CN105074601A - Automatic guided vehicle and automatic guided vehicle system - Google Patents
Automatic guided vehicle and automatic guided vehicle system Download PDFInfo
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- CN105074601A CN105074601A CN201480018772.6A CN201480018772A CN105074601A CN 105074601 A CN105074601 A CN 105074601A CN 201480018772 A CN201480018772 A CN 201480018772A CN 105074601 A CN105074601 A CN 105074601A
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- 230000007246 mechanism Effects 0.000 claims abstract description 50
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- 238000005259 measurement Methods 0.000 claims description 9
- 238000012360 testing method Methods 0.000 claims description 3
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- 230000005540 biological transmission Effects 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Elevator Control (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
Abstract
The present invention reduces the waiting time for people at a freight elevator, and improves working efficiency. This automatic guided vehicle (10) comprises a movement mechanism (11), a control device (14), and an object detection sensor (15). The movement mechanism (11) moves a vehicle (35). The control device (14) guides the vehicle (35) by controlling the movement mechanism (11). The object detection sensor (15) detects objects. In a path over which the vehicle (35) moves to a different floor by using an elevator, the control device (14) detects, by means of the object detection sensor (15), whether or not there is an object at an elevator hall when the vehicle (35) boards the elevator, and outputs, to the elevator, a call signal for calling a cab that the vehicle (35) is to board if it is determined that there is no object.
Description
Technical field
The present invention relates to automatic conveying vehicle and automatic transport truck system, particularly make the technology that automatic conveying vehicle travels at the landline crossing over different floor.
Background technology
In recent years, along with the robotization of the logistics of factory and home-delivery center etc., in goods conveying, automatic conveying vehicle (AGV, AutomaticGuidedVehicle) is used widely.When using automatic conveying vehicle, different according to environment for use, there is the situation of such as crossing over floor from Stall to 3rd floors etc. in landline.
When this landline, automatic conveying vehicle uses goods elevator to move between different floor.When using goods elevator, automatic conveying vehicle has installed the control device such as controlling this goods elevator.
This control device is the device that automatic conveying vehicle uses this goods elevator of goods elevator time control system, exports the calling of goods elevator, the setting of destination and close the shutdown signal of goods elevator door to the elevator control gear controlling goods elevator.
When automatic conveying vehicle uses elevator, consider from secure context, extensively adopt people and automatic conveying vehicle can not take the regulation of elevator simultaneously.This is the worry contacted with people owing to there is automatic conveying vehicle in the narrow space in elevator.
In addition, automatic conveying vehicle notifies this message when using goods elevator by revolving light, light or hummer etc., makes people not go to take elevator.
As the mobile technology of this automatic conveying vehicle, there will be a known such as can the promptly change of corresponding external environment condition, the technology (such as referenced patent document 1) of movement while avoid-obstacles.
Prior art document
Patent documentation
Patent documentation 1: Japanese Unexamined Patent Publication 2009-288931 publication
Summary of the invention
The problem that invention will solve
But present inventor finds to there is problem points as described below in the application technology of automatic conveying vehicle as above.
But, when automatic conveying vehicle and people share goods elevator, there is the worry that situation as described below occurs.Under the situation that goods elevator is using, in a certain same floor, people and automatic conveying vehicle must wait end to be used.
When using goods elevator, the moment terminated be used to call out goods elevator by " calling " of electricity consumption ladder of unloading goods at goods elevator.Now, automatic conveying vehicle is by above-mentioned control device calling goods elevator.
On the other hand, in the case of human, must judge that goods elevator uses to terminate to press " calling " button again.Consequently, always automatic conveying vehicle calling arrival elevator.
Therefore, people cannot take goods elevator, there is the problem of useless stand-by period, operating efficiency reduction.When particularly to arrive after people at automatic conveying vehicle etc., the problems referred to above become remarkable.
Object of the present invention can reduce the stand-by period of people in goods elevator, improving the technology of operating efficiency for providing.
Above-mentioned and other object of the present invention and new feature can be understood by the record of this instructions and accompanying drawing.
For solving the technical scheme of problem
The summary of invention representational in invention disclosed in the present application is described as follows simply.
That is, the summary of representational invention is, is applied to automatic conveying vehicle and automatic transport truck system, and has following feature.
Automatic conveying vehicle comprises makes the travel mechanism of vehicle movement, control this travel mechanism and the object detection sensors of the control part of guided vehicle and inspected object.And, control part utilizes elevator at vehicle and moves in the route of different floor, when elevator taken by vehicle, detects whether there is object at the stop of elevator by object detection sensors, when being judged as there is no described object, export the signal of the car that calling vehicle will be taken to elevator.
In addition, automatic transport truck system comprises the elevator of lade and utilizes this elevator and the automatic conveying vehicle that travels on the landline of different floor.Elevator comprises the elevator control gear of the communication device for elevator of the call signal of the car of receipt of call lade or automatic conveying vehicle and the lifting of control car.
Automatic conveying vehicle comprise use vehicle movement travel mechanism, control travel mechanism and the object detection sensors of the control part of guided vehicle and inspected object.
Control part, utilize elevator at vehicle and move in the route of different floor, when elevator taken by vehicle, whether object is there is by the stop that object detection sensors is detecting elevator, when being judged as there is no described object, export the signal of the car that calling vehicle will be taken to communication device for elevator.
Further, elevator control gear, when communication device for elevator receives call signal, makes car lifting to the floor of automatic conveying vehicle boarding.
Invention effect
The effect obtained by invention representational in invention disclosed by the invention is described as follows simply.
Operating efficiency can be improved.
Accompanying drawing explanation
Fig. 1 is the key diagram of an example of the automatic transport bassinet structure representing embodiments of the present invention.
Fig. 2 is the block diagram of the example representing the control device structure be arranged on the automatic conveying vehicle of Fig. 1.
Fig. 3 is the key diagram that the goods elevator of operator and the automatic conveying vehicle representing that present inventor studies shares the problem points caused.
Fig. 4 is the key diagram of the example representing the object detection scope utilizing the object detection sensors be arranged on the automatic conveying vehicle of Fig. 1.
Fig. 5 is the key diagram of the example representing the goods elevator structure that the automatic conveying vehicle of Fig. 1 utilizes.
Fig. 6 is the process flow diagram of an example of the action of the goods elevator of Fig. 5.
Fig. 7 is the process flow diagram of an example of the action representing the automatic conveying vehicle with the landline taking goods elevator.
Fig. 8 is the key diagram of an example of the landline that in the process flow diagram representing Fig. 7, automatic conveying vehicle travels.
Embodiment
In the following embodiments, for convenience's sake, multiple embodiment or chapters and sections are divided into be described when needed, but except situation about clearly stating especially, they are not what it doesn't matter, but a side is the part or all of relation such as variation, details, supplementary notes of the opposing party.
In addition, in the following embodiments, when (comprising number, numeral, amount, scope etc.) such as the numbers mentioning key element, except situation about clearly stating or principle are defined as except situation of optional network specific digit etc. clearly, be not limited to this optional network specific digit, and can on optional network specific digit or under.
And in the following embodiments, its textural element (also comprising key element step etc.) is non-essential except situation that situation about clearly stating and principle need clearly etc., and this need not explicit word.
Similarly, in the following embodiments, when mentioning the shape of textural element etc., position relationship etc., except situation about clearly stating and principle being thought clearly except really not so situation etc., the thing approximate or similar with its shape etc. is comprised in fact.This for above-mentioned numerical value and scope too.
In addition, for illustration of in whole accompanying drawings of embodiment, in principle prosign is accompanied by same parts, and omits its repeat specification, in addition, in order to make accompanying drawing be easily understood, even if planimetric map is also accompanied by hatched situation.
The summary > of < invention
First summary of the present invention is automatic conveying vehicle (automatic conveying vehicle 10).This automatic conveying vehicle comprises travel mechanism (travel mechanism 11), control part (control device 14) and object detection sensors (object detection sensors 15).Travel mechanism makes vehicle (vehicle 35) mobile.Control part carries out control and guided vehicle to travel mechanism.Object detection sensors inspected object.
And, control part uses elevator at vehicle and moves in the route of different floor, utilizing when elevator taken by vehicle object detection sensors to detect elevator floor stops and whether there is object, when being judged as there is no object, exporting the call signal of the car that calling vehicle will be taken to elevator.
In addition, the second summary of the present invention is automatic conveying vehicle.Automatic conveying vehicle comprises elevator and automatic conveying vehicle (automatic conveying vehicle 10).Elevator carries goods.Automatic conveying vehicle utilizes elevator and the landline of movement between different floors travels.
In addition, elevator has communication device for elevator (communicator 45) and elevator control gear (elevator control gear 46).The call signal of the car that communication device for elevator receipt of call goods or automatic conveying vehicle will be taken.Elevator control gear controls car lifting.
Automatic conveying vehicle comprises travel mechanism (travel mechanism 11), control part (control device 14) and object detection sensors (object detection sensors 15).Travel mechanism makes vehicle (vehicle 35) mobile.Control part controls travel mechanism, guided vehicle.Object detection sensors inspected object.
And, control part uses elevator at vehicle and moves in the route of different floor, utilizing when elevator taken by vehicle object detection sensors to detect elevator floor stops and whether there is object, when being judged as there is no object, exporting the call signal of the car that calling vehicle will be taken to elevator.
Elevator control gear when communication device for elevator receives call signal, the floor making car be elevated to automatic conveying vehicle to take.
Based on above-mentioned summary, embodiment is described in detail below.
The structure example > of < automatic conveying vehicle
Fig. 1 is the key diagram of an example of the automatic transport bassinet structure representing present embodiment.
As shown in Figure 1, automatic conveying vehicle 10 comprises travel mechanism 11, driving wheel 12, universal wheel 13, control device 14, object detection sensors 15, extraneous sensor 16, communication device for elevator 17 and wheel 35.
Vehicle 35 is equipped with travel mechanism 11.This travel mechanism such as by motor, drive the driving circuit of this motor and accumulator etc. to form, produce power.Vehicle 35 is respectively equipped with two driving wheels 12 and two universal wheels 13.
Driving wheel 12 shown in hacures is arranged on vehicle 35 rear, and universal wheel 13 is arranged on the front portion of the direct of travel as vehicle 35.Travel mechanism 11 is connected with driving wheel 12 by not shown Poewr transmission mechanism.In addition, travel mechanism 11 also can be and does not drive driving wheel 12 by Poewr transmission mechanism, i.e. so-called direct drive mode.
Automatic conveying vehicle 10 makes driving wheel 12 rotate by utilizing travel mechanism 11, and the universal wheel 13 as engaged wheel is also rotated, thus mobile.Object detection sensors 15 be detect automatic conveying vehicle 10 direct of travel on whether there is the sensor of people or object etc.Object detection sensors 15 such as comprises infrared ray sensor, laser sensor, ultrasonic sensor, video camera or human body sensor etc.
Extraneous sensor 16 is obtain the current location of automatic conveying vehicle 10 and the sensor of target location.Thus, automatic conveying vehicle 10 can carry out rail-free conveying not using under the guiding devices such as magnetic recording tape.These object detection sensors 15 and extraneous sensor 16 are such as arranged on the front portion of vehicle 35.
At this, object detection sensors 15 and extraneous sensor 16 may not be independent setting but are configured to a sensor.Such as, when rail-free conveying type automatic conveying vehicle, existence use laser range sensor etc. are as the situation of extraneous sensor.
Laser range sensor utilizes every certain hours such as infrared laser to scan horizontal direction at certain intervals.By this laser range sensor is used as object detection sensors, people and thing can be detected, a sensor can be utilized to double as object detection sensors and extraneous sensor.
In addition, in Fig. 1, the occasion of the rail-free conveying type automatic conveying vehicle with extraneous sensor 16 is illustrated, also can be and extraneous sensor 16 is not set and the leading type automatic conveying vehicle travelled by guiding devices such as pilot tape such as guiding magnetic recording tape or white lines.
When using magnetic recording tape, the magnetic field that automatic conveying vehicle is produced by the magnetic recording tape be attached on floor guides.When pilot tapes such as white lines, automatic conveying vehicle identifies the pilot tape be attached on floor, is guided on this pilot tape and travels.
Communication device for elevator 17 carries out the communication with elevator control gear described later.Elevator control gear is arranged in goods elevator, carries out the action control of this goods elevator.Communication device for elevator 17 is such as arranged on the top etc. of vehicle 35.
In addition, the communication mode of communication device for elevator 17 for standard, such as, carries out the communication with elevator control gear by infrared communication or radio communication etc. with the specification of elevator control gear.
Control device 14 controls travel mechanism 11 based on the information obtained from object detection sensors 15 and extraneous sensor 16, and the automatic transport of carrying out automatic conveying vehicle 10 controls, and carries out the Control on Communication based on communication device for elevator 17.Control device 14 is arranged on vehicle 35.
The structure example > of < control device
Fig. 2 is the block diagram of an example of the structure representing the control device be arranged on the automatic conveying vehicle of Fig. 1.
As shown in Figure 2, control device 14 comprises object detection portion 18, elevator communication control part 19, location recognition portion 20 and travel mechanism's control part 21.Object detection portion 18 is connected to object detection portion 15.This object detection portion 18 judges whether there is object in the particular range of the direct of travel of automatic conveying vehicle 10 based on the information that object detection sensors 15 obtains.
Location recognition portion 20 is connected to extraneous sensor 16.The cartographic information of the measurement information that extraneous sensor 16 obtains by location recognition portion 20 and the environment that automatic conveying vehicle 10 travels matches, identify the current location of automatic conveying vehicle 10 and target location, wherein this cartographic information is carry out statistical treatment gained to the measurement information measured in advance in the running environment collected.
Elevator communication control part 19 to the transmission of communication device for elevator 17 indicator signal, and obtains the signal that communication device for elevator receives.Elevator communication control part 19 identifies automatic conveying vehicle 10 when being positioned at the position can carried out with the communication of elevator control gear in identification part, position 20, to the transmission of communication device for elevator 17 indicator signal.The control of travel mechanism 11 is carried out in the current location that travel mechanism's control part 21 position-based identification part 20 identifies and target location, makes automatic conveying vehicle 10 move to destination locations.
The application examples > of < goods elevator
At this, the typical apply example of goods elevator is described.
In goods elevator, be provided with boarding operation panel at each floor.This boarding operation panel is respectively equipped with " calling " button, shut the gate button and " using " lamp.Do not exist goods visitor dual-purpose elevator on visible " on " button or D score button etc.
In goods elevator, be arranged on the button operation panel in car being only provided with " enabling " button and representing destination, there is not on the dual-purpose elevator of goods visitor visible shut the gate button etc.
In addition, goods electricity consumption ladder has following feature: (1) only can specify a destination; (2) during " using " lamp lights, " calling " push-botton operation of any floor is not is not accepted; (3) unless pressed destination button or shut the gate button, otherwise door can not be closed, just or need a few minutes automatically to close.
The example of the goods elevator with above-mentioned feature is described.At this, be described leaving car to arrival destination, operator from car call.
First, after " calling " button pressed by the floor of stop, " using " lamp of whole floor is lighted, and the floor that car starts to pressing " calling " button moves.Afterwards, car arrives the floor of stop and opens the door.
Operator enters car, press destination button after, door is closed, and car moves to the destination specified by destination button.Then, car arrives destination and opens the door.Operator leaves car, and after pressing the Close button, door is closed, and " using " lamp of whole floor extinguishes.By upper, elevator uses and terminates.
< operator and automatic conveying vehicle share the problem > caused
Fig. 3 is the key diagram that the goods elevator of operator and the automatic conveying vehicle representing that present inventor studies shares the problem points caused.
Fig. 3 represents that goods elevator is using and the situation of the elevator to be used such as stop operator 100 and automatic conveying vehicle 101 at second floor.In this condition, operator 100, in order to use goods elevator, must first press " calling " button at stop than automatic conveying vehicle 101 when " using " lamp extinguishes.
But automatic conveying vehicle 101 communicates with the elevator control gear 102 of the action controlling goods elevator.Therefore, the moment can extinguished at " using " lamp sends the signal pressing " calling " button to elevator control gear 102, operator 100 cannot first press " calling " button than automatic conveying vehicle 101.
Thus, the situation that automatic conveying vehicle 101 preferably uses goods elevator, operator 100 cannot use is caused.
Therefore, the automatic conveying vehicle 10 of Fig. 1 is equipped with the object detection sensors 15 detecting people and thing, near the stop of detection goods elevator, whether there is people or thing.
Then, only when detecting nobody and thing, sending " calling " signal to goods elevator, the car 40 of calling goods elevator, and when detecting people and thing, allowing the preferential boarding of people, do not send " calling " signal.
As mentioned above, the detection based on object detection sensors 15 need not distinguish people and thing, as long as people or thing.In logistics center etc., quite few in the situation of the stop placing articles of goods elevator.Therefore, when stop existence, think operator to use goods elevator in wait.
The test example > of < object detection sensors
Fig. 4 is the key diagram of the example representing the object detection scope utilizing the object detection sensors be arranged on the automatic conveying vehicle of Fig. 1.Fig. 4 (a) represents the example from the object detection scope of the object detection sensors 15 of top view.
As shown in Fig. 4 (a), object detection sensors 15 is such as arranged on the front portion of the direct of travel of automatic conveying vehicle 10, the sensing range ARA in pie graph shown in dotted line.Sensing range ARA represents the scope that object detection sensors 15 can detect.Like this, if there is object on the direct of travel of automatic conveying vehicle 10 in sensing range ARA, then detect by object detection sensors 15.
Fig. 4 (b) represents the example of the object detection scope from automatic conveying vehicle during the arrival goods elevator floor stops of top view.
As shown in the figure, sensing range ARA is the region being enough to door 44 grade covering boarding operation panel 30 and be arranged at stop, is the region of the object that can detect stop entirety.Thus, be not only the operator during boarding operation panel 30 is operated, even if at operator or goods etc. when the end of the door 44 of the opposition side of boarding operation panel 30, also object detection can be realized.
In addition, in this Fig. 4, illustrate the example that object detection sensors 15 is arranged on automatic conveying vehicle 10 front portion, but the installation site of object detection sensors 15 is not limited thereto.Further, for the scope of inspected object, not only in automatic conveying vehicle 10 front, also can in the rear of this automatic conveying vehicle 10 or side etc., or also can detect more farther than the sensing range ARA of Fig. 4.Further, the object in region is all around detected by installing multiple object detection sensors 15.
The structure example > of < goods elevator
Then, the structure of goods elevator is described.
Fig. 5 is the key diagram of an example of the structure representing the goods elevator that the automatic conveying vehicle of Fig. 1 utilizes.
As shown in Figure 5, the goods electricity consumption ladder car 40 that has automatic conveying vehicle 10 to take.This car 40 is suspended in midair by hoist cable 41.Hoist cable 41 is connected with drag device 42.Then, roll or put down hoist cable 41 by this drag device 42, car 40 is moved up and down in hoistway 43 inside.The space that hoist trunk 43 moves up and down for making car 40.
Further, each floor that car 40 is stopped is provided with door 44.Each floor that car 40 is stopped and car 40 inside be respectively equipped with can with the communicator 45 of the mutual receiving and transmitting signal of communication device for elevator 17.
In addition, the top of lift path 43 is provided with elevator control gear 46.Elevator control gear 46 controls the action such as door 44 of drag device 42, each floor respectively, obtains the signal that in each floor and car 40, communicator 45 receives, and to the transmission of this communicator 45 command signal.
In addition, although not shown, as shown in Figure 4, each floor is provided with the boarding operation panel 30 with " calling " button, shut the gate button and " using " lamp in the horizontal side of door 44.As mentioned above, this boarding operation panel 30 is the operation panel of people's manual manipulation elevator.In addition, although not shown, in car 40, the operation panel with the Close button and destination button is also provided with.
The action case > of < goods elevator
Fig. 6 is the process flow diagram of an example of the action of the goods elevator of Fig. 5.
First, elevator start time, manual judgement (step S101) of whether behaving.If people's manual manipulation, namely if the operation of the boarding operation panel 30 by Fig. 4, then carry out action (step S102) according to the operation of staff as it is.
In the process of step S101, be judged as in inhuman manual situation, then determining whether that the communicator 45 of a certain floor receives " calling " signal (step S103) from communication device for elevator 17.
When not receiving " calling " signal, elevator returns manual judgement (step S101) of whether behaving.In addition, when the communicator 45 of a certain floor receives " calling " signal, elevator control gear 46 controls drag device 42, car 40 is moved to the floor (step S104) receiving " calling " signal.
After the movement of car 40 completes, the door 44 of the floor that elevator control gear 46 order car 40 arrives is opened (step S105).After door 44 is opened, elevator control gear 46 orders the communicator 45 of this floor to send elevator arriving signal (step S106).
Afterwards, elevator control gear 46 judges whether the communicator 45 in car 40 receives destination signal (step S107).Standby when not receiving destination signal (step S108), judges whether to receive destination signal again in the process of step S107.
Communicator 45 in car 40 receives destination signal, elevator control gear 46 orders the door 44 when front opening to be cut out (step S109).Afterwards, elevator control gear 46 controls drag device 42, car 40 is moved to the floor (step S110) specified by destination signal.
After the movement of car 40 completes, the door 44 of the floor that elevator control gear 46 order car 40 moves to is opened (step S111).After door 44 is opened, the communicator 45 in elevator control gear 46 order car 40 sends destination arriving signal (step S112).
Then, elevator control gear 46 judges whether the communicator 45 of the floor arrived receives from terraced settling signal (step S113) from the communication device for elevator 17 be arranged on automatic conveying vehicle 10.
When not receiving from terraced settling signal, elevator control gear 46 is (step S114) after standby certain hour, again judges whether to receive from terraced settling signal in the process of step S113.
When receiving from terraced settling signal, elevator control gear 46 orders the door 44 when front opening to be cut out (step S115).Afterwards, elevator control gear 46 returns and judges whether elevator is people's hand-guided step S101.
The traveling example > of < automatic conveying vehicle
Then, action when travelling along the landline taking goods elevator the automatic conveying vehicle 10 of Fig. 1 is described.
Fig. 7 is the process flow diagram of an example of the action representing the automatic conveying vehicle with the landline taking goods elevator.In this Fig. 7, travel for the landline such as shown in Fig. 8 and be described.In addition, goods elevator Structure composing as shown in Figure 5, carries out action illustrated in fig. 6.
Illustrate following example in the figure 7: from the conveying of Stall place PT1 advance arrival electricity consumption ladder stop boarding start place PT2, from this boarding, place PT2 takes goods elevator, complete place PT3 from ladder at the elevator of the stop of second floor from ladder, the conveying travelled to same floor completes place PT4.
First, automatic conveying vehicle 10 is place PT1 from conveying, starts to travel (step S201) in order to the boarding moving to stop starts place PT2.Under steam, the measurement information that extraneous sensor 16 obtains is read in location recognition portion 20, identifies that the current location of automatic conveying vehicle 10 self and the boarding of automatic conveying vehicle 10 start the position of place PT2 based on this measurement information.
The result that location recognition portion 20 identifies is output to travel mechanism's control part 21.Travel mechanism's control part 21 controls travel mechanism 11 based on the positional information of input, makes automatic conveying vehicle 10 arrive boarding and starts place PT2.
At this, when location recognition portion 20 is judged as (step S202) after arriving boarding starts place PT2, the action of travel mechanism 11 is stopped, notifying that arrival boarding starts the message of place PT2 to elevator communication control part 19.At this, it is such as the position shown in Fig. 4 (b) that boarding starts place PT2.
After arrival boarding starts place PT2, travel mechanism's control part 21 notifies to elevator communication control part 19 message arriving boarding starting position PT2.Now, object detection portion 18 starts the detection of object detection sensors 15.Object detection portion 18 obtains Detection Information from object detection sensors 15, judges whether there is object (step S203) in the sensing range ARA shown in Fig. 4 (b) based on this Detection Information.
In the process of this step S203, when detecting object, being judged as that stop has operator, keeping holding state (step S204) to make this operator preferential.By this process, operator can preferentially take goods elevator.Like this, because the stand-by period of operator reduces, synthetically operating efficiency can be improved.
Then, after certain hour, again perform the process of step S203.In the process of step S203, when object not detected, object detection portion 18 notifies to elevator communication control part 19 message object not detected.The boarding that elevator communication control part 19 receives from travel mechanism's control part 21 starts the notice of place PT2 and notice object not detected from object detection portion 18, is judged as that automatic conveying vehicle 10 self is positioned at boarding and starts place PT2 and do not have object near stop.
Then, elevator communication control part 19, to communication device for elevator 17 output order, makes it send " calling " signal (step S205).After receiving this instruction, communication device for elevator 17 is to elevator control gear 46 wireless transmission " calling " signal of action control carrying out goods elevator.
After the car 40 of goods elevator arrives stop, send the elevator arriving signal representing the message that this car 40 arrives from elevator control gear 46.Elevator communication control part 19 judges whether communication device for elevator 17 receives elevator arriving signal (step S206).
When communication device for elevator 17 does not receive elevator arriving signal, enter holding state until receive elevator arriving signal position (step S207), after some period of time, perform the process of step S206.
In the process of step S206, when communication device for elevator 17 receives elevator arriving signal, elevator communication control part 19 makes communication device for elevator 17 terminate the transmission (step S208) of " calling " signal.
Then, after car 40 arrives, to travel mechanism's control part 21, elevator communication control part 19 notifies that communication device for elevator 17 receives the message of elevator arriving signal.After receiving, travel mechanism's control part 21 position-based identification part 20 measurement result that sensor 16 obtains to external world carries out processing the position that should take in the position of obtained automatic conveying vehicle 10 self and car 40, send instruction to travel mechanism 11, make automatic conveying vehicle 10 move to the position (step S209) that should take in car 40.
Automatic conveying vehicle 10 arrives behind the position that should take in car 40 (step S210), and travel mechanism's control part 21 sends the notice of the position that should take reached in car 40 to elevator communication control part 19.The elevator communication control part 19 receiving this notice sends instruction to communication device for elevator 17, makes it send destination signal (step S211).
Elevator communication control part 19, when elevator moves according to destination signal (step S212), judges whether communication device for elevator 17 receives destination arriving signal (step S213).
When communication device for elevator 17 does not receive destination arriving signal, be judged as that elevator is elevated, again judge whether communication device for elevator 17 receives destination arriving signal.
In addition, at communication device for elevator 17 when receiving destination arriving signal, elevator communication control part 19 sends instruction to communication device for elevator 17, makes the transmission (step S214) of its target end floor signal.Further, elevator communication control part 19 receives the notice of destination arriving signal to travel mechanism's control part 21 notice.
Travel mechanism's control part 21 is after the notice receiving destination arriving signal, the position-based identification part 20 measurement result that sensor 16 obtains to external world carries out processing the position of obtained automatic conveying vehicle 10 self and elevator completes the position of place PT3 from ladder, send instruction to travel mechanism 11, make automatic conveying vehicle 10 move to elevator and complete place (step S215) from ladder.
Automatic conveying vehicle 10 arrive elevator complete place PT3 from ladder after (step S216), travel mechanism's control part 21 sends to elevator communication control part 19 and arrives elevator to complete place PT3 notice from ladder.The elevator communication control part 19 receiving this notice sends instruction to communication device for elevator 17, makes it send from terraced settling signal (step S217).
Elevator communication control part 19 standby like this (step S218), after certain hour, elevator communication control part 19 sends instruction to communication device for elevator 17, makes the transmission (step S219) that it terminates from terraced settling signal.
Afterwards, elevator communication control part 19 notifies to terminate the message from the transmission of terraced settling signal to travel mechanism's control part 21.Learn and terminate to carry out processing the position of obtained automatic conveying vehicle 10 self and having carried the position in place from travel mechanism's control part 21 position-based identification part 20 measurement result that sensor 16 obtains to external world of the message of the transmission of terraced settling signal, instruction is sent to travel mechanism 11, automatic conveying vehicle 10 is moved to and has moved place PT4 (step S220), then, automatic conveying vehicle 10 arrives when conveying completes place PT4 and completes conveying (step S221).
Thus, by present embodiment, due to operator can be made preferentially to take goods elevator, therefore, it is possible to improve the transfer efficiency of logistics.
In addition, have employed the structure of the object detection sensors 15 that the object detecting goods elevator floor stops is set on automatic conveying vehicle 10 in the present embodiment, but this object detection sensors 15 not necessarily must be arranged on automatic conveying vehicle 10.Such as, ceiling before the goods elevator of each floor etc. can arrange object detection sensors 15, whether the boarding detecting Fig. 8 starts place PT2 etc. has object.
Above present inventor's proposed invention is illustrated particularly based on embodiment, but the present invention is not defined in the above-described embodiment, various change can be carried out and without the need to explicit word in the scope not departing from its purport.
In addition, the present invention is not limited to above-mentioned embodiment, but contains various variation.Such as, above-mentioned embodiment is the detailed description carried out to illustrate with being easily understood the present invention, and non-limitingly must possess illustrated whole structure.
In addition, a part for the structure of certain embodiment can be replaced to the structure of other embodiment, or the structure of other embodiment can be added in certain embodiment.In addition, for a part for the structure of each embodiment, can carry out other structure add, delete, replace.
Indicia explanation
10 automatic conveying vehicles
11 travel mechanisms
12 driving wheels
13 universal wheels
14 control device
15 object detection sensors
16 extraneous sensors
17 communication device for elevator
18 object detection portions
19 elevator communication control parts
20 location recognition portions
21 travel mechanism's control parts
30 boarding operation panels
40 cars
41 hoist cables
42 drag devices
43 hoistways
44
45 communicators
46 elevator control gears
100 operators
101 automatic conveying vehicles
102 elevator control gears.
Claims (10)
1. an automatic conveying vehicle, is characterized in that, comprising:
Make the travel mechanism of vehicle movement;
Control described travel mechanism, guide the control part of described vehicle; With
The object detection sensors of inspected object,
Described control part, utilize elevator at described vehicle and move in the route of different floor, when elevator taken by described vehicle, detect whether there is object at the stop of described elevator by described object detection sensors, when being judged as there is no described object, export the signal of the car that the described vehicle of calling will be taken to described elevator.
2. automatic conveying vehicle as claimed in claim 1, is characterized in that:
Described object detection sensors is the infrared ray sensor of inspected object, laser sensor or ultrasonic sensor.
3. automatic conveying vehicle as claimed in claim 1, is characterized in that:
Described object detection sensors is detect video camera or the human body sensor of people.
4. automatic conveying vehicle as claimed in claim 1, is characterized in that:
Described automatic conveying vehicle be utilize laser sensor to obtain measurement information to carry out the trackless channel type of rail-free traveling, use described laser sensor as described object detection sensors.
5. automatic conveying vehicle as claimed in claim 1, is characterized in that:
Described control part comprises:
Testing result based on described object detection sensors judges whether the object detection portion that there is object;
The elevator communication control part of the control signal of the described car of calling is exported when described object detection portion is judged as not having object; With
The elevator communication portion of wireless output call signal is come based on the described control signal exported from described elevator communication control part.
6. an automatic transport truck system, is characterized in that, comprising:
Carry the elevator of goods; With
Utilize described elevator and move to the automatic conveying vehicle travelled on landline of different floor,
Described elevator comprises:
Communication device for elevator, its receipt of call loads the call signal of the car of described goods or described automatic conveying vehicle; With
Control the elevator control gear of the lifting of described car,
Described automatic conveying vehicle comprises:
Make the travel mechanism of vehicle movement;
Control described travel mechanism, guide the control part of described vehicle; With
The object detection sensors of inspected object,
Described control part, utilize elevator at described vehicle and move in the route of different floor, when elevator taken by described vehicle, detect whether there is object at the stop of described elevator by described object detection sensors, when being judged as there is no described object, the signal of the car that the described vehicle of calling will be taken is exported to described communication device for elevator
Described elevator control gear makes described car be elevated the floor of extremely described automatic conveying vehicle boarding when described communication device for elevator receives described call signal.
7. automatic transport truck system as claimed in claim 6, is characterized in that:
Described object detection sensors is the infrared ray sensor of inspected object, laser sensor or ultrasonic sensor.
8. automatic transport truck system as claimed in claim 6, is characterized in that:
Described object detection sensors is detect video camera or the human body sensor of people.
9. automatic transport truck system as claimed in claim 6, is characterized in that:
Described automatic conveying vehicle be utilize laser sensor to obtain measurement information to carry out the trackless channel type of rail-free traveling, described object detection sensors is described laser sensor.
10. automatic transport truck system as claimed in claim 6, is characterized in that:
Described control part comprises:
Testing result based on described object detection sensors judges whether the object detection portion that there is object;
The elevator communication control part of the control signal of the described car of calling is exported when described object detection portion is judged as not having object; With
Based on the described control signal exported from described elevator communication control part, described call signal is sent to the elevator communication portion of described communication device for elevator.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013-069380 | 2013-03-28 | ||
| JP2013069380A JP6250944B2 (en) | 2013-03-28 | 2013-03-28 | Automated guided vehicle and automated guided vehicle system |
| PCT/JP2014/054903 WO2014156458A1 (en) | 2013-03-28 | 2014-02-27 | Automatic guided vehicle and automatic guided vehicle system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105074601A true CN105074601A (en) | 2015-11-18 |
| CN105074601B CN105074601B (en) | 2017-09-01 |
Family
ID=51623452
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480018772.6A Active CN105074601B (en) | 2013-03-28 | 2014-02-27 | automatic conveying vehicle and automatic conveying vehicle system |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6250944B2 (en) |
| CN (1) | CN105074601B (en) |
| WO (1) | WO2014156458A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP6250944B2 (en) | 2017-12-20 |
| WO2014156458A1 (en) | 2014-10-02 |
| CN105074601B (en) | 2017-09-01 |
| JP2014191786A (en) | 2014-10-06 |
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