and described detection of obstacles region is positioned at around described car body, and detection of obstacles safety control unit, this detection of obstacles safety control unit selects described detection of obstacles region according to operational situation, the information in the described detection of obstacles region this selected is sent to described multiple first obstacle detector, described operational situation comprises the travel speed of the reality of described car body, steering direction, move loading action is interior, detected by described first obstacle detector in the described detection of obstacles region selected, there is barrier time, the control that described detection of obstacles safety control unit carries out making the traveling of described car body to stop.

The unmanned transport vehicle of fork truck type of the present invention 2 possesses: guide control device, and this guide control device controls the unmanned of car body and travels; First obstacle detector, this first obstacle detector detects the barrier around described car body; And detection of obstacles safety control unit, this detection of obstacles safety control unit judges in the region set, whether there is described barrier and combined with the signal of described guide control device by the described signal judged, the stopping carrying out described car body according to the operating condition of described car body controls.

The control device related in the present invention 3 is the unmanned transport vehicle of fork truck type in order to control the present invention 1 and the control device used.

The control device related in the present invention 4 is the unmanned transport vehicle of fork truck type in order to control the present invention 2 and the control device used.

The control method of the unmanned transport vehicle of fork truck type related in the present invention 5 is the method for the unmanned transport vehicle of fork truck type controlling the present invention 1.

The control method of the unmanned transport vehicle of fork truck type related in the present invention 6 is the method for the unmanned transport vehicle of fork truck type controlling the present invention 2.

Invention effect

According to the present invention, can realize a kind ofly reducing the intrinsic unmanned transport vehicle of fork truck type to thing exposure risk of fork truck, its control method and control device.

Accompanying drawing explanation

Fig. 1 (a) is the side view of the unmanned transport vehicle of fork truck type representing embodiments of the present invention, and (b) is vertical view, and (c) is rear view.

Fig. 2 represents that the sensor of the unmanned transport vehicle of fork truck type detects the vertical view of the scope of barrier.

Fig. 3 is the concept map of the structure of the control part representing the unmanned transport vehicle of fork truck type.

Fig. 4 is the vertical view of the coordinate of the position relationship represented between the barrier at rear and rear obstacle sensor and preceding object thing sensor.

Fig. 5 is the vertical view of an example of the surveyed area of the preceding object thing sensor representing rear obstacle sensor and left and right.

Fig. 6 is the vertical view representing the monitor area of the unmanned transport vehicle of fork truck type when turning driving.

Fig. 7 (a) ~ (i) is the vertical view of representational 9 patterns of the configuring condition of the monitor area represented as surveyed area.

Fig. 8 is the vertical view of the conversion representing the monitor area A of the unmanned transport vehicle of fork truck type in operation process.

Fig. 9 is the vertical view of the example of the various monitor areas representing the unmanned transport vehicle of fork truck type.

Figure 10 is the vertical view of the example of the various monitor areas representing the unmanned transport vehicle of fork truck type.

Figure 11 is the vertical view of the example of the various monitor areas representing the unmanned transport vehicle of fork truck type.

Figure 12 is the vertical view of the example of the various monitor areas representing the unmanned transport vehicle of fork truck type.

Figure 13 is the vertical view of the example of the various monitor areas representing the unmanned transport vehicle of fork truck type.

Figure 14 is the vertical view of the example of the various monitor areas representing the unmanned transport vehicle of fork truck type.

Figure 15 is the figure of the outline flow process representing detection of obstacles security control.

Figure 16 is the process flow diagram that the selection of the monitor area represented in detection of obstacles security control controls.

Figure 17 is the process flow diagram of the defense controls represented around the car body in detection of obstacles security control.

Figure 18 is the process flow diagram of the detection of obstacles process at the car body rear representing the unmanned transport vehicle of fork truck type.

Description of reference numerals

The unmanned transport vehicle of 1 fork truck type

1B car body

1C car body control part (guide control device)

1S detection of obstacles safety control unit (control device)

2 rear obstacle sensors (the first obstacle detector)

3,4 preceding object thing sensors (the first obstacle detector)

8a guiding sensor (the second obstacle detector)

8b is to people's detecting sensor (the second obstacle detector)

A monitor area (detection of obstacles region)

G deceleration control area

P barrier

T stops control area

Embodiment

Below, with reference to accompanying drawing, embodiments of the present invention are described.

What represent at Fig. 1 is the structure of the unmanned transport vehicle of fork truck type 1 (hereinafter referred to as the unmanned transport vehicle 1 of fork truck type) of embodiment, and it is the device by the electri forklift robotization of extended position.Fig. 1 (a) is the side view of the unmanned transport vehicle of fork truck type representing embodiments of the present invention, and Fig. 1 (b) is vertical view, and Fig. 1 (c) is rear view.

Left and right front-wheel w1, w1 rigidity only rotated in the longitudinal direction is installed on outrigger 1O by the unmanned transport vehicle 1 of fork truck type, be left rear wheel w2 and the Caster of driving wheel and deflecting roller by dual-purpose, namely trailing wheel w3 is installed on car body 1B (with reference to Fig. 1 (c)).

And the unmanned transport vehicle of fork truck type 1 possesses: at the pallet fork 5 of front loading goods, the gear shelf 5b making pallet fork 5 upwards downward and the pillar 5m guiding gear shelf 5b.

At the rear portion of the unmanned transport vehicle 1 of fork truck type, possess to be provided with and left rear wheel w2 is turned to and the drive division 6 of travel motor driven etc., the top of drive division 6 is provided with stand 7.The roof lamp 7p that the unmanned transport vehicle 1 of fork truck type is identified is provided with at the top of stand 7.In addition, the emergent stopping key (not shown) making its emergent stopping is in emergency situations provided with at the unmanned transport vehicle of fork truck type 1.

< sensor >

On the top of stand 7, be provided with guiding sensor 8a.The guiding performing the unmanned transport vehicle of fork truck type 1 based on the environmental map representing the layout in buildings made with sensor 8a by guiding is controlled and carries out unmanned automatic running.

The rear bumper 1b of the unmanned transport vehicle 1 of fork truck type is provided with the impact switch 1s detected the situation abutting (collision) with thing, people etc.Impact switch 1s use the pressure sensitive switch etc. of the little band shape that takes up space.

Be provided with on the top of drive division 6 identify three-dimensional position to people detecting sensor 8b.

Fig. 2 represents that the sensor of the unmanned transport vehicle 1 of fork truck type detects the vertical view of the scope of barrier.

To people detecting sensor 8b when the unmanned transport vehicle 1 of fork truck type retreats, detect and be in the barrier stopping control area T and the barrier being in deceleration control area G.

In addition, the situation that there is the structure such as post, wall K at deceleration control area G has been shown in Fig. 2.In addition, in the figure after Fig. 2, partly expression is omitted to rear, preceding object thing sensor 2,3,4 support 3b, 4b etc.

In three dimensions barrier is detected to people detecting sensor 8b, by the positional information by the barrier detected people detecting sensor 8b being replaced into the information of surface level and expressing the position of the barrier on environmental map.

As shown in Fig. 1 (b), be provided with the two-dimensional distance measurement mechanism of the barrier detecting the rear of car body 1B and the side of car body 1B at the rear lower of car body 1B, i.e. rear obstacle sensor 2.In addition, in the front of car body 1B, a pair preceding object thing sensor 3,4 is arranged at the top of outrigger 1O1,1O2 of left and right, and it is for detecting the barrier of car body front and car body side.As shown in Fig. 1 (a), two-dimensional distance measurement mechanism, namely rear, preceding object thing sensor 2,3,4 turned upside down is installed, to detect the barrier being positioned at subaerial position.

In addition, as long as rear, preceding object thing sensor 2,3,4 can detect the barrier being positioned at subaerial position, may not turned upside down.Afterwards, preceding object thing sensor 2,3,4 such as adopts laser and to be reflected by detected object thing (barrier etc.) according to it and the time etc. returned determines distance between detected object thing.

Afterwards, preceding object thing sensor 2,3,4 is set to detect the barrier of the height and position apart from ground Y100 ~ 250mm.According to this detection height, be no matter the people that stands or when people falls down, the situation that people exists can both be tested with.Thereby, it is possible to reliably detect barrier etc.

In addition, most preferably, height that is rear, preceding object thing sensor 2,3,4 is apart from ground Y200 ~ 230mm.At this, rear, preceding object thing sensor 2,3,4 is installed on the height and position being positioned at 230mm.

As shown in Fig. 1 (a), (b); be installed on the preceding object thing sensor 3,4 of outrigger 1O1,1O2 of front side; the mechanism that left and right protection installation bracket 3b, 4b are installation bracket and protective device as dual-purpose is formed, to prevent sensor from being trampled by people or to encounter goods and to cause it to occur damaged using the protection steel plate of thickness about 5mm.

Left protection installation bracket 3b has the installation portion 3b1 being installed on left outrigger 1O1 and the protection portion 3b2 covering the shape of the top of preceding object thing sensor 3 from installation portion 3b1 continuously.Installation portion 3b1 is provided with preceding object thing sensor 3.

Similarly, right protection installation bracket 4b has the installation portion 4b1 that is installed on right outrigger 1O2 and has the protection portion 4b2 covering the shape of the top of preceding object thing sensor 4 from installation portion 4b1 continuously.Installation portion 4b1 is provided with preceding object thing sensor 4.

Preceding object thing sensor 3,4 detects the barrier of the height and position of the 230mm of car body front and car body side in the position that pallet fork 5 have dropped.And, rise at pallet fork 5 and detect than preceding object thing sensor 3, the 4 high barriers of position to the height and position in the front of below and the 230mm of side that comprise pallet fork 5.

On the right side of the rear of the unmanned transport vehicle 1 of rear obstacle sensor 2 pairs of fork truck types and rear left, the barrier of the height and position of the 230mm of side detects.

Afterwards, preceding object thing sensor 2,3,4 to not detecting deceleration control area G and stopping the region of control area T, the situation that namely there is barrier in the main monitor area A (with reference to Fig. 2) to setting respectively with region (G, T) detects.

The unmanned transport vehicle 1 of fork truck type is usually towards behind (retrogressing).Its reason is, being that the traveling ahead of the left rear wheel w2 of deflecting roller and driving wheel can make the tracing ability of car body 1B be deteriorated, can not travelling flexibly according to anticipation towards not configuring dual-purpose.That is, be that the left rear wheel w2 of deflecting roller and driving wheel more can make control stablize as direct of travel using dual-purpose.For the reason in such engineering, for working direction only with low-speed motion (traveling).

Afterwards, preceding object thing sensor 2,3,4 uses the usual equidistant measurement mechanism of two-dimensional laser distance meter.In addition, as long as rear obstacle sensor 2 and preceding object thing sensor 3,4 can realize the function of two-dimensional distance measurement mechanism described later, can be any sensor.

In addition, the unmanned transport vehicle 1 of fork truck type is provided with: the speed pickup (with reference to Fig. 3) detecting travel speed, the steering angle sensor (with reference to Fig. 3) detecting steering direction etc. and confirmation are loaded into the limit switch (not shown) etc. of the position of the goods of pallet fork 5.

For the position of goods being loaded into pallet fork 5, by limit switch, pallet is inserted to pallet fork 5 until this situation of assigned position arriving pallet fork end detects.

< system architecture >

As control system, the unmanned transport vehicle 1 of fork truck type possesses: car body control part 1C, detection of obstacles safety control unit 1S and emergent stopping safety control unit 1T.

Car body control part 1C makes the unmanned transport vehicle of fork truck type 1 according to set route, braking and the rise and fall carrying out pallet fork 5 based on the information of guiding sensor 8a (with reference to Fig. 1).In addition, car body control part 1C is based on the information to people detecting sensor 8b, when making the unmanned transport vehicle 1 of fork truck type slow down when deceleration control area G (with reference to Fig. 2) detects barrier, when making the unmanned transport vehicle 1 of fork truck type stop when stopping control area T (with reference to Fig. 2) to detect barrier.Thereby, it is possible to avoid the collision of the unmanned transport vehicle of fork truck type 1 and people, thing.

In emergent stopping safety control unit 1T, when impact switch 1s detects collision and when pressing emergent stopping key, after made the unmanned transport vehicle 1 of fork truck type stop by detent, cut off the power supply to detent.

Detection of obstacles safety control unit 1S is in advance by multiple monitor areas (zone of protection) A (reference Fig. 2 corresponding with various condition, details is as described later) be recorded in chart etc., according to detection signal that is rear, preceding object thing sensor 2,3,4, the situation that there is barrier in monitor area (zone of protection) A is judged.When emergent stopping safety control unit 1T judges to there is barrier in monitor area (zone of protection) A, after the power cutting off travel motor, undertaken braking by detent and the unmanned transport vehicle 1 of fork truck type is stopped.

Detection of obstacles safety control unit 1S carries out autodiagnosis by the following method, thus judges whether there is fault and find fault as early as possible.Concrete grammar comprises: send suitable output signal and whether weld to electric contact the state monitoring, carry out autodiagnosis program, monitor internal bus, in Inner Constitution two systems etc.

< rear obstacle sensor 2 and preceding object thing sensor 3,4 >

Afterwards, preceding object thing sensor 2,3,4 uses as lower sensor: the range sweep sensing range of this sensor is the scope of 270 degree in the horizontal plane.In addition, sensing range is not limited only to 270 degree, also can be situation about detecting the scope of other angle.

After arranging in turned upside down, preceding object thing sensor 2,3,4 time, the relation between each sensor and the barrier P being in rear is represented by relation as shown in Figure 4.In addition, Fig. 4 is the vertical view of the coordinate of the position relationship represented between the barrier at rear and rear obstacle sensor and preceding object thing sensor.

Rear obstacle sensor 2 monitors the scope of 270 degree of separating centered by y1 axle.Preceding object thing sensor 3 monitors the scope of 270 degree of separating centered by y3 axle.Preceding object thing sensor 4 monitors the model of 270 degree separated centered by y2 axle.

Such as be arranged respectively to following situation to the installation site of sensor be described:

Coordinate (X1, Y1)=(0,0) of rear obstacle sensor 2

Coordinate (X2, Y2)=(-1.706,0.478) of right front obstacle sensor 4

Coordinate (X3, Y3)=(-1.706 ,-0.478) of left front obstacle sensor 3

The coordinate of square obstacle sensor 2 is initial point (0 afterwards, 0), the coordinate of barrier P is (X, Y) when, coordinate (the X of barrier P, Y) relation and between the coordinate (X2, Y2) of right front obstacle sensor 4 is represented by known coordinate transform formula.

In the same manner, the relation between the coordinate (X, Y) of barrier P and the coordinate (X3, Y3) of left front obstacle sensor 3 is represented by known coordinate transform formula.

The preceding object thing sensor 3,4 of obstacle sensor 2, left and right monitors in the region of barrier in the wings, detects the barrier in the monitor area A of the scope surrounded by multiple point (P1 ~ P7) points of specifying.In region as shown in Figure 5, the barrier of rear obstacle sensor 2 to the region surrounded by some P1, P2, P3, P5, P6 (monitor area A) monitors.The barrier of right front obstacle sensor 4 to the region surrounded by some P4, P5, P7 (monitor area A) monitors.The barrier of left front obstacle sensor 3 to the region surrounded by some P8, P9, P10 (monitor area A) monitors.

Like this, it is the region (not there is the region of plural distance value) identical drift angle in polar coordinate system to a distance value by the range set that each sensor (2,3,4) is shared, coordinate points can be had by multiple region, sets the monitor area A for protecting around the unmanned transport vehicle 1 of fork truck type.The region that monitor area (zone of protection) A means in rear, preceding object thing sensor 2,3,4 any one fork truck type unmanned transport vehicle 1 emergent stopping when detecting barrier.

The setting > of < monitor area

The setting of monitor area is determined by following mode.

At the unmanned transport vehicle 1 of fork truck type to a direction running (such as, rearward or the traveling in front) time, trying to achieve braking distance by the unmanned transport vehicle 1 of fork truck type to the speed of a direction running, take this braking distance as the distance formation monitor area A making the unmanned transport vehicle 1 of fork truck type stop and not colliding barrier.That is, the surplus of braking distance is to a certain degree kept.

Set by the weight, brake braking force etc. of the travel speed to the unmanned transport vehicle 1 of fork truck type, its weight, goods, the equation of motion can be utilized to try to achieve braking distance.In addition, in the unmanned transport vehicle 1 of fork truck type, travel speed is divided into " pole low speed " (comprising the pole low speed that speed is 0), " low speed ", " middling speed ", " at a high speed " four speed.

Such as, can by trying to achieve retarded velocity with brake braking force divided by the quality comprising goods of the unmanned transport vehicle 1 of fork truck type.And, by the time, integration is carried out to retarded velocity, asks the time till obtaining stopping by the formula with speed equivalence, by the time, double integral is carried out to retarded velocity and calculates braking distance.

When the unmanned transport vehicle 1 of fork truck type is turned, try to achieve it and play from the speed of turning driving and slowed down by detent and braking distance till stopping, thus setting keeps the distance not colliding the surplus of barrier.At this, surplus refers to the surplus with such as 10 ~ 50cm.In addition, braking distance according to the unmanned speed of transport vehicle 1 of fork truck type, the presence or absence etc. of goods, will be tried to achieve by above-mentioned theory or experiment.

The setting > of monitor area when < turns

The establishing method of monitor area A when turning to the unmanned transport vehicle 1 of fork truck type is described.

Fig. 6 is the vertical view representing the monitor area of the unmanned transport vehicle 1 of fork truck type when turning driving.

Such as, from travel speed 1.00m/sec by detent decelerate to stopping till operating range (braking distance) be 0.44m, the radius of gyration of turning is 2m.If radius of gyration is r, then until the angle θ moving to braking distance L0.44m and turn over, according to the relation between the length of circular arc and this circular arc angulation θ, represented by following formula (1).

[formula 1]

\frac{L}{2 πr} \times 360 = \frac{0.44}{2.0 \times 2 π} \times 360 = 12.6 (\deg) \cdot \cdot \cdot (1)

In the condition that formula (1) illustrates, the unmanned transport vehicle of fork truck type has travelled 12.6deg with the radius of gyration r of 2m, have passed through the braking distance L of 0.44m and stops.

Therefore, as shown in Figure 6, try to achieve the region of the motion track of the unmanned transport vehicle 1 of fork truck type, the region of this track is the unmanned transport vehicle 1 of fork truck type being mounted with goods N turns over 12.6deg angle θ with the radius of gyration r of 2m, through braking distance (length of the circular arc) L of 0.44m and the region of the track stopped.And, if the motion track of the unmanned transport vehicle 1 of fork truck type obtained according to braking distance L is intactly used as monitor area A, the then unmanned transport vehicle meeting of fork truck type and bar contact, so in order to avoid the contact of itself and barrier, leave some surplus y1 in this region and determine monitor area A.Like this, monitor area A comprise the unmanned transport vehicle of fork truck type 1 being mounted with goods N motion track or when its not lade N the motion track of the unmanned transport vehicle of fork truck type 1 interior.

Representational 9 pattern > of < monitor area A

Representational 9 patterns of the configuration of the monitor area A as surveyed area have been shown in Fig. 7 (a) ~ (i).

That the unmanned transport vehicle 1 of fork truck type of setting numbering 9 is with during at a high speed towards behind shown in Fig. 7 (a), point at the rear farthest of the rear area Aa1 of monitor area A is the situation of emergent stopping (making it brake) with the speed in traveling, namely, cut off the power for the drive unit travelled, utilize the numerical value of the braking distance stopped that being slowed down by detent to set, thus be set to that unmanned transport vehicle does not collide with barrier.

As shown in the setting numbering 3,5,6,8 that illustrates at Fig. 7 (b), (c), (d), (e), when turning driving, shown in Fig. 6 as the aforementioned, setting comprises with the scope of the track of the unmanned transport vehicle 1 of fork truck type during this speed turning driving.What Fig. 7 (b), (d) represented is the situation that the unmanned transport vehicle 1 of fork truck type turns left towards rear, and what Fig. 7 (c), (e) represented is the situation that the unmanned transport vehicle 1 of fork truck type is turned right towards rear.

Fork truck has following intrinsic action: when setting the asymmetric monitor area A as setting numbering 3,5,6,8, when carrying out the convolution that steering angle is large, radius-of-curvature is little, compare with car body 1B center, the movement at its rear portion is larger.

In the case, there iing the indrawn problem of easy generation people in people's fork truck, in addition, usually, fork truck needs significantly steering wheel rotation to enter narrow place, but space (gap) now between itself and structure around and the goods placed is little.Therefore, by set asymmetrically monitor area A and with produce space around, can set and protect the scope that contacts with people.

The situation of what the setting numbering 4 of Fig. 7 (f) represented the is monitor area A that the unmanned transport vehicle 1 of such as fork truck type is advanced towards rear with low speed.Because the unmanned transport vehicle 1 of fork truck type is advanced towards rear low speed, thus need to have rearward braking distance when braking, thus the region of monitor area A side is in the wings larger than the region of front side.

In addition, the monitor area A of the side, side of the unmanned transport vehicle 1 of fork truck type is the region (region do not collided with thing, people) leaving surplus when rearward travelling relative to the thing of both sides, people.

That the setting numbering 7 of Fig. 7 (g) represents is the monitor area A that the unmanned transport vehicle 1 of fork truck type is advanced towards rear with low speed.Because the setting numbering 4 of velocity ratio Fig. 7 (f) of the unmanned transport vehicle 1 of fork truck type is high, so its working direction, the i.e. direct of travel of the same Fig. 7 (f) of monitor area Ag1 of rear side, namely the monitor area Af1 of rear side compares, and side more prolongedly sets in the wings.

The setting numbering 2 of Fig. 7 (h) represent by Container Loading to " in transfer " during pallet fork 5." in transfer " when being loaded to pallet fork 5 by goods, there is goods and can move in the side due to the lade of the front side at the unmanned transport vehicle 1 of fork truck type, thus forms the monitor area A of the region Ah1 not setting front side.

What the setting numbering 1 of Fig. 7 (i) represented is from monitor area A during pallet fork 5 unloaded of cargo.In the setting numbering 1 of Fig. 7 (i), because when unloaded of cargo with " pole low speed " running, so set little monitor area Ai1 in region in the wings.

The selection > of < monitor area

What represent at table 1 is the alternative condition of the monitor area A determining Fig. 7 (a) ~ (i).

[table 1]

The travel speed of what " travel speed " of table 1 represented the is unmanned transport vehicle 1 of fork truck type.Travel speed is the pole low speed that " pole low speed " comprises that speed is 0.

The direction turned to of what " steering direction " of table 1 represented the is unmanned transport vehicle 1 of fork truck type." arbitrarily " in table 1 though represent be pallet fork 5 operationally turn right turn left steering direction.

What " in the transfer " of table 1 represented is that pallet fork 5 is worked, and will be loaded into the Container Loading of pallet to pallet fork 5, or from the situation pallet fork 5 uninstall process.What the "Yes" of " in transfer " represented is by the Container Loading being loaded into pallet to pallet fork 5 or the state of " transfer " that unloads from pallet fork 5.On the other hand, what "No" represented is inoperative pallet fork 5, is not in the Container Loading being loaded in pallet to pallet fork 5 or the situation of state that unloads from pallet fork 5.

The monitor area A set illustrated at Fig. 7 (a) ~ (i) is the combination of detection of obstacles safety control unit 1S according to three conditions of (move loading action) in the travel speed shown in table 1, steering direction, transfer, the monitor area A that the carrying out selected according to the condition option table of table 1 monitors.

In addition, the condition adjudgement for incorrect combination is "abnormal", makes fork truck type unmanned transport vehicle 1 emergent stopping.Incorrect combination comprises following situation: when making pallet fork 5 rise and fall with the travel speed of " pole low speed (comprising the pole low speed of speed 0) " in transfer, travel with " middling speed " or " at a high speed ".When turning with the travel speed of " low speed ", " middling speed ", turn with " at a high speed ".For these do not meet set travel speed, steering direction, three conditions in transfer situation, be judged as "abnormal" by as incorrect combination, make fork truck type unmanned transport vehicle 1 emergent stopping.

As described in Table 1, when the travel speed of the 1st row be " pole low speed (comprising the pole low speed of speed 0) ", steering direction is " arbitrarily ", in transfer for "No" (not being in transfer), select setting numbering " 1 " (reference Fig. 7 (i)).The unmanned transport vehicle 1 of fork truck type with pole low speed driving, forms the monitor area A that the monitor area Ai1 at rear is little when lade.

When the travel speed of the 2nd row be " pole low speed ", steering direction is " arbitrarily ", in transfer for "Yes" (in transfer), select setting numbering " 2 " (reference Fig. 7 (h)).Because the unmanned transport vehicle of fork truck type 1 is sailed in the just laggard every trade of lade, be difficult to the state at the position estimating arrangement of goods, thus form the monitor area A in the region not monitoring front.

When the travel speed of the 3rd row be " low speed ", steering direction is " right-hands rotation ", in transfer for "No" (not being in transfer), select setting numbering " 3 " (reference Fig. 7 (b)).Form the monitor area A that the region that is large, front, left side, the direct of travel i.e. region at rear, right side of the unmanned transport vehicle of fork truck type 1 is large.

The travel speed of the 4th row is " low speed ", steering direction is when being "No" in " left-hand rotation ", transfer, selects setting numbering " 5 " (reference Fig. 7 (c)).Form the direct of travel of the unmanned transport vehicle 1 of fork truck type, the monitor area A that namely region that is large, front, right side, the region at rear, left side is large.

When the travel speed of the 5th row be " low speed ", steering direction is " craspedodromes ", in transfer for "No", select setting numbering " 4 " (reference Fig. 7 (f)).Form the monitor area A that the region Af1 at the direct of travel of fork truck type unmanned transport vehicle 1 and rear is large.

When the travel speed of the 6th row be " low speed ", steering direction is " arbitrarily ", be "Yes" in transfer, be judged as incorrect combination "abnormal".Make that pallet fork 5 works and so when travel speed should be " pole low speed " in the process of fork truck type unmanned transport vehicle 1 transfer goods, travel speed is that " low speed " then can be too fast owing to being in.Therefore, there is the possibility that successfully can not perform the possibility of transfer or the setting mistake of various data, so be judged as incorrect combination "abnormal" and make fork truck type unmanned transport vehicle 1 emergent stopping.

When the travel speed of the 7th row be " middling speed ", steering direction is " right-hands rotation ", in transfer for "No" (not being in transfer), select setting numbering " 6 " (reference Fig. 7 (d)).The unmanned transport vehicle 1 of fork truck type is " middling speed ", " right-hand rotation ", so the situation (with reference to Fig. 7 (b)) forming the direct of travel i.e. region same " low speed " at rear, right side compares region that is larger, front, left side compare larger monitor area A with the situation of " low speed ".

When the travel speed of eighth row be " middling speed ", steering direction is " left-hands rotation ", in transfer for "No", select setting numbering " 8 " (reference Fig. 7 (e)).The direct of travel i.e. region at rear, left side forming fork truck type unmanned transport vehicle 1 compares with the situation of " low speed " that (with reference to Fig. 7 (c)) is larger, larger monitor area A is compared with the situation of " low speed " in the region in front, right side.

When the travel speed of the 9th row be " middling speed ", steering direction is " craspedodromes ", in transfer for "No", select setting numbering " 7 " (reference Fig. 7 (g)).The situation forming the direct of travel of the unmanned transport vehicle of fork truck type 1 and the region Ag1 same " low speed " at rear compares larger monitor area A.

When the travel speed of the 10th row be " middling speed ", steering direction is " arbitrarily ", be "Yes" in transfer, be judged as incorrect combination "abnormal".Make that pallet fork 5 works and so when travel speed should be " pole low speed " in the process of fork truck type unmanned transport vehicle 1 transfer goods, travel speed is that " middling speed " then can be too fast owing to being in.Therefore, there is the possibility that successfully can not perform the possibility of transfer or the setting mistake of various data, so be judged as incorrect combination "abnormal" and make fork truck type unmanned transport vehicle 1 emergent stopping.

When the travel speed of the 11st row be " at a high speed ", steering direction is " right-hands rotation ", be "No" (not being in transfer) in transfer, be judged as incorrect combination "abnormal".Because the unmanned transport vehicle 1 " right-hand rotation " of fork truck type is so when travel speed should be " middling speed ", " low speed ", " pole low speed " etc., travel speed is that " at a high speed " then can be too fast.Therefore, there is the possibility successfully can not carrying out the setting mistake of possibility or the various data of turning, so be judged as incorrect combination "abnormal" and make fork truck type unmanned transport vehicle 1 emergent stopping.

When the travel speed of the 12nd row be " at a high speed ", steering direction is " left-hands rotation ", be "No" in transfer, be judged as incorrect "abnormal".Because the unmanned transport vehicle 1 " left-hand rotation " of fork truck type is so when travel speed should be " middling speed ", " low speed ", " pole low speed " etc., travel speed is that " at a high speed " then can be too fast.Therefore, there is the possibility successfully can not carrying out the setting mistake of possibility or the various data of turning, so be judged as incorrect combination "abnormal" and make fork truck type unmanned transport vehicle 1 emergent stopping.

When the travel speed of the 13rd row be " at a high speed ", steering direction is " craspedodromes ", in transfer for "No", select setting numbering " 9 " (reference Fig. 7 (a)).The situation forming the direct of travel of the unmanned transport vehicle of fork truck type 1 and the region Aa1 same " middling speed " at rear compares larger monitor area A.

When the travel speed of the 14th row be " at a high speed ", steering direction is " arbitrarily ", be "Yes" (in transfer) in transfer, be judged as incorrect combination "abnormal".Make that pallet fork 5 works and so when travel speed should be " pole low speed " in the process of fork truck type unmanned transport vehicle 1 transfer goods, travel speed is that " at a high speed " then can be too fast owing to being in.Therefore, there is the possibility that successfully can not perform the possibility of transfer or the setting mistake of various data, so be judged as incorrect combination "abnormal" and make fork truck type unmanned transport vehicle 1 emergent stopping.

The information of table 1 is stored in the internal memory (surveyed area storage part) of detection of obstacles safety control unit 1S, detection of obstacles safety control unit 1S, according to the information of " travel speed ", " steering direction ", " in transfer " of the reality (in the operation process of the unmanned transport vehicle 1 of fork truck type) of input, distributes the monitor area A or "abnormal" setting numbering 1 ~ 9.

By the information of " travel speed ", " steering direction ", " in transfer " of above table 1 to detection of obstacles safety control unit 1S (with reference to Fig. 3) input, export setting numbering and determine monitor area A (with reference to Fig. 7).Detected " travel speed " by described speed pickup, detected " steering direction " by described steering angle sensor.Whether determine whether to be in " in transfer " to the motor (not shown) supply electric current starting pallet fork 5 by detecting.

And, by detection of obstacles safety control unit 1S backward, preceding object thing sensor 2,3,4 exports the information of monitor area A, by supervision that is rear, preceding object thing sensor 2,3,4 execution monitoring region A.

In addition, detected by rear, preceding object thing sensor 2,3,4 in monitor area A, to there is barrier (people, thing etc.) time, the unmanned transport vehicle 1 of fork truck type break the barriers the control that detects safety control unit 1S and with car body control part 1C emergent stopping independently.

In addition, existence adds detailed conditions further to the information shown in table 1 and increases the possibility of new monitor area A certainly.

The conversion > of the monitor area A in the operation process of the unmanned transport vehicle 1 of < fork truck type

Next, the conversion for the monitor area A in the operation process of the unmanned transport vehicle 1 of fork truck type is described.

In the operation process of the unmanned transport vehicle 1 of fork truck type, as shown in Figure 8, can travel according to the scope of the operating condition such as " travel speed ", " steering direction ", " in transfer " conversion protection and monitor area A.

When carrying out the high reverse of (I), monitored to a rear side distant place by monitor area A.When carrying out the ease astern of (II), monitor near the low-speed region of the monitor area A only before stopping.

(III) be the situation that the unmanned transport vehicle 1 of fork truck type stops when forwards the direction conversion of 90 degree is carried out in side in order to transfer.When the unmanned transport vehicle 1 of fork truck type stops, not setting monitor area A.

In the direction transfer process of 90 degree of carrying out (IV), by monitor area A, the situation about being involved in of the people of the side of the front of the unmanned transport vehicle of fork truck type 1 and the unmanned transport vehicle 1 of fork truck type is monitored.That is, monitor area A carries out the supervision in large region, and this region comprises the region of the region of the left front of the unmanned transport vehicle of fork truck type 1 of the left-hand rotation side of fork truck type unmanned transport vehicle 1 movement and the right back of the unmanned transport vehicle 1 of fork truck type.

In (V), make to be made by extension means the pallet fork 5 of loading action forwards mobile before, confirm whether there is barrier etc. between goods N and pallet fork 5 in the region Av of monitor area A.After this, carry out following series of actions: make before extension means so that pallet fork 5 is inserted into pallet, pallet fork 5 rises and the extension means being fixed with pallet fork 5 returned.

(VI) what represent is state just after pallet fork 5 lade N.Because the monitor area A after lade N is owing to cannot estimate the state of the front side with pallet fork 5, so the region that front side does not monitor.

After the goods N loading (VII), carry out the direction conversion that the right radius of gyration turn 90 degrees rearward is large, the situation about being involved in of the people of left and right is monitored.(VII) radius of gyration of monitor area A is large.Because the unmanned transport vehicle of fork truck type 1 is at the route of the craspedodrome of the unmanned transport vehicle 1 of the fork truck type of (VIII) after this, the outside being thus formed in the radius of gyration of the unmanned transport vehicle of fork truck type 1 has the monitor area A of larger protective range.

In (VIII), after reaching the track of straight line, by the monitor area A that the monitoring range at the rear corresponding with the travel speed of the unmanned transport vehicle of fork truck type 1 is large, monitor to direct of travel a rear side distant place while travel towards destination locations.

< various monitor area A >

Next, various monitor area A is described.

Following monitor area A is the example except the monitor area A of Fig. 7 except having illustrated, table 1, certainly also comprise following beyond content.

Fig. 9 ~ Figure 14 is the vertical view of the example of the various monitor areas representing the unmanned transport vehicle of fork truck type.

According to the presence or absence of the goods on pallet fork 5, the shape of goods, as shown in Fig. 9 ~ Figure 11, more complicated protective range can be set, i.e. monitor area A.In addition, Fig. 9 ~ Figure 11 partly comprises the monitor area A of Fig. 7.

Fig. 9 (a) is the situation retreating straight-line travelling with " pole low speed ".Because when the retrogressing of handling carrying out goods, travel speed is " pole low speed ", thus little of about 100mm at the zone of protection at the rear of the unmanned transport vehicle of fork truck type 1 of monitor area A.

Fig. 9 (b) is the situation retreating straight-line travelling with " pole low speed ".Due to just whether the Container Loading being placed in pallet for more than pallet existing and need the region of protection to estimate in the position in front, thus cannot being contrasted pallet and more not carrying out protecting and not arranging monitor area A in the position in front to during pallet fork 5.

On the other hand, when goods being placed in pallet fork 5 and preceding object thing sensor 3,4 is positioned at the height that goods can be detected, monitor area A is set in front, the presence or absence of goods and the detection of barrier of carrying out in the process inserting pallet fork 5 can be used it for when pallet fork 5 inserts the pallet of goods.Though there is not goods or there is goods operated goods does not meet the height of preceding object thing sensor 3,4 time, in the monitor area A of preceding object thing sensor 3,4, detect that the situation of barrier is identified as exception.

Fig. 9 (c) is the situation retreating with " pole low speed " and turn left to travel.When the unmanned transport vehicle of fork truck type 1 when turning left, forms left-right asymmetry monitor area A at narrow ground point backing.Monitor area A is set to, make by direct of travel, the i.e. region Au1 at the rear of the unmanned transport vehicle of fork truck type 1, fork truck type unmanned transport vehicle 1 opposition side of turning, namely the turn region Am1 on anterior right side of side of the region Au2 of the rear left of the unmanned transport vehicle of fork truck type 1 and the unmanned transport vehicle of fork truck type 1 becomes the region comprising the unmanned transport vehicle 1 of fork truck type.In the region of rear right and the region of front left, do not set monitor area A when there is no surplus.

Fig. 9 (d) retreats the situation of turning right and travelling with " pole low speed ".It is the situation that the fork truck type unmanned transport vehicle 1 contrary with Fig. 9 (c) is also turned right at narrow ground point backing.In Fig. 9 (d), identical with Fig. 9 (c), form left-right asymmetry monitor area A.Monitor area A is set to, make by direct of travel, the i.e. region Au1 at the rear of the unmanned transport vehicle of fork truck type 1, fork truck type unmanned transport vehicle 1 opposition side of turning, namely the turn region Am1 of front left of side of the region Au2 of the rear right of the unmanned transport vehicle of fork truck type 1 and the unmanned transport vehicle of fork truck type 1 becomes the region comprising the unmanned transport vehicle 1 of fork truck type.

Fig. 9 (e) retreats the situation of turning right and travelling with " pole low speed ".Although identical with Fig. 9 (d), be the unmanned transport vehicle of fork truck type 1 at narrow and small ground point backing and the situation of turning right, but the situation that the travel speed of right-hand rotation in retreating is low.Because travel speed is low, area diminishes monitor area A.In Fig. 9 (d), (e), the region of rear left and the region on anterior right side do not form monitor area A when not having surplus.

Figure 10 (a) is situation about travelling with " pole low speed " (travel speed 0) advance right-hand rotation.Be the tray loading that will be loaded with goods in pallet fork 5 time, before pallet fork 5 inserts pallet, make the unmanned transport vehicle 1 of fork truck type with the example of pole low-speed forward by extended position mechanism.At the front of pallet fork 5 setting monitor area A.

What Figure 10 (b) represented is when identical with Figure 10 (a), the part in the region in pallet fork 5 is set as the example of monitor area A.

Figure 10 (c) is the situation of turning left to travel with " pole low speed " advance.In narrow and small place, each single side regions in the right back portion of the unmanned transport vehicle of fork truck type 1 towards the outside of turning and left front portion is formed monitor area A.Also pallet fork 5 is comprised nearby in monitor area A.

Figure 10 (d) is the situation of turning left to travel with " pole low speed " advance.Although Figure 10 (d) is the example identical with Figure 10 (c), the region of the left and right of the part in the region in pallet fork 5 and pallet fork 5 is set as the example of monitor area A.

Figure 10 (e) is situation about travelling with " pole low speed " advance right-hand rotation.In narrow and small position, each single side regions of the left back portion of the unmanned transport vehicle of fork truck type 1 towards the outside of turning and right front portion is formed monitor area A.Pallet fork 5 is comprised nearby at monitor area A.

Figure 10 (f) is situation about travelling with " pole low speed " advance right-hand rotation.Figure 10 (f) is the example identical with Figure 10 (e), but is the example region of the left and right of the part in the region in pallet fork 5 and pallet fork 5 being set as monitor area A.

Figure 11 (a) is the situation retreating straight-line travelling with " low speed ".When retreating the low speed of straight-line travelling, the zone of protection at the rear of the unmanned transport vehicle of fork truck type 1 in monitor area A is little of about 200mm.

Figure 11 (b) is the situation retreating straight-line travelling with " low speed ".The car body 1B of the unmanned transport vehicle of fork truck type 1 travels in narrow and small place spaceless on width, does not protect and does not thus form monitor area A the both sides of the unmanned transport vehicle 1 of fork truck type, the below that is placed in the pallet of pallet fork 5.

Figure 11 (c) retreats the situation of turning left to travel with " low speed ".After the unmanned transport vehicle 1 of fork truck type rolls away from, the position more forward than the end of pallet fork 5 is included in monitor area A.Travel direction, namely the monitor area A at the rear of the unmanned transport vehicle of fork truck type 1 is little of about 200mm.

Figure 11 (d) retreats the situation of turning left to travel with " low speed ".When retrogressing left-hand rotation is carried out in narrow and small place, set asymmetric monitor area A and pass through.The situation of monitor area A ratio " pole low speed " expands more.

Figure 11 (e) retreats the situation of turning right and travelling with " low speed ".After the unmanned transport vehicle 1 of fork truck type rolls away from, the position more forward than the end of pallet fork 5 is included in monitor area A.Travel direction, namely the monitor area A at the rear of the unmanned transport vehicle of fork truck type 1 is little of about 200mm.

Figure 11 (f) retreats the situation of turning right and travelling with " low speed ".When retrogressing right-hand rotation is carried out in narrow and small place, set asymmetric monitor area A and pass through.The situation of monitor area A ratio " pole low speed " expands more.

Due to special dangerous in the process passing through pallet fork 5 transfer goods, stop even if thus travelling, before pallet fork 5 stretches out, as shown in Figure 12 (a), (b), also can be carried out nobody by appropriately combined surveyed area close to the determination near the unmanned transport vehicle of fork truck type 1 and carry out ensuing transfer program etc., and in the way of transfer program the safety verification in stage.

Front when Figure 12 (a) is transfer confirms.Be the safety verification before the unmanned transport vehicle 1 of fork truck type stops and pallet fork 5 is about to stretch out, monitor area A is the region in the front of pallet fork 5.

Front when Figure 12 (b) is other transfer confirms.The unmanned transport vehicle 1 of fork truck type stop and pallet fork 5 be about to stretch out before safety verification, be using the example of the part in the region in the region in the front of pallet fork 5 and pallet fork 5 as monitor area A.

Confirmation of rear view when Figure 12 (c) is transfer.The region at the rear of unmanned for fork truck type transport vehicle 1 is formed monitor area A and carries out the example of confirmation of rear view.The region of the pallet by pallet fork 5 transfer is not formed as monitor area A in the lifting action of the pallet fork 5 when transfer.

Confirmation of rear view when Figure 12 (d) is transfer.Although identical with the situation of Figure 12 (c), be the example of top as monitor area A of the rear bumper 1b (with reference to Fig. 1 (a)) adding rear portion in the monitor area A of Figure 12 (c).

Figure 13 (a) is the situation retreating straight-line travelling with " middling speed ".At retrogressing straight-line travelling, when travel speed is " middling speed ", the monitor area A at the rear of the unmanned transport vehicle of fork truck type 1 in monitor area A is little of about 300mm.

Figure 13 (b) is the situation retreating straight-line travelling with " middling speed ".The traveling of car body 1B on width in narrow and small place spaceless of the unmanned transport vehicle of fork truck type 1.By travel direction, namely the region at the rear of the unmanned transport vehicle 1 of fork truck type is as monitor area A, the region of the side of car body 1B be placed in the below of pallet of pallet fork 5 not as the example of monitor area A.

Figure 13 (c) is the situation retreating the traveling of turning left with " middling speed ".After the unmanned transport vehicle 1 of fork truck type rolls away from, the region more forward than the end of pallet fork 5 is contained in monitor area A.

Figure 13 (d) retreats the situation of left-hand rotation with " middling speed ", when by narrow and small place, forms asymmetric monitor area A.The situation that monitor area A travels with " low speed " compares expansion.

Figure 13 (e) retreats the situation of turning right and travelling with " middling speed ".After the unmanned transport vehicle 1 of fork truck type rolls away from, the region more forward than the end of pallet fork 5 is contained in monitor area A.

Figure 13 (f) retreats the situation of turning right and travelling with " middling speed ", by forming asymmetric monitor area A during narrow position.The situation that monitor area travels with " low speed " compares expansion.

Figure 14 (a) is the situation retreating straight-line travelling with " at a high speed ".When the unmanned transport vehicle 1 of fork truck type travels with " at a high speed ", the monitor area A of travel direction comprises the distance stopped by detent.By the setting of above-mentioned monitor area A, the unmanned transport vehicle 1 of fork truck type, when unloaded goods N, can travel with the speed of maximum 180m/ minute safely.

Figure 14 (b) is the situation with " at a high speed " retrogressing straight-line travelling by narrow and small place.Identical with Figure 14 (a), the unmanned transport vehicle of fork truck type 1 comprises the distance that can be stopped by detent but not by the situation of the side of car body 1B as monitor area A in narrow and small place using the monitor area A that the situation that " at a high speed " travels is travel direction.

So, although in the process that Container Loading is transported in pallet fork 5, any object should not be there is in the region of the downside of pallet fork 5, but when front obstacle sensor 3,4 (with reference to Fig. 1 (a)) detects barrier in the below of pallet fork 5, no matter be people or thing, be all regarded as abnormality and the unmanned transport vehicle 1 of fork truck type is stopped.Except people, also there is goods and to collapse and the stretch wrap film of goods tied on pallet unclamps, to rupture and goods collapses the situation of the last stage occurred in barrier.

And then, be that axle carries out rotating, when carrying out pivot with the front-wheel w1 of the engaged wheel of outrigger for axle, can increase asymmetric zone of protection further at the center of the car body 1B turned to 90 degree (with reference to Fig. 1 (b)).

The running > of the unmanned transport vehicle 1 of < fork truck type

The unmanned transport vehicle of fork truck type 1 carries out unmanned automatic running with following step.

When using the unmanned transport vehicle 1 of unmanned and fork truck type that is that automatically operate, first, user manually operates and the unmanned transport vehicle 1 of striker fork vehicle, travel in the buildings using the unmanned transport vehicle 1 of fork truck type and by guiding sensor 8a, buildings environment detected, generating by car body control part 1C the environmental map which kind of situation is the layout represented in buildings be.

In addition, when the layout in buildings changes, when using the buildings of fork truck type unmanned transport vehicle 1 to change etc., environmental map is regenerated.

After this, the unmanned transport vehicle of fork truck type 1 by the work of car body control part 1C, the unmanned running automatically based on the position of the information identification (determination) self of environmental map.

The detection of obstacles security control > of the unmanned transport vehicle 1 of < fork truck type

Next, the detection of obstacles security control of the monitor area A using the unmanned transport vehicle 1 of fork truck type is described.

The detection of obstacles security control undertaken by monitor area A is performed according to the control of detection of obstacles safety control unit 1S (with reference to Fig. 3).

Figure 15 is the figure of the general flow representing detection of obstacles security control.

First, detection of obstacles safety control unit 1S (with reference to Fig. 3) selects monitor area A by the information of " travel speed ", " steering direction ", " in transfer ", is set to rear, preceding object thing sensor 2,3,4 (S101 of Figure 15).In addition, the selection of the monitor area A of S101 is described in detail later.

Next, detect whether there is the barrier such as people, thing in monitor area A by rear, preceding object thing sensor 2,3,4, export this information (detection signal) to detection of obstacles safety control unit 1S when detecting barrier in monitor area A, the detection safety control unit 1S that breaks the barriers makes fork truck type unmanned transport vehicle 1 emergent stopping (S102).Protection around the car body 1B of S102 is described in detail later.

The selection > of < monitor area A

Next, the selection of the monitor area A of the S101 of Figure 15 is described with reference to Figure 16.Figure 16 is the process flow diagram that the selection of the monitor area A represented in detection of obstacles security control controls.

Detection of obstacles safety control unit 1S obtains actual " travel speed ", " steering direction ", whether is in the various information such as " in the transfer " of the goods using pallet fork 5 to carry out (with reference to the input shown in table 1), monitors (S201 of Figure 16) the operating condition of the unmanned transport vehicle 1 of fork truck type.In S201, detection of obstacles safety control unit 1S is respectively by speed pickup, steering angle sensor and drive the electric current of the drive motor of pallet fork 5 and obtain " travel speed ", " steering direction " and whether be in various information such as " in transfers ".

And whether detection of obstacles safety control unit 1S changes operating condition judges (S202).The judgement of the change of the operating condition in S202 is by the generation of any change in the information of " travel speed ", " steering direction ", " in transfer " of input shown in the table 1 of reality, and the change of even numbering judges.

When operating condition does not change, (being no in S202) turns to S201 to carry out the supervision of operating condition.

On the other hand, when operating condition changes (being yes in S202), various information such as actual " travel speeds ", " steering direction " and " in transfer " is used to select the setting of the setting regions consistent with each information of " travel speed ", " steering direction " and " in transfer " of the input shown in the table 1 being stored in chart etc. to be numbered arbitrary monitor area A of 1 ~ 9.And, the monitor area A that setting is rear, preceding object thing sensor 2,3,4 is selected, or, when " travel speed ", " steering direction " and " in transfer " of reality is for incorrect combination, make fork truck type unmanned transport vehicle 1 emergent stopping (S203) as "abnormal".After this, turn to S201, the operating condition of detection of obstacles safety control unit 1S to the unmanned transport vehicle 1 of fork truck type monitors.

Protection > around < car body 1B

Next, to the protection around the car body 1B of the S102 of Figure 15, be described according to Figure 17.Figure 17 is the process flow diagram of the defense controls represented around the car body 1B in detection of obstacles security control.

Afterwards, preceding object thing sensor 2,3,4 to whether there is barrier in the monitor area A set detects (S301 of Figure 17).

Next, whether detection of obstacles safety control unit 1S exists barrier (S302) by signal determining that is rear, preceding object thing sensor 2,3,4 in monitor area A.

When judging there is not barrier in monitor area A (being no in S302), turn to S301, rear, preceding object thing sensor 2,3,4 detects whether there is barrier in monitor area A.

On the other hand, when there is barrier in monitor area A (being yes in S302), detection of obstacles safety control unit 1S and car body control part 1C is independent, cut off the electric power supply of travel motor, make fork truck type unmanned transport vehicle 1 emergent stopping (S303) by detent.After this, again to operate rear steering S301 at the unmanned transport vehicle 1 of fork truck type.

Detection of obstacles safety control unit 1S because make fork truck type unmanned transport vehicle 1 emergent stopping when detecting barrier independent of car body control part 1C, even if so at car body control part 1C just in case also can emergent stopping when breaking down, security be high.

< is by being positioned at process > people detecting sensor 8b being detected to barrier at the car body 1B rear of the unmanned transport vehicle 1 of fork truck type

Next, according to Figure 18, to the deceleration control area G by setting at the rear of the unmanned transport vehicle 1 of fork truck type people detecting sensor 8b, stop detecting that process when there is barrier is described in control area T (with reference to Fig. 2).Figure 18 is the process flow diagram of the detection of obstacles process at the car body rear representing the unmanned transport vehicle of fork truck type.

First, car body control part 1C judges (S401 of Figure 18) whether there is barrier in stopping control area T (with reference to Fig. 2) according to the detection signal of people detecting sensor 8b.

When judging to stop there is barrier in the T of control area (being yes in S401), target velocity is set as " 0 " and cuts off the electric power supply of travel motor by car body control part 1C, makes fork truck type unmanned transport vehicle 1 emergent stopping (S402) by detent.After this, again to operate rear steering S401 at the unmanned transport vehicle 1 of fork truck type.

On the other hand, when judging to stop there is not barrier in the T of control area (being no in S401), car body control part 1C judges whether detect in deceleration control area G (with reference to Fig. 2) to there is barrier (S403) to people detecting sensor 8b.

When be judged to detect in the G of deceleration control area there is barrier (being yes in S403), judge its whether relevant to the structure logged in environmental map (S404).

In the incoherent situation of the structure logged in the barrier being judged to detect and environmental map (being no in S404), the target velocity of unmanned for fork truck type transport vehicle 1 is set as safe speed and the S405 that slows down by car body control part 1C).After this, S401 is turned to.

On the other hand, in S403, when judging not detect barrier in the G of deceleration control area (be no in S403), car body control part 1C by by the detection of obstacles that people detecting sensor 8b is carried out process to the unmanned transport vehicle 1 of fork truck type whether be in slow down or stopping process in judge (S406).In addition, the judgement in S406 is the judgement whether be in for the unmanned transport vehicle 1 of fork truck type in deceleration or stopping process being undertaken by the process of the detection of obstacles to people detecting sensor 8b.

Its reason is, as shown in Figure 2, due to the monitor area A that undertaken detecting by rear, preceding object thing sensor 2,3,4 with by the stopping control area T detected people detecting sensor 8b and deceleration control area G, there is unduplicated region, if thus existed when independently not judging, when must stop, starting the problem of traveling.

Be judged as not to be at the unmanned transport vehicle 1 of fork truck type and slow down or in this interval with (being no in S406) when the travel speed of setting traveling, turn to S401 in stopping process.

On the other hand, when the unmanned transport vehicle of fork truck type 1 be judged as be in slow down or stop process in (being yes in S406), the target velocity of unmanned for fork truck type transport vehicle 1 is returned the travel speed (S407) of the setting becoming this interval by car body control part 1C, turns to S401.

In S404, when the barrier judging to detect is relevant to the structure logged in environmental map (being yes in S404), turn to S406.

More than by process people detecting sensor 8b being detected to barrier.

The connection > of < and SLAM technology

Although for for the rear obstacle sensor 2 zone of protection being arranged at respectively respective detection of obstacles sensor, left, right preceding object thing sensor 3, the example of 4 is illustrated, but according to SLAM technology (SimultaneouslyLocalization And Mapping: in order to carry out the autonomous movement of robot in car body guiding controls, generate the environmental map of positional information etc. of display barrier and the control technology to the intelligent robot that oneself position estimates) when oneself position is estimated, when the guiding sensor 8a of the laser distance meter used in self-position presumption is arranged on and can carries out the height of the detection of people, carry out following operation.

Namely, replace people detecting sensor 8b, security can be improved in the following way: carrying out deceleration process in order to avoid the collision for the people detected in SLAM side or barrier, stopping the region processing that the outside of zone of protection and the monitor area A illustrated in the present embodiment is set, to stopping process of slowing down (deceleration control area G, stopping control area T with reference to Fig. 2) form a social stratum.

Being undertaken by SLAM slowing down, the region that stops processing the deceleration control area G of the Fig. 2 (, stop control area T), there is the problem that the place of important document is set being arranged in this region and not meeting in order to ensure the safety of unmanned transport vehicle, because the obstacle avoidance of being undertaken by SLAM cannot assure safety, thus need to assure and reliably can stop as necessary condition by being arranged on the pick-up unit in the place meeting safe important document.This necessary condition is met in the following manner: rear obstacle sensor 2 and left and right preceding object thing sensor 3,4 detect there is barrier in monitor area A and make fork truck type unmanned transport vehicle 1 emergent stopping.

What < controlled shares >

As sharing of controlling, when the car body control part 1C of control device controlled by guiding carries out whether entering the judgement of monitor area A for the range data exported by the rear obstacle sensor 2 of obstacle sensor, left and right preceding object thing sensor 3,4, there is the fault of control device, control unsuccessfully reasons such as () defects of software and safe situation can not be assured.

Therefore, as previously mentioned, when by with guide control device (car body control part 1C) independently control device detection of obstacles safety control unit 1S (with reference to Fig. 3) to the range data exported by the rear obstacle sensor 2 of obstacle sensor, left and right preceding object thing sensor 3,4 whether enter monitor area A judge, even if for guide control device (car body control part 1C) fault, control unsuccessfully also can protect.

In addition, by the rear obstacle sensor 2 of obstacle sensor, preceding object thing sensor 3, 4 export range data record, by the regional record that protects in advance at obstacle sensor (rear obstacle sensor 2, left, right front obstacle sensor 3, 4), until judge all to be made by obstacle sensor, and, can (thing sensor 2 be hindered at rear by obstacle sensor, and it is left, right front obstacle sensor 3, 4) situation of cause danger side fault and loss of function is identified, now, can be undertaken guiding is controlled to judge with the protection of zone of protection by control device and form security system, this control device can determine to there occurs hazardous side fault and the device of the situation of loss of function.In addition, there is impact to security function when hazardous side fault refers to that fault occurs and become unsafe fault.

According to said structure, when the unmanned transport vehicle of fork truck type 1 carries out various traveling, the monitor area A that setting can correspond to each driving safety and stop, not colliding and stops when can there is barrier in monitor area A.Therefore, even if unmanned in the unmanned transport vehicle 1 of fork truck type, also can not occur and the collision of people, thing and using safely.

In addition, due to by the deceleration control area G by detecting people detecting sensor 8b, stop control area T (with reference to Fig. 2) overlapping with monitor area A and multiple stratification, security can be improved further.

And then, because the stopping of monitor area A control by the car body control part 1C controlling control device with guiding independently detection of obstacles safety control unit 1S carry out, even if thus when car body control part 1C breaks down, safely stopping is carried out to fork truck type unmanned transport vehicle 1 when also can there is barrier in monitor area A and control.

In addition, even if when constituting the control device of the function with detection of obstacles safety control unit 1S, also identical action effect can be realized.

As from the foregoing, can realize a kind ofly can reducing the intrinsic unmanned transport vehicle of fork truck type to thing exposure risk of fork truck, its control method and control device.

Other embodiment > > of < <

1. in said embodiment, although show as the operational situation citing of the monitor area A of the unmanned transport vehicle 1 of setting fork truck type the situation whether being in " travel speed ", " steering direction ", " in transfer ", but also can be configured to the presence or absence of the tote comprised in addition or the shape of tote or size, or tote whether to be out of shape etc. among any situation.In addition, the operational situation beyond these can also be adopted.Like this, monitor area A can be set by suitably selecting operational situation, thus avoid the collision with barrier, guarantee more careful security.

2. any one situation in transformation when the present invention can be applicable to the manufacture of novel forklift, the transformation of fork truck that works.

In addition, the present invention is not only defined in described embodiment, also comprises various embodiment.Such as, above-mentioned embodiment is the explanation made for ease of understanding the present invention, may not be defined in the situation of the whole structure possessing explanation.It also can be such as a part for the structure including explanation.

In addition, a part for embodiment also can be replaced into the structure of other embodiment, in addition, and also can for adding the situation of the structure of other embodiment in the structure of certain embodiment.In addition, also can add, delete, replace other structure about a part for the structure of each embodiment.

Industry utilizes possibility

The application of this technology is not limited only to the fork truck of extended position, also can be applied to balanced type fork truck, carry out the side fork lift truck (fork truck that pallet fork stretches out in the horizontal and loads) of more compound action.And, can either be used in common unmanned transport vehicle, also can be used in and take turns Changing Direction Type etc. by 4 and carry out the unmanned transport vehicle of complicated action and carry robot at unmanned transport vehicle and carry out from the unmanned transport vehicle of the utilization of car body pull-out goods.

Claims

1. the unmanned transport vehicle of fork truck type, is characterized in that, the unmanned transport vehicle of this fork truck type possesses:

Multiple first obstacle detector, this first obstacle detector is configured at the surrounding of car body and detects the surrounding environment of described car body;

Surveyed area storage part, the detection of obstacles region around the described car body that this surveyed area storage part prestores the operational situation according to the travel speed comprising described car body, steering direction, move loading action and sets; And

Detection of obstacles safety control unit, this detection of obstacles safety control unit according to comprise the travel speed of reality of described car body, steering direction, move loading action operational situation and select described detection of obstacles region, the information in the described detection of obstacles region this selected is sent to described multiple first obstacle detector

Detected by described first obstacle detector in the described detection of obstacles region selected, there is barrier time, the control that described detection of obstacles safety control unit carries out making the traveling of described car body to stop.

2. the unmanned transport vehicle of fork truck type as claimed in claim 1, it is characterized in that, the unmanned transport vehicle of this fork truck type possesses:

Second obstacle detector, this second obstacle detector detects the barrier be on the direct of travel of described car body; And

Guide control device, this guide control device controls the unmanned of described car body and travels,

Described guide control device sets deceleration control area and stops control area according to the position of the barrier detected by described second obstacle detector, carry out making the running speed-reduction of described car body or the control of stopping, in described deceleration control area, carry out the control that described car body is slowed down, in described stopping control area, carry out the control that described car body is stopped.

3. the unmanned transport vehicle of fork truck type as claimed in claim 1, is characterized in that,

Described operational situation comprises: at least any one situation among whether the presence or absence of tote or the shape of tote or size or tote are out of shape.

4. the unmanned transport vehicle of fork truck type as claimed in claim 1, is characterized in that,

Described first obstacle detector is configured in the front lower portion of rear lower and left and right, 100mm ~ 250mm above its tread being highly arranged to described car body.

5. the unmanned transport vehicle of fork truck type, is characterized in that, the unmanned transport vehicle of this fork truck type possesses:

Guide control device, this guide control device controls the unmanned of car body and travels;

First obstacle detector, this first obstacle detector detects the barrier be in around described car body; And

Detection of obstacles safety control unit, this detection of obstacles safety control unit judges whether there is described barrier in the region set, by the signal combination of the described signal that judged and described guide control device, the stopping carrying out described car body according to the operating condition of described car body controls.

6. the unmanned transport vehicle of fork truck type as claimed in claim 5, it is characterized in that, the unmanned transport vehicle of this fork truck type possesses:

7. a control device, is characterized in that, this control device possesses:

Surveyed area storage part, the detection of obstacles region around the described car body that this surveyed area storage part prestores the operational situation according to the travel speed comprising car body, steering direction, move loading action and sets; And

Detection of obstacles safety control unit, this detection of obstacles safety control unit according to comprise actual travel speed, steering direction, move loading action operational situation and select described detection of obstacles region, the information in the described detection of obstacles region this selected is sent to multiple first obstacle detectors of the surrounding environment detecting described car body

8. control device as claimed in claim 7, it is characterized in that, described operational situation comprises: at least any one situation among whether the presence or absence of tote or the shape of tote or size or tote are out of shape.

9. control device as claimed in claim 7, is characterized in that,

10. a control device, is characterized in that,

Detection signal according to the first obstacle detector judges whether there is barrier in the region set, by the signal combination of the described signal judged with the unmanned guide control device travelled of control car body, the stopping carrying out described car body according to the operating condition of described car body controls.

The control method of 11. 1 kinds of unmanned transport vehicles of fork truck type, the unmanned transport vehicle of this fork truck type possesses: the first obstacle detector, surveyed area storage part and detection of obstacles safety control unit, is characterized in that,

In described surveyed area storage part, prestore with good grounds comprise car body travel speed, steering direction, the operational situation of move loading action and the detection of obstacles region around the described car body set,

Described detection of obstacles safety control unit according to comprise the travel speed of reality of described car body, steering direction, move loading action operational situation and select described detection of obstacles region, the information in the described detection of obstacles region this selected is sent to described multiple first obstacle detector

Described first obstacle detector detects in the situation of barrier at described detection of obstacles region memory,

Detect in the described detection of obstacles region selected, there is barrier time, described detection of obstacles safety control unit carries out the control of the traveling making described car body.

The control method of the unmanned transport vehicle of 12. fork truck type as claimed in claim 11, is characterized in that,

The unmanned transport vehicle of described fork truck type possesses: the unmanned guide control device travelled of the second obstacle detector and control car body,

Described second obstacle detector detects the barrier be on the direct of travel of described car body,

The control method of the unmanned transport vehicle of 13. fork truck type as claimed in claim 11, is characterized in that,

The control method of the unmanned transport vehicle of 14. fork truck type as claimed in claim 11, it is characterized in that, described first obstacle detector is configured in the front lower portion of rear lower and left and right, 100mm ~ 250mm above its tread being highly arranged to described car body.

The control method of 15. 1 kinds of unmanned transport vehicles of fork truck type, the unmanned transport vehicle of this fork truck type possesses: guide control device, the first obstacle detector and detection of obstacles safety control unit, is characterized in that,

Described guide control device controls the unmanned of car body and travels,

Described first obstacle detector scans the surrounding of described car body and detects barrier,

Described detection of obstacles safety control unit judges whether there is described barrier in the region set, and by the signal combination of the described signal judged with described guide control device, carries out the stopping control of described car body according to the operating condition of described car body.