JP2006099726A - Automated guided facility - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automated guided facility having an automated guided vehicle actually carrying an article, and patrolling and monitoring in a non-operating time. <P>SOLUTION: By providing a monitor camera 24, and human sensors 19a-19d and a flame detection sensor 18 detecting abnormality in the surroundings of a guide route 4 to the automated guided vehicle 3 used for carrying the article between stations 1 in a facility such as a plant or a physical distribution facility, a function monitoring the surroundings of the guide route 4 is added. When the abnormality is detected during the patrol/monitoring, it is connection to an external cellphone 42, and image data imaged by the monitor camera 24 and position coordinates of the automated guided vehicle 3 detected by an overall controller 35 are transmitted and are displayed on the cellphone 42. Thereby, the automated guided vehicle 3 can be also used as a patrolling/monitoring robot, and the cellphone 42 is called on occurrence of the abnormality to notify a occurrence position and a situation of the surroundings wherein the abnormality occurs. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an unmanned conveyance facility.

  Conventionally, unmanned conveyance equipment is installed for unattended conveyance of articles (parts, products, etc.) in facilities such as factories and distribution facilities. At least one station for transferring articles is set in the factory or distribution facility, and as an unmanned conveyance facility, at least one unmanned conveyance and a control device for controlling the conveyance of the article according to the request of the station A vehicle is arranged, and a guide path for guiding the automatic guided vehicle is laid along a transport path for transporting articles. The automatic guided vehicle has a function of transmitting and receiving data to and from the control device, and is guided by the guide route according to command data from the control device and travels along the transport route. To do.

  In the facilities such as the above-mentioned factories and logistics facilities, security within the facility other than the operating hours of the facility such as nighttime is an issue, and as a means for solving this problem, a self-propelled vehicle corresponding to the above-described automatic guided vehicle is used. A surveillance robot system is proposed in Patent Document 1.

  In this surveillance robot system, a traveling guide such as a monorail is laid on the circuit, a traveling robot section (self-propelled vehicle) that travels and circulates on this guide, and this traveling robot section is mounted on this traveling robot section. An exclusion robot part that can be moved on and off is provided. The exclusion robot unit has a surveillance camera that can be rotated and tilted and a plurality of three-color lights, and has a function capable of executing a running, a voice warning, and a threatening operation by a remote operation, and is always at a surveillance center (remote location). The surrounding image information photographed by the monitoring camera is transmitted. The remote operation is performed from a monitoring center.

  According to this configuration, the exclusion robot unit is mounted on the patrol robot unit and circulates, and transmits surrounding image information to the monitoring center. When an intruder is detected by the image information, remote control is performed from the monitoring center. Then, the exclusion robot part gets out of the traveling robot part, approaches the intruder, and warns or intimidates by voice. In addition, the monitoring center reports to the police.

Further, Patent Document 2 discloses a system using a mobile phone with an image display function {so-called FOMA (registered trademark) compatible phone} capable of displaying moving images as a remote monitoring system that transmits the image information. ing.
JP 2002-342851 A JP 2003-102076 A

  Automated guided vehicles transport goods in facilities such as factories and logistics facilities, but this transport is limited to the operating hours of the facilities, and is in a state where it is stopped and not used outside the operating hours, It is not being used effectively.

  In the above monitoring robot system, a patrol robot unit (self-propelled vehicle) is provided exclusively for the exclusion robot unit, and such a patrol robot unit and an exclusion robot unit are provided in a factory or distribution facility. For this purpose, there is a problem that a lot of cost is required and the introduction is difficult.

  Therefore, the present invention is intended to provide an unmanned transport facility equipped with an unmanned transport vehicle that can be used effectively in addition to actually transporting articles, and can patrol and monitor factories and distribution facilities. is there.

  In order to achieve the above-described object, the invention described in claim 1 of the present invention is an equipment for transferring an article at at least one station and conveying the article along a predetermined path. A guide path is laid along the route, and a control device for controlling the conveyance of the article is provided, and has a function of transmitting / receiving data to / from the control device, and according to command data from the control device, An unmanned transport facility equipped with at least one automatic guided vehicle guided by a taxiway and transporting the article, and detecting an abnormality around the taxiway in the automatic guided vehicle A device, an imaging device capable of changing the orientation in at least the horizontal direction, and a mobile phone with an image display function capable of displaying a moving image can be connected via a communication network, and when connected, the imaging device captures an image. Image data Including a transmission / reception device capable of transmitting and receiving data and a coordinate detection device for detecting a position coordinate on the taxiway, and when the automatic guided vehicle is guided by the taxiway and is self-propelled, the abnormality detection device When the surrounding abnormality is detected by the above, the mobile phone is connected by the transmitting / receiving device, and the position coordinates detected by the coordinate detecting device and the image data captured by the imaging device are transmitted to the mobile phone. , And display.

  According to the above configuration, in the facility such as a factory or a distribution facility, the automated guided vehicle used for conveying the article is provided with an abnormality detection device that detects an abnormality around the imaging device and the taxiway. If an abnormality is detected during patrol / monitoring, the position coordinates detected by the coordinate detection device and the image captured by the imaging device are detected. Data is transmitted and displayed on the mobile phone. Therefore, the automated guided vehicle used to transport articles can also be used as a patrol / monitoring robot, and when an abnormality occurs, the mobile phone is called and the surrounding situation is displayed as an image, and at the same time, the position where the abnormality has occurred Is displayed by coordinates, it is possible to confirm the surrounding situation and location where an abnormality has occurred with the mobile phone.

  The invention according to claim 2 is the invention according to claim 1, wherein when an abnormality is detected by the abnormality detection device, the imaging device changes the direction in the abnormality detection direction of the abnormality detection device. It is characterized by doing.

  According to the above configuration, the orientation of the imaging device is converted to the abnormality detection direction of the abnormality detection device, so that the surrounding situation where the abnormality has occurred can be more reliably photographed by the imaging device. It is possible to more reliably confirm the surrounding situation where an abnormality has occurred by telephone.

  The invention according to claim 3 is the invention according to claim 1 or 2, wherein the automatic guided vehicle is provided with an abnormality alarm device, and when an abnormality in the surroundings is detected by the abnormality detection device, the abnormality is detected. The alarm device is driven to notify the abnormality.

According to the above configuration, when a surrounding abnormality is detected by the abnormality detection device, the abnormality alarm device is driven to notify the abnormality. Therefore, the occurrence of abnormality is widely notified in the surroundings.
The invention according to claim 4 is the invention according to any one of claims 1 to 3, wherein the automatic guided vehicle includes a sound collection device and a sound device, and the mobile phone and the transmission / reception device. When a device is connected, the sound collected by the sound collecting device is output to the mobile phone, and the sound from the mobile phone is output by the audio device.

  According to the above configuration, when the mobile phone and the transmission / reception device are connected, the sound collected by the sound collection device is output to the mobile phone, and the sound from the mobile phone is output by the audio device. Mutual conversations with the surroundings of the transport vehicle are possible, and it is possible to give instructions and alerts with a mobile phone.

  The invention according to claim 5 is the invention according to claim 4, further comprising: a sound generation device that generates sound information including events detected by the abnormality detection device; When an abnormality is detected and the mobile phone and the transmission / reception device are connected, audio information including events detected by the abnormality detection device is output from the audio generation device to the audio device, and the sound collection device The collected sound is output to the mobile phone.

  According to the above configuration, when an abnormality occurs, sound information including an event detected by the abnormality detection device is output from the sound generation device to the sound device, and the sound collected by the sound collection device is output to the mobile phone. Thus, the content of the abnormality can be confirmed by voice using a mobile phone.

  The invention according to claim 6 is the invention according to any one of claims 1 to 5, wherein the automatic guided vehicle is a plurality of detecting the presence of a person as the abnormality detection device. A human sensor is provided, and the automatic guided vehicle is stopped every time a predetermined distance is moved, and a human is detected by the human sensor.

  According to the above configuration, when the automated guided vehicle moves a predetermined distance and stops, human detection by the human sensor is executed. Therefore, the malfunction of detecting the lighting of the population and the surrounding heat source due to the movement of the human sensor is prevented, and the reliability of human detection can be improved.

  The invention according to claim 7 is the invention according to claim 6, wherein the predetermined moving distance is a distance in a range where detection ranges of the human sensor overlap in the route. Is.

According to the above configuration, even if the automatic guided vehicle moves a predetermined movement distance, the detection range of the human sensor overlaps, so that it is possible to reliably detect a person on the route.
The invention according to claim 8 is the invention according to any one of claims 1 to 7, wherein at least the transmission / reception device and the imaging device are unitized, and the automatic guided vehicle is It is characterized in that it can be attached and detached freely.

  According to the above configuration, it becomes easy to attach the unitized transmission / reception device and the imaging device to the existing automatic guided vehicle, and by attaching the unit, it is possible to easily connect to the mobile phone, The situation can be confirmed by a mobile phone.

  The invention according to claim 9 is the invention according to any one of claims 1 to 8, wherein the mobile phone and the transmission / reception device are connected to each other via the transmission / reception device. The automatic guided vehicle can be operated remotely by a command from a mobile phone.

According to the above configuration, it is possible to remotely operate the automatic guided vehicle by a command from the mobile phone, and it is possible to drive the automatic guided vehicle away from the guideway and approach the location where the abnormality occurs.
The invention according to claim 10 is the invention according to any one of claims 1 to 9, wherein the automatic guided vehicle is other than a normal operation time for transporting an article between the stations. It is characterized by transporting fire extinguishing equipment.

According to the above configuration, the automatic guided vehicle that is transporting the article between the stations during the normal operation time travels while being guided by the taxiway with the fire extinguishing equipment mounted outside the operation time. Therefore, when the occurrence of a fire is detected as one of the abnormalities, it is possible to quickly extinguish the fire by installing fire extinguishing equipment. The invention according to claim 11 is the invention according to claim 1. The invention according to any one of claims 10 to 10, wherein when the abnormality detection device detects a surrounding abnormality, the position coordinate detected by the coordinate detection device is transmitted to the control device, The movement command data to the vicinity of the received position coordinates is transmitted to each automatic guided vehicle.

  According to the above configuration, when a surrounding abnormality is detected by one automated guided vehicle, the other automated guided vehicles are moved to the surroundings and the surrounding conditions are checked using the imaging device of each automated guided vehicle. It becomes possible to monitor widely. In addition, if each automatic guided vehicle is equipped with fire extinguishing equipment, quicker and more effective initial fire fighting can be achieved.

  The invention according to claim 12 is the invention according to any one of claims 1 to 11, wherein a dedicated taxiway for guiding the automatic guided vehicle is laid in addition to the taxiway, The automatic guided vehicle can be moved by being guided by the dedicated taxiway except during normal operation time.

  According to the above configuration, a dedicated taxiway other than a taxiway between stations can be laid as a taxiway for monitoring and patrol (dedicated taxiway) in facilities such as factories and logistics facilities, and the position of the station is limited. The desired patrol / monitoring route can be set without any trouble.

  The invention according to claim 13 is the invention according to any one of claims 1 to 12, wherein the control device can be connected to the mobile phone via a communication network. A second transmission / reception device capable of transmitting and receiving data between the mobile phone and the mobile phone, and a plurality of routes for moving the guide path are set in the control device in advance, and the mobile phone and the second transmission / reception device When connected, the mobile phone is capable of setting the route and starting the automatic guided vehicle, and the control device transmits command data to each automatic guided vehicle based on the setting and starting of the route. It is characterized by.

  According to the above configuration, a route for the automatic guided vehicle to move is set with respect to the control device by the mobile phone, and activation of the automatic guided vehicle is instructed, and the control device sets each automatic guided vehicle based on the setting and activation of these routes. Send command data to the car. Therefore, it is possible to select a route to be visited and monitored by the automatic guided vehicle by using the mobile phone, and it is possible to actually run the automatic guided vehicle.

  The invention according to claim 14 is a facility for transferring an article at at least one station and transporting the article along a predetermined path, wherein a guide path is laid along the path, A control device for controlling the conveyance of the article is provided, has a data transmission / reception function with the control device, is guided by the guide path according to command data from the control device, and is self-propelled. An unmanned transport facility including at least one unmanned transport vehicle for transporting an environment, an environment detecting device for detecting environmental information around the taxiway on the unmanned transport vehicle, and detecting position coordinates on the taxiway When the automatic guided vehicle is guided by the taxiway and is self-propelled, the surrounding environment information detected by the environment detection device and the coordinate detection device are detected every predetermined time. The Or the surrounding environment information detected by the environment detection device when the position coordinate detected by the coordinate detection device is a preset position coordinate. It is.

  According to the above configuration, when the automated guided vehicle is guided and guided by the taxiway, the surrounding environment information detected by the environment detection device and the position coordinates detected by the coordinate detection device are set every predetermined time. Or the surrounding environment information detected by the environment detecting device when the position coordinates detected by the coordinate detecting device are preset position coordinates. Therefore, the automated guided vehicle used for conveying articles can be used as an environmental information collecting device that collects facility information while patroling.

The invention described in claim 15 is the invention described in claim 14, characterized in that a surrounding abnormality is detected based on the stored surrounding environment information.
According to the above configuration, when surrounding environmental information is collected, a change in the information is required, and a surrounding abnormality is detected.

  The invention according to claim 16 is the invention according to claim 15, wherein the automatic guided vehicle can be connected to an external mobile phone capable of displaying at least character data via a communication network. And transmitting / receiving data including character data, and detecting a surrounding abnormality based on the stored surrounding environment information, the mobile phone is connected by the transmitting / receiving device and detected by the coordinate detecting device. The position coordinates and surrounding abnormality data are transmitted to the mobile phone.

  According to the above configuration, when a surrounding abnormality is detected, the mobile phone is connected by the transmission / reception device, the position coordinates detected by the coordinate detection device and the surrounding abnormality data are transmitted to the mobile phone, and an abnormality occurs. Be informed.

  In the invention according to claim 17, at least one unmanned conveyance is performed in which the article is transferred at at least one station, and the article is conveyed by being guided by a guide path laid along a predetermined route. An unmanned transport facility equipped with a vehicle, comprising at least one self-propelled vehicle that is guided by the taxiway and that is self-propelled, and detects an abnormality around the taxiway in the self-propelled vehicle A device, an imaging device capable of changing the orientation in at least the horizontal direction, and a mobile phone with an image display function capable of displaying a moving image can be connected via a communication network, and when connected, the imaging device captures an image. A transmission / reception device capable of transmitting and receiving data including image data, and a coordinate detection device that detects position coordinates on the taxiway, and when the self-propelled vehicle is guided and guided by the taxiway, Anomaly detection device When a surrounding abnormality is detected, the mobile phone is connected by the transmission / reception device, and the position coordinates detected by the coordinate detection device and the image data captured by the imaging device are transmitted to the mobile phone. , And display.

  According to the said structure, the self-propelled vehicle which does not have a conveyance function self-propels and patrols and monitors a facility using the guide path laid for the automatic guided vehicle which conveys articles | goods. If an abnormality is detected during this patrol / monitoring, it is connected to an external mobile phone, and the position coordinates detected by the coordinate detection device and the image data captured by the imaging device are transmitted to the mobile phone. Is displayed.

  The invention according to claim 18 is the invention according to claim 17, wherein when an abnormality is detected by the abnormality detection device, the imaging device changes the direction in the abnormality detection direction of the abnormality detection device. It is characterized by doing.

  According to the above configuration, the orientation of the imaging device is converted to the abnormality detection direction of the abnormality detection device, so that the surrounding situation where the abnormality has occurred can be more reliably photographed by the imaging device. It is possible to more reliably confirm the surrounding situation where an abnormality has occurred by telephone.

  The invention according to claim 19 is the invention according to claim 17 or claim 18, wherein the self-propelled vehicle is provided with an abnormality alarm device, and when the abnormality is detected by the abnormality detection device, the abnormality is detected. The alarm device is driven to notify the abnormality.

According to the above configuration, when a surrounding abnormality is detected by the abnormality detection device of the self-propelled vehicle, the abnormality alarm device is driven to notify the abnormality. Therefore, the occurrence of abnormality is widely notified in the surroundings.
The invention according to claim 20 is the invention according to any one of claims 17 to 19, wherein the self-propelled vehicle is provided with a sound collecting device and a sound device, and the mobile phone and the transmitting / receiving device. When a device is connected, the sound collected by the sound collecting device is output to the mobile phone, and the sound from the mobile phone is output by the audio device.

  According to the above configuration, when the mobile phone and the transmission / reception device are connected, the sound collected by the sound collection device is output to the mobile phone, and the sound from the mobile phone is output by the audio device. Mutual conversation with the surroundings of the running vehicle becomes possible, and it becomes possible to give instructions and call attention by a mobile phone.

  The invention according to claim 21 is the invention according to claim 20, further comprising a sound generating device that generates sound information including events detected by the abnormality detecting device, and the abnormality detecting device When an abnormality is detected and the mobile phone and the transmission / reception device are connected, audio information including events detected by the abnormality detection device is output from the audio generation device to the audio device, and the sound collection device The collected sound is output to the mobile phone.

  According to the above configuration, when an abnormality occurs, sound information including an event detected by the abnormality detection device is output from the sound generation device to the sound device, and the sound collected by the sound collection device is output to the mobile phone. Thus, the content of the abnormality can be confirmed by voice using a mobile phone.

  The invention according to claim 22 is the invention according to any one of claims 17 to 21, wherein the self-propelled vehicle senses human presence as the abnormality detection device. The self-propelled vehicle is provided with a sensor, and stops every time the vehicle moves a predetermined distance, and the human sensor detects the person.

  According to the above configuration, when the self-propelled vehicle moves a predetermined distance and stops, the human sensor is detected by the human sensor, so that the human sensor itself moves, thereby moving the population light and the surrounding heat source. Can be prevented, and the reliability of human detection can be improved.

  The invention according to claim 23 is the invention according to claim 22, wherein the predetermined moving distance is a distance in a range where the detection ranges of the human sensor overlap in the route. Is.

  According to the above configuration, even if the self-propelled vehicle moves a predetermined movement distance, the detection range of the human sensor overlaps, so that it is possible to reliably detect a person on the route.

  The automatic guided equipment of the present invention can effectively use an automatic guided vehicle actually used for transporting articles as a monitoring robot for patroling and monitoring factories and physical distribution equipment, and a mobile phone is called when an abnormality occurs. The surrounding situation is displayed as an image, and at the same time, the location (location) where the abnormality occurred is displayed as coordinates, so that you can check the surrounding situation and the location where the abnormality occurred using a mobile phone even in a remote location. It has the effect of being able to respond to abnormalities quickly.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a layout diagram of an unmanned conveyance facility in a factory according to an embodiment of the present invention. A plurality of stations 1 for transferring articles such as members, parts, and products used in the factory are arranged in the factory. A control panel S storing a control device 2 for controlling the conveyance of articles between the stations 1 in response to a request from the station 1 is provided as an unmanned conveyance facility. A transport vehicle 3 is provided.

  A magnetic or optical guiding path 4 for guiding the automatic guided vehicle 3 is laid along a route connecting the stations 1, and the automatic guided vehicle 3 has a data transmission / reception function with the control device 2. In response to the command data from the control device 2, the vehicle is guided by the guide path 4 and travels between the stations 1.

  The guide path 4 is a first route that is a main circuit route, a second route that is branched from the first route, and returns to the first route, and is also branched from the first route. The third route of the shortcut to return to the route and the dedicated route for branching from the first route and returning to the first route again to guide the automatic guided vehicle 3 around the outer periphery of the equipment and devices in the factory and outside the operation time In order to guide the automatic guided vehicle 3 to the second to fourth routes that are formed from the fourth route and branch from the first route, a branch detection object 5 is provided in front of the branch position. Further, on the first route, an origin detection body 6 that indicates the origin is provided at a position where the automatic guided vehicle 3 always passes.

  In addition, for the first to fourth routes, coordinates (positional coordinates) assigned by the movement distance from the origin (the detected object detection object 6) are set in the guide route 4, and unmanned by the route name and coordinates. It is set so that the current position of the transport vehicle 3 can be specified.

  As shown in FIG. 2, the automatic guided vehicle 3 is largely composed of a carriage main body 11 and a transfer device 13. The carriage main body 11 is a rectangular parallelepiped whose upper part is a flat surface, and a control box is placed on the rear part. In other words, it is L-shaped in side view and is supported by three wheels 12, and the transfer device 13 is installed on the front plane of the carriage body 11, and between the station 1 It is formed from a roller conveyor that transfers articles.

  A buzzer (an example of an abnormality alarm device) 15, a pair of lights (illumination devices) 16 that illuminate the front, a microphone (an example of a sound collecting device), and a speaker (an audio device) are provided on the front surface (front surface) of the cart body 11. 1), a flame detection sensor (an example of an abnormality detection device) 18, and an infrared sensor, and a human sensor (an example of an abnormality detection device) 19a for detecting a person is provided.

  In addition to the front surface of the cart body 11, human sensors (examples of abnormality detection devices) 19 b, 19 c, 19 d are provided on both side surfaces and the back surface, respectively. An optical transceiver 21 is provided for transmitting and receiving data to and from the optical transceiver 20 (FIG. 3). The optical transceiver 20 provided in the station 1 is connected to the controller 22 (FIG. 3) of the station 1 and inputs / outputs data to / from the station controller 22, and between the station 1 and the automatic guided vehicle 3. It is used for transmission / reception of a permission signal for transferring an article.

  The station controller 22 provided in each station 1 is a controller that controls the transfer of articles in the station 1 and is connected to the control device 2 to output an article transport request to the control device 2, and as described above. It has a function of inputting / outputting data necessary for transferring articles to / from the automatic guided vehicle 3.

  As shown in FIG. 2, the rear main body 11a of the cart main body 11 is provided with an operation key switch 23 having three operation positions of an off position, a manual position, and an automatic position, and the rear main body 11a of the cart main body 11 is further provided. A unit U including a monitoring camera (an example of an imaging device) 24 arranged at the center position is detachably provided. When the operation key switch 23 is in the automatic position, the article is conveyed according to a conveyance command (described later) from the control device 2, and when the operation key switch 23 is in the manual position, it can be moved by a manual operation by an operator. When in the off position, normal work is stopped.

  As shown in FIG. 3, a line detection sensor 25 that detects the guide path 4, a branch detection sensor 26 that detects the branch detection object 5, and the origin detection body 6 are provided on the bottom surface of the automatic guided vehicle 3. An origin detection sensor 27 for detection is provided.

  Of the wheels 12, the front wheel 12 is a turning / driving wheel 12 a, and the two rear wheels are formed as free driven wheels 12 b. As a means for driving the drive wheel 12a, a conversion motor 28 and a travel motor 29 are provided, and a conversion control device 30 and a travel control device 31 for controlling and driving the conversion motor 28 and the travel motor 29, respectively. Is provided. Further, a pulse encoder 32 is provided so as to be connected to the rotating shaft of the turning / driving wheel 12a.

  A line detection sensor 25 is connected to the conversion control device 30, and conversion control is performed by the conversion motor 28 so that the automatic guided vehicle 3 moves along the guide path 4 detected by the line detection sensor 25. In addition, in accordance with a command from the general controller, which will be described later, turn control for branching is performed to change the route. In addition, the travel control device 31 performs stop, low speed drive, and high speed drive of the travel motor 29 in response to a command from a general controller described later.

The automatic guided vehicle 3 is provided with a mobile wireless transceiver 34 that wirelessly transmits and receives data to and from the ground-side wireless transceiver 33 connected to the control device 2.
"General controller"
In the automatic guided vehicle 3, the optical transceiver 21, the branch detection sensor 26, the origin detection sensor 27, the conversion control device 30, the travel control device 31, the pulse encoder 32, the mobile radio transceiver 34, and monitoring control described later. An overall controller (a control device for the automatic guided vehicle 3; also a coordinate detection device) 35 is provided which is connected to the apparatus and causes the automatic guided vehicle 3 to travel and transfer articles.

  The function of the general controller 35 of the automatic guided vehicle 3 will be described in detail. The overall controller 35 includes, in advance, an initial position {operation start position (coordinates)}, a route where each station 1 exists, a distance from the origin (origin target detector 6), and the position coordinates based on the route and the distance from the origin. Is stored, and in the monitoring mode to be described later, the station 1 on which fire extinguishing equipment is mounted is stored as an article, and the fourth route is stored as a patrol / monitoring route in the monitoring mode.

  1. A function of detecting the travel distance from the origin by counting the output pulses of the pulse encoder 32, reset by the detection signal of the origin detection sensor 27. A function of outputting the detected travel distance from the origin to the monitoring control device 49 described later.

  2. The route of the guide path 4 is set based on the article conveyance command data received from the mobile radio transceiver 34 from the control device 2 (data consisting of the number of the station 1 as the conveyance source and the number of the station 1 as the conveyance destination) A function for obtaining the distance from the origin of each station 1 of the conveyance command data.

3. A function for obtaining preset position coordinates based on the set route and the detected current travel distance.
4). The branch point is determined based on the set route or the monitoring mode data received via the wireless transceivers 34 and 33 described later and the current travel distance, and based on the detection of the branch detection object 5 by the branch detection sensor 26. A function of outputting a left or right branch command to the conversion control device 30.

  5. A function of outputting a travel command including a travel speed to the travel control device 31 so that the current travel distance coincides with the distance from the origin of each station 1 in the obtained transport command data. When the difference between the distance from the origin of station 1 and the current travel distance is large, a high speed travel command is output at a constant acceleration, and when the difference is small (when approaching station 1), the vehicle travels at a low speed with a constant deceleration. A command is output, and if they match, a stop command is output.

  6). When the transport command data arrives at the station 1, an arrival signal is output to the station controller 22 via the optical transceiver 21 and the optical transceiver 20 of the station 1, and the station controller 22 passes through the optical transceivers 20 and 21. A function of driving the transfer device 13 when a transfer permission signal is input. The transfer device 13 is driven in a direction in which the article is placed at the transfer source station 1 and in a direction in which the article is lowered at the transfer destination station 1. As a result, the article is transferred between the automatic guided vehicle 3 and the station 1.

  7. When the monitoring control device 47 (described later) confirms that the monitoring mode has been entered by a monitoring mode input signal, or monitoring mode data including “monitoring mode, patrol route, activation” (described later) is transmitted via the wireless transceivers 33 and 34. A function that, when received by the control device 2, confirms whether or not the operation key switch 23 is in the off position, and executes the operation in the monitoring mode when in the off position. That is, when the operation key switch 23 is in the OFF position, the automatic guided vehicle 3 is started, moved to a preset station 1 and equipped with fire extinguishing equipment, and thereafter set by the fourth route or the monitoring mode data. Select the patrol route and run.

  8). A function of executing an operation by canceling the monitoring mode when the monitoring mode entering signal is turned off or when monitoring mode cancellation data to be described later is received by the control device 2 via the wireless transceivers 33 and 34. That is, it moves to the set station 1 and lowers the digestion equipment, and then moves to a preset initial position and stops.

  9. A function of outputting a left or right branch command to the conversion control device 30 and outputting a travel command to the travel control device 31 in response to a remote travel command signal from the monitor control device 49 described later in the monitoring mode. When the remote control command signal from the supervisory control device is “Right”, a constant angle, a command to turn to the right, “Left”, a command to turn to a constant angle, to the left, and a “Distance” when “Forward” , Output a forward command.

  10. A function of outputting to the control device 2 via the wireless transceivers 34 and 33 as monitoring mode execution data that the monitoring mode has been entered and the monitoring mode has been canceled in response to a command from the monitoring control device 47 described later.

11. A function of outputting current position data including the obtained route and position coordinates to the communication terminal 45 described later.
12 A function of outputting current position data including the obtained route and position coordinates to the control device 2 via the wireless transceivers 34 and 33.

  13. In the monitoring mode, when an abnormality occurrence detection signal is input from the monitoring control device 49 described later, a stop signal is output to the traveling control device 31 to stop the automatic guided vehicle 3, and the abnormality occurrence detection signal is transmitted to the wireless transceiver 34, A function of outputting to the control device 2 via 33.

  14 When the abnormality occurrence detection signal from the monitoring control device 49 (described later) is canceled in the monitoring mode, or when abnormality cancellation command data is input from the control device 2 (described later) via the wireless transceivers 33 and 34, the travel control device When the advancement signal is output to 31 to resume the traveling of the automatic guided vehicle 3 and the abnormality occurrence detection signal from the monitoring control device 49 is released, the release of the abnormality occurrence detection signal is canceled via the wireless transceivers 34 and 33. Function to output to the control device 2.

  15. In the monitoring mode, if abnormal running command data including a position (coordinates) close to the current position of the automatic guided vehicle 3 in which an abnormality is detected is input from the control device 2 described later via the wireless transceivers 33 and 34, the abnormality is detected. A function of causing the automatic guided vehicle 1 to travel to the position (coordinates) of the travel command data.

  16. In the monitoring mode, a stop command is output to the traveling control device 31 by a traveling stop signal from the monitoring control device 49 described later to stop traveling, and the traveling control device 31 travels by a traveling start signal from the monitoring control device 49. A function that starts running by outputting a running command including speed.

By the function of the general controller 35 of the automatic guided vehicle 3 described above, the automatic guided vehicle 3 transmits the article / convey command data (operating source within the operation time) transmitted from the control device 2 via the wireless transceivers 33 and 34. The route of the guide path 4 is set on the basis of the number of the station 1 and the number of the station 1 of the transport destination), and moves to each station 1 of the transport command data to transfer and transport the article. Further, the current position data is always transmitted to the control device 2, and when the monitoring mode is set, control is performed based on the monitoring mode (details will be described later).
"Unit U"
As shown in FIG. 3, the unit U includes a pan head 41 that rotates and moves the surveillance camera 24, and an external (remote location) FOMA (registered trademark) compatible mobile phone (image display function capable of displaying moving images). An example of an attached mobile phone) A card-type FOMA (registered trademark) compatible phone 44 connected to the mobile phone 42 via a communication network 43, and communication including moving image data by inserting the card-type phone 44. A communication terminal 45 that can be used, and an amplifier that amplifies voice data from an external mobile phone 42 output from the communication terminal 45 and voice data from a voice generator 56 to be described later, and outputs the amplified voice data to a speaker of the intercom 17. 46 and the operated mobile phone 42 from the DTMF signal generated by the key operation of the mobile phone 42 included in the audio data from the external mobile phone 42 output from the communication terminal 45. A DTMF decoder 47 for obtaining a key, a recording / recording device 48 for recording image data captured by the monitoring camera 24, and recording sound collection data collected by the microphone of the intercom 17, a sound generating device 56, and monitoring control A device 49 (details will be described later) is provided. The card-type telephone 44 and the communication terminal 45 constitute a transmission / reception device. For connection between the unit U and other devices, a detachable wiring connection tool (such as a plug) is used, and the attachment and detachment is easy.
`` Plum head ''
As shown in FIG. 7A, in order to rotate and raise the surveillance camera 24 inside the pan head 41, as shown in FIG. 7A, the surveillance camera elevation stepping motor 81 and its controller 82, the surveillance camera rotation stepping motor 83, and The controller 84 and a reference sensor 85 for detecting the position (reference position) of the rotation stepping motor 83 when the monitoring camera 24 faces the front are provided. When an up / down or rotation command comprising the number of pulses is output, the stepping motor 81 or 83 is driven according to the number of pulses, and the surveillance camera 24 is moved up / down or rotated.
"Sound generator"
The sound generator 56 is connected to a monitoring control device 49 (details will be described later) and an amplifier 46. When the sound data managed in advance by a designated number is stored and the designated number is input from the monitoring control device 49, The voice data of the designated number is generated and output to the amplifier 46, and the designated voice is generated from the microphone of the intercom 17.

As voice data, as shown in Fig. 7 (b), "Monitor mode entered" (designated number 01), "Intruder found" (designated number 02), "Fire has occurred. (Specified number 03), “Monitoring mode has been canceled.” (Specified number 04), “Entered monitoring mode. Please set a traveling route.” (Specified number 05), “Circuiting route is set. "Please start." (Designated number 06), "patrolling has started" (designated number 07) are stored.
"Communication terminal"
The communication terminal 45 is connected to the surveillance camera 24 and the microphone of the intercom 17. The communication terminal 45 has the following functions.

  1. In response to a connection request signal from a monitoring control device 49, which will be described later, a card-type telephone 44 and an external mobile phone 42 are connected, imaging data photographed by the surveillance camera 24, voice data picked up by a microphone of the intercom 17, A function of transmitting the current position data of the automatic guided vehicle 3 sent from the general controller 35.

2. When a call is received from the external mobile phone 42 and connected, the voice data including the DTMF signal transmitted from the external mobile phone 42 by the key operation of the mobile phone 42 is output. The current image of the automated guided vehicle 3 sent from the general controller 35 and the image data taken by the surveillance camera 24 via the external mobile phone 42 in response to the permission signal, the voice data picked up by the microphone of the intercom 17, and the like. A function to send position data.
"Supervisory control device"
The monitoring control device 49 includes an input / output interface and a CPU. The monitoring control device 49 includes a flame detection sensor 18, four human sensors 19 a to 19 d, a buzzer 15, and a pair of lights 16. The pan head 41, the communication terminal 45, the DTMF decoder 47, the sound generator 56, and the overall controller 35 are connected. Further, the monitoring control device 49 sets the number of pulses for driving the camera platform 41 to rotate the monitoring camera 24 toward the point of the maximum detection distance at the center of the detection range of the activated human sensor 19. A memory 49a is provided. The monitoring control device 49 has the following functions.

  1. When a call is made from an external mobile phone 42, connected by a card-type phone 44 and a communication terminal 45, and the key number operated by the mobile phone 42 from the DTMF decoder 47 is input, ], And if it matches, the permission signal is output to the communication terminal 45. Thereby, the imaging data photographed by the monitoring camera 24, the voice data picked up by the microphone of the intercom 17, and the current position data of the automatic guided vehicle 3 are transmitted to the external mobile phone 42, and the external mobile phone is also transmitted. The voice data received from 42 is uttered from the speaker of the intercom 17.

  2. When an external mobile phone 42 and a card-type phone 44 are connected and the key number of the mobile phone 42 is input from the DTMF decoder 47 and matches the preset remote control number of the surveillance camera 21, the pan head 41 A function to output command signals for remote control. As a command signal for remote operation, a command signal of “turning left”, turning “right”, “up”, “down” is output.

  3. When an external mobile phone 42 and a card-type phone 44 are connected, and the key number of the mobile phone 42 is input from the DTMF decoder 47 and matches the preset “monitor mode” number, the monitor mode is entered, and The designated number “01” is output to the sound generator 56, and the pre-stored sound data “entering the monitoring mode” is sent to the speaker of the intercom 17 via the amplifier 46, and the microphone picks up the sound data. The voice is output to the communication terminal 45, the external mobile phone 42 is notified by voice, the recording / recording device 48 is driven to start recording / recording, the ascending command is output to the pan head 41, and the highest position A function of moving the camera 24 to the central controller 35 and outputting the monitoring mode input signal to the general controller 35 to set the monitoring mode.

  4). In the monitoring mode, the travel distance from the origin input from the overall controller 35 is confirmed, and the overall controller 35 is moved for each movement of a predetermined distance P (a distance in which the detection ranges of the human sensors overlap in the guide path 4). A function of outputting a travel stop command to the vehicle and detecting whether there are people (intruders) around by the four human sensors 19a to 19d during the stop.

When the four human sensors 19a to 19d do not operate, that is, when an intruder cannot be found, a travel start command is output to the overall controller 35.
If any one of the four human sensors 19a to 19d operates, it is determined that an abnormality has occurred, and the connection request signal is output to the communication terminal 45 to connect the card-type phone 44 and the external mobile phone 42. Then, the camera platform 41 of the surveillance camera 24 is driven, the surveillance camera 24 is rotated toward the point of the maximum detection distance at the center of the detection range of the motion sensor 19 that has been operated, and the image captured by the surveillance camera 24 is captured. The data, the voice data picked up by the microphone of the intercom 17 and the current position data of the automatic guided vehicle 3 sent from the general controller 35 are transmitted, and the designated number “02” is output to the voice generator 56. The voice data “Intruder found” stored in advance is sent to the speaker of the intercom 17 through the amplifier 46, and the voice picked up by the microphone is output to the communication terminal 45. Function, and is informed by voice to the outside of the mobile phone 42, also causes the buzzer 15, further outputs the abnormality occurrence detection signal to the overall controller 35.

  5. When the flame detection sensor 18 operates in the monitoring mode, it is determined that an abnormality has occurred, the connection request signal is output to the communication terminal 45, the card-type phone 44 and the external mobile phone 42 are connected, and the monitoring camera 24 is connected. Image data picked up by the above, voice data picked up by the microphone of the intercom 17, and current position data of the automatic guided vehicle 3 sent from the general controller 35 are transmitted to the voice generator 56 and a designated number “ 03 "is output to the speaker of the intercom 17 via the amplifier 46, and the voice data" Fire has occurred "stored in advance is output to the communication terminal 45. A function of notifying the external mobile phone 42 by voice, sounding the buzzer 15, and outputting the abnormality occurrence detection signal to the general controller 35.

  4. above. And 5. , Voice information consisting of events detected by the human sensors 19a to 19d or the flame detection sensor 18 (an example of an abnormality detection device) is output to an intercom 17 (an example of an audio device) and collected by the intercom 17 The function of outputting the received sound to the mobile phone 42 is realized.

6). A function of canceling the abnormality occurrence detection signal output to the general controller 35 when the abnormal state disappears (the flame detection sensor 18 and the four human sensors 19a to 19d are all inoperative).
7). When in the monitoring mode, the key number of the mobile phone 42 is input from the DTMF decoder 47, and when it matches the preset remote control number of the automatic guided vehicle 3, the remote control for remote control is sent to the general controller 35. A function to output command signals. As a command signal for remote control, a command signal of “turn left”, turn “right”, and “forward” is output.

  8). In the monitoring mode, the key number of the mobile phone 42 is input from the DTMF decoder 47, and when it matches the preset number of the lighting operation of the light 16, the light 16 is driven to turn on and the light 16 is turned off. A function to turn off the light 16 when the number matches.

9. In the monitoring mode, the key number of the mobile phone 42 is input from the DTMF decoder 47, and when it matches the preset “cancel monitoring mode” number, the monitoring mode is canceled, and the designated number “ 04 "is output and the pre-stored voice data" Monitor mode has been canceled "is sent to the speaker of the intercom 17 via the amplifier 46, and the voice picked up by the microphone is output to the communication terminal 45. Then, it notifies the external mobile phone 42 by voice, stops the recording / recording device 48, outputs a lowering command to the camera platform 41, lowers the camera 24 to the original position, and outputs it to the general controller 35. A function to turn off the monitoring mode input signal and release the monitoring mode.
"control panel"
As shown in FIG. 3, the control panel S on the ground side includes a sound generator 56, an amplifier 46, an intercom 17, a card-type telephone 44, a communication terminal 45, and a DTMF provided in the automatic guided vehicle 3. A voice generation device 57, an amplifier 58, an intercom 59, a card type telephone 51, a communication terminal 52 and a DTMF decoder 53, which are equivalent to the decoder 47, are provided, and the control device 2 has a voice generation device 57 and a communication terminal 52. When DTMF decoder 53 is connected and control device 2 and external mobile phone 42 are connected, data communication is possible. Further, the ground side radio transceiver 33 is connected to the control device 2 and further connected to a station controller 22 provided in each station 1. The card type telephone 51 and the communication terminal 52 constitute a second transmitting / receiving device.
"Control device"
The control device 2 has the following functions.

  1. The current position of each automatic guided vehicle 3 is grasped from the current position data composed of “route and position coordinates” transmitted from each automatic guided vehicle 3 through the wireless transceivers 34 and 33, and the article is transported. A function to grasp whether or not it is present from the conveyance data described later.

  2. A function of grasping whether each automatic guided vehicle 3 is in the monitoring mode state based on the monitoring mode data and the monitoring mode release data transmitted from each automatic guided vehicle 3 via the wireless transceivers 34 and 33.

  3. During the operation time of a predetermined factory, the station 1 is in accordance with the transfer request data of the article from the station controller 22 of each station 1 (data consisting of the number of the transfer source station 1 and the transfer destination station 1). An unmanned transport vehicle 3 that is empty (not transporting an article) is selected, and the transport command data (transport source) of the article is transmitted to the unmanned transport vehicle 3 via wireless transceivers 33 and 34. The data of the station 1 number and the destination station 1 number) is output, and the article is transported.

  4). Outside the factory operating hours, when a call is made from an external mobile phone 42, a card-type phone 51 and a communication terminal 52 are connected, and a key number operated by the mobile phone 42 from the DTMF decoder 53 is input, Check if it matches the preset "PIN number" and if it matches, output the designated number "05" to the voice generator 57 and enter the pre-stored "Monitoring mode. Is sent to the speaker of the intercom 59 through the amplifier 58, the voice picked up by the microphone is output to the communication terminal 52, and is notified to the external mobile phone 42 by voice.

  5. Subsequently, the key number of the mobile phone 42 is input from the DTMF decoder 53. When the key number coincides with the preset "number of the cyclic route", the cyclic route is stored, and the designated number is stored in the voice generator 57. “06” is output, and the voice data “The cyclic route is set. Please start.” Stored in advance is sent to the speaker of the intercom 59 through the amplifier 58, and the voice picked up by the microphone is transmitted. A function of outputting to the communication terminal 45 and notifying the external mobile phone 42 by voice.

  6). Subsequently, when the key number of the mobile phone 42 is input from the DTMF decoder 53 and coincides with a preset “activation” number, the monitoring mode including “monitoring mode, patrol route, activation” is sent to the automatic guided vehicle 1. The data is transmitted through the radio transceivers 33 and 34, the designated number “07” is output to the sound generator 57, and the sound data “Circuit has started” stored in advance is transmitted through the amplifier 58. The voice is picked up by the microphone of the intercom 59, and the voice picked up by the microphone is output to the communication terminal 52 and notified to the external mobile phone 42 by voice.

  7. When the abnormality detection signal is input from the automatic guided vehicle 3, the abnormality detection signal is reported to the security guard, and the automatic guided vehicle 3 that detects the abnormality is informed to the automatic guided vehicle 3 in the monitoring mode. A function of outputting the abnormal running command data including a position (coordinates) close to the current position (route and position coordinates) via the wireless transceivers 33 and 34.

  8). When the cancellation of the abnormality detection signal is input from the automatic guided vehicle 3, the abnormal cancellation command data is output to the automatic guided vehicle 3 in the monitoring mode via the wireless transceivers 33 and 34, and normal monitoring is performed. Function to return to mode.

  9. When in the monitoring mode, the key number of the mobile phone 42 is input from the DTMF decoder 53, and when it matches the preset “monitor mode release” number, the designated number “04” is output to the sound generator 57 in advance. The stored voice data “Monitor mode has been released” is sent to the speaker of the intercom 59 via the amplifier 58, the voice picked up by the microphone is output to the communication terminal 52, and the external mobile phone 42 is output. A function of sending a notification to the automatic guided vehicle 1 and transmitting the monitoring mode release data including “monitoring mode release, initial position” to the automatic guided vehicle 1 via the wireless transceivers 33 and 34.

10. In the monitoring mode, when the operation time (work start time) of the factory (facility) approaches, the monitoring mode release data including “monitoring mode release, initial position” is transmitted to the automatic guided vehicle 3 to the wireless transceivers 33 and 34. A function to transmit to the initial position at the start of operation.
"Patrol and monitoring action"
The operation when the automatic guided vehicle 3 is used for patrol and monitoring by the above-described configuration and the functions of the overall controller 35, the monitoring control device 49, the control device 2, etc. is shown in the signal diagram of FIG. 4, FIG. This will be described with reference to the flowchart of FIG. During the operation time, as described above, the article is conveyed between the stations 1 based on the article / conveyance command data from the control device 2.
A. "Circuit mode and monitor mode using card type phone 44 of automatic guided vehicle 3 from external mobile phone 42"
Step-a1
When a call is made from the external mobile phone 42 to the card-type phone 44 of the automatic guided vehicle 3 and the connection is confirmed, a key is entered by operating the keys of the mobile phone 42.
Step-a2
When the supervisory control device 49 confirms the coincidence of the passwords, it outputs a permission signal to the communication terminal 45 to set the “touring mode”.

  In the patrol mode, the image data captured by the monitoring camera 24 to the external mobile phone 42, the sound collection data (including audio data) collected by the microphone of the intercom 17, the route and position coordinates of the automatic guided vehicle 3 (Character data) is transmitted, and the external mobile phone 42 can see the position (route and position coordinates) of the automatic guided vehicle 3 and the surrounding situation photographed by the monitoring camera 24, and confirm the surrounding sound. it can.

  In the traveling mode, the voice spoken to the external mobile phone 42 is output from the speaker of the intercom 17. Therefore, it is possible to give an instruction to the surroundings and perform a conversation via the intercom 17.

  Further, in the traveling mode, the camera platform 41 is moved up and down by the remote operation of the camera platform 41 by the key operation of the external mobile phone 42, and the angle is changed. Therefore, the camera 24 can be directed in the direction to be confirmed.

During this tour mode, the tour mode is canceled by turning off the external mobile phone 42 or by operating the key of the external mobile phone 42 to input the tour mode release number. Can do. At this time, transmission of imaging data, sound collection data, route of the automated guided vehicle 3 and coordinates to the external mobile phone 42 is blocked.
Step-a3
The number of the monitoring mode is input by operating the key of the external mobile phone 42. Note that the number of the monitoring mode may be directly input from step-a1 without going through the patrol mode.
Step-a4
When the monitoring control device 49 confirms that the number of the monitoring mode matches, the monitoring control device 49 sets the “monitoring mode” and the voice data “entering the monitoring mode” output from the voice generator 56 is sent to the communication terminal 45. The data is output and notified to the external mobile phone 42 by voice.

In the monitoring mode, the recording / recording device 48 is driven to start automatic recording / recording, and the camera 24 is moved to the highest position by the pan head 41.
In the monitoring mode, a monitoring mode input signal is output to the general controller 35. The general controller 35 starts the automatic guided vehicle 3 when the operation key switch 23 is in the off position, moves to the preset station 1, and extinguishes the fire. Carry equipment and select the 4th route and drive. The fact that the monitoring mode has been entered is output to the control device 2.

In the monitoring mode, each time the automatic guided vehicle 3 travels a predetermined distance P, a travel stop signal is output to the overall controller 35 each time and is temporarily stopped.
When the monitoring mode is set, the monitoring mode is continued even if the connection between the external mobile phone 42 and the card-type phone 44 of the automatic guided vehicle 3 is cut off.

  In the monitoring mode, the remote operation of the automatic guided vehicle 3 can be performed by the key operation of the external mobile phone 42. By this remote operation, a certain angle conversion to “right”, a certain angle conversion to “left”, and “forward movement” by a certain distance are performed, and the automatic guided vehicle 3 travels off the taxiway 4. It becomes possible to do.

When the monitoring mode is set, the light 16 can be turned on or off by the key operation of the external mobile phone 42.
Step-a5
In the monitoring mode, when the flame detection sensor 18 is operated, or when one of the four human sensors 19a to 19d is operated when the automatic guided vehicle 3 is stopped, the "monitoring mode" Set “Error occurrence mode”.

  In the abnormality occurrence mode, when the connection between the external mobile phone 42 and the card-type phone 44 of the automatic guided vehicle 3 is cut off, the external mobile phone 42 is connected by the card-type phone 44 and monitored. Image data taken by the camera 24 (the surveillance camera 24 is rotated in the direction of the human sensor detected when the human sensor 19 is operated), the route of the automatic guided vehicle 3 sent from the overall controller 35, and The coordinate data is transmitted, the surrounding situation and the position of the automatic guided vehicle 3 are displayed on the external mobile phone 42, and the designated number of the abnormal event is output to the sound generator 56, and the intercom 17 The message “An intruder has been found” or “A fire has occurred” is generated, and the voice data picked up by the microphone of the intercom 17 and the sound of this message Data is sent situation of the occurrence of abnormality and the surrounding sound is transmitted by.

In the abnormality occurrence mode, the buzzer 15 is sounded.
In the abnormality occurrence mode, an abnormality occurrence detection signal is output to the overall controller 35, the automatic guided vehicle 3 is stopped, and the abnormality occurrence detection signal is output to the control device 2 via the wireless transceivers 34 and 33. The control device 2 reports the abnormality occurrence detection signal to the guard, and is closer to the current position data (route and coordinates) of the automatic guided vehicle 3 that has detected the abnormality with respect to the automatic guided vehicle 3 that is in the monitoring mode. Abnormal running command data composed of positions (coordinates) is output via the wireless transceivers 33 and 34. As a result, the automatic guided vehicle 3 that enters the monitoring mode gathers around the automatic guided vehicle 3 that has detected the abnormality.
Step-a6
In the abnormality occurrence mode, when all of the flame detection sensor 18 and the four human sensors 19a to 19d return to normal, the “abnormality cancellation mode” is set. “Monitoring mode” continues.

In the abnormality release mode, the abnormality occurrence detection signal to the overall controller 35 is released, the automatic guided vehicle 3 resumes traveling, and the release of the abnormality occurrence detection signal is output to the control device 2 via the wireless transceivers 34 and 33. Is done. The control device 2 outputs the abnormality cancellation command data to the automatic guided vehicle 3 in the monitoring mode via the wireless transceivers 33 and 34 so as to return to the normal monitoring mode by canceling the abnormality detection signal. . As a result, the automatic guided vehicle 3 in the monitoring mode returns to the normal monitoring mode.
Step-a7
The number for canceling the monitoring mode is input by operating the key of the external mobile phone 42.
Step-a8
In the monitoring mode, the monitoring control device 49 cancels the “monitoring mode” upon confirming the coincidence of the monitoring mode canceling numbers.

  In the release of the monitoring mode, the voice data “The monitoring mode has been released” output from the voice generator 56 is output to the communication terminal 45, notified to the external mobile phone 42 by voice, and recorded. Automatic recording / recording of the recording device 48 is stopped, a descending command is output to the pan head 41, and the camera 24 is moved to the original position.

In canceling the monitoring mode, the monitoring mode input signal output to the overall controller 35 is turned off, and the monitoring mode is canceled. In response to the release of the monitoring mode, the automated controller 3 moves the automatic guided vehicle 3 to the set station 1 to lower the digestion equipment, and then moves to a preset initial position and stops.
B. "Monitoring mode using card type telephone 51 of control device 2 from external mobile phone 42"
Step-b1
When a call is made from the external mobile phone 42 to the card-type phone 51 of the control device 2 and the connection is confirmed, the password is operated by operating the key.
Step-b2
When the passwords match, the control device 2 sets the “monitoring mode”.

In the monitoring mode, first, the voice data of “entering the monitoring mode. Please set the patrol route” output from the voice generator 56 is notified to the external mobile phone 42 by voice.
Subsequently, when the number of “Circuit Route Number” is confirmed by the key operation of the cellular phone 42, the tour route is set (stored), and the “Circuit Route is set. Please notify the external mobile phone 42 of the voice data.

Subsequently, when the number of “activation” is confirmed by the key operation of the mobile phone 42, monitoring mode data including “monitoring mode, patrol route, activation” is output to the automatic guided vehicle 1, and the selected patrol route is used. Then, the voice data “Circuit has started” output from the voice generator 56 is output to the communication terminal 52. Thereby, the automatic guided vehicle 1 is set to the “monitoring mode” by the control device 2 and moves along the selected patrol route. When the monitoring mode is set, the monitoring mode is continued even if the connection between the external mobile phone 42 and the card-type phone 51 of the control device 2 is cut off.
Step-b3
As in step-a5, when the flame detection sensor 18 or one of the four human sensors 19a to 19d operates in the monitoring mode, the “abnormality occurrence mode” is set in addition to the “monitoring mode”. To do. In this abnormality occurrence mode, the operation in step -a5 is executed. When the external mobile phone 42 is connected, the above-described remote operation by the mobile phone 42 becomes possible.
Step-b4
Similarly to step -a6, when the flame detection sensor 18 or the four human sensors 19a to 19d return to normal in the abnormality occurrence mode, the “abnormality cancellation mode” is set. In this abnormality canceling mode, the operation in step-a6 is executed. “Monitoring mode” is executed.
Step-b5
When calling from the external mobile phone 42 to the card-type phone 51 of the control device 2 and the confirmation by the password is completed, the key of the external mobile phone 42 is operated to input the number for canceling the monitoring mode.
Step-b6
Similar to step-a8, in the monitoring mode, when the control device 2 confirms that the numbers for canceling the monitoring mode match, the control device 2 cancels the “monitoring mode”.
Step-b7
When the operation time is approaching in the monitoring mode, the “monitoring mode” by the control device 2 is canceled.

In the cancellation of the monitoring mode in steps b6 and b7, the monitoring mode cancellation data including “monitoring mode cancellation, initial position” is transmitted to the automatic guided vehicle 3 via the wireless transceivers 33 and 34, and the automatic guided vehicle 3 Cancels the monitoring mode based on the monitoring mode cancellation data, and moves to the initial position at the start of operation.
"Actions related to human sensors"
The operation of the human sensor in the monitoring mode by the above-described configuration and the functions of the overall controller 35 and the monitoring control device 49 will be described with reference to the main part block diagram of FIG. 7 and the explanatory diagram of FIG.

  The travel distance data from the origin is output from the overall controller 35 to the monitoring control device 49, and the travel stop signal, the travel start signal, and the abnormality occurrence detection signal are output from the monitoring control device 49 to the overall controller 35.

  As shown in FIG. 8 (a), the detection ranges of the four human sensors 19a to 19d are spread at a predetermined angle in the horizontal direction, and are extended at a predetermined angle in the vertical direction. 19a to 19d cover four directions with a fan-shaped detection range. And the predetermined range P which stops in order to detect the circumference | surroundings by the four human sensor 19a-19d is laid out by the detection path of the human sensor 19a of the front, and the human sensor 19c of the back, and the guide path 4 is laid. The distance of the range (overlapping range) that can cover the route 4a is set.

  In addition, the monitoring control device 49 has a memory 49a in which the number of pulses for rotating the monitoring camera 24 is stored in advance from the reference position to the point of the maximum detection distance at the center of the detection range of each of the human sensors 19a to 19d. It is remembered.

  1. The travel distance from the origin input from the general controller 35 is confirmed, and a travel stop command is output to the general controller 35 every time the predetermined distance P is moved, the automatic guided vehicle 3 is stopped, and four human sensors are detected. It is detected by 19a-19d whether a person (intruder) exists around.

  2. When the four human sensors 19a to 19d do not operate, that is, when an intruder cannot be found, a travel start command is output to the overall controller 35, and the travel of the automatic guided vehicle 3 is resumed.

3. If any one of the four human sensors 19a to 19d operates while the automatic guided vehicle 3 is stopped, it is determined that an abnormality has occurred, and the next operation is executed.
-An abnormality occurrence notification signal is output to the overall controller 35.

A connection request signal is output to the communication terminal 45 to connect the card type telephone 44 and the external mobile phone 42.
The number of pulses of the activated human sensor 19 stored in the memory 49a is output to the controller 84 to drive the stepping motor 83 for rotating the surveillance camera, and maximum detection is performed at the center of the detection range of the activated human sensor 19. The surveillance camera 24 is rotated toward the distance point.

  The imaging data photographed by the monitoring camera 24, the voice data picked up by the microphone of the intercom 17, and the current position data of the automatic guided vehicle 3 sent from the general controller 35 are output to the communication terminal 45, and the external Are transmitted to the mobile phone 4.

  The designated number “02” is output to the sound generator 56 and the pre-stored sound data “Intruder has been found” is sent to the speaker of the intercom 17 via the amplifier 46 and picked up by the microphone. The voice data is output to the communication terminal 45 and transmitted to the external mobile phone 42 (notified by voice).

The buzzer 15 is sounded, and an abnormality occurrence detection signal is output to the overall controller 35.
With this operation, when a person is detected by the human sensor 19, the image data of the monitoring camera 24 and the current position data of the automatic guided vehicle 3 toward the detection range of the human sensor 19 are stored on the external mobile phone 42. A message (voice data) saying "I found an intruder" is transmitted by voice.

When all the four human sensors 19a to 19d return to normal, the abnormality notification signal output to the overall controller 35 is turned off (released), a travel start signal is output, and travel is resumed.
As described above, according to the present embodiment, in a facility such as a factory or a distribution facility, an automated guided vehicle used for transporting articles between stations 1 is arranged around the surveillance camera 24 (imaging device) and the guide path 4. Are provided with a flame detection sensor 18 and human sensors 19a to 19d (abnormality detection devices), and a function of monitoring the surroundings of the guide path 4 is added. The automatic guided vehicle 3 used for transportation can also be used as a patrol / monitoring robot, and the cost can be reduced as compared with the case where a robot dedicated to patrol / monitoring or a self-propelled vehicle is provided. When an abnormality is detected by the abnormality detection device during patrol / monitoring, the current position data (route and coordinates) connected to the external mobile phone 42 and detected by the general controller 35 (coordinate detection device) The image data captured by the monitoring camera 24 (imaging device) is transmitted and displayed on the mobile phone 42, thereby confirming the surrounding situation where the abnormality is generated by the external mobile phone 42 and the location where the error has occurred. be able to.

  Further, according to the present embodiment, when a person is detected by the human sensors 19a to 19d (abnormality detection devices), the surveillance camera 24 is directed to the direction of the human sensor 19 that has been operated, so that an external portable It is possible to more accurately confirm the situation where an abnormality has occurred by the telephone 42.

  Further, according to the present embodiment, when a surrounding abnormality is detected by the flame detection sensor 18 and the human sensors 19a to 19d (abnormality detection device), the buzzer 15 (abnormal alarm device) is driven to notify the abnormality. Therefore, it is possible to widely notify the occurrence of abnormality and the occurrence position in the vicinity.

  Further, according to the present embodiment, when the mobile phone 42 and the card-type phone 44 of the automatic guided vehicle 3 are connected, the sound collection data collected by the microphone (sound collector) of the intercom 17 is stored in the mobile phone 42. And the voice from the mobile phone 42 is output from the speaker (voice device) of the intercom 17, so that the mobile phone 42 can communicate with the microphone of the intercom 17 and exchange information. It can be performed by voice, and further, the mobile phone 42 can instruct and call attention to the surroundings of the automated guided vehicle 3.

  Further, according to the present embodiment, when an abnormality is detected, a message based on the abnormal event is uttered from the speaker of the intercom 17, and the collected sound data collected by the microphone (sound collecting device) is the mobile phone 42. , The contents of the abnormality can be confirmed by voice using the mobile phone 42.

  Further, according to the present embodiment, human detection by the human sensors 19a to 19d is performed while the automatic guided vehicle 3 is stopped, so that the human sensors 19a to 19d themselves move, so that It is possible to avoid the malfunction of detecting the surrounding heat source. In addition, the predetermined distance P to be stopped for human detection by the human sensors 19a to 19d is a path in which the detection path of the human sensor 19a on the front surface and the human sensor 19c on the back surface is provided with the guide path 4. By setting the distance within a range (overlapping range) that can cover the inside of 4a, it is possible to reliably detect a person (intruder) in the path 4a.

  In addition, according to the present embodiment, the card-type telephone 44, the wireless terminal 45, and the monitoring camera 24 are housed in the unit U with respect to the automatic guided vehicle 3, so that the installation can be facilitated. The automatic guided vehicle 3 can be easily attached by modification, and the unit U can be easily connected to the mobile phone 42 and the surrounding situation can be confirmed by the mobile phone 42. .

  Further, according to the present embodiment, it is possible to remotely operate the automatic guided vehicle 3 by a command from the mobile phone 42, and the automatic guided vehicle 3 is allowed to travel away from the guide path 4 to approach the location where the abnormality occurs. it can.

  Further, according to the present embodiment, the automatic guided vehicle 3 that is transporting articles between the stations 1 during the normal operation time is equipped with the fire extinguishing equipment in the monitoring mode other than the operation time, and the taxiway 4 When a fire occurs (by being detected by the flame detection sensor 18), it is possible to perform quick initial fire extinguishing by installing fire extinguishing equipment.

  In addition, according to the present embodiment, when an abnormality in the surroundings is detected by one automatic guided vehicle 3, the other automatic guided vehicles 3 in the monitoring mode move in a concentrated manner around the automatic guided vehicle 3, thereby It is possible to widely monitor the surrounding situation using the monitoring camera 24 of the car 3. Further, since each automatic guided vehicle 3 is equipped with fire extinguishing equipment, it is possible to perform quicker and more effective initial fire fighting.

  In addition, according to the present embodiment, in a facility such as a factory or a distribution facility, a fourth route (dedicated taxiway) other than the taxiway 4 between the stations 1 can be laid as a taxiway for monitoring and patrol. A desired patrol / monitoring route can be set without being limited to the position of 1.

  Further, according to the present embodiment, a route through which the automatic guided vehicle 3 moves is set with respect to the control device 2 by the mobile phone 42, and activation of the automatic guided vehicle 3 is instructed, and the control device 2 sets these routes. By transmitting the monitoring mode data to each automatic guided vehicle 3 based on the start-up, the automatic guided vehicle 3 can actually be run in the monitoring mode. In addition, in this manner, the mobile phone 42 can select a route that the automated guided vehicle 3 wants to visit and monitor.

  In the present embodiment, the automatic guided vehicle 3 is moved along the guide path 4 laid on the ground, but the ceiling portion is moved by using the guide rail laid on the ceiling as the guide path. Articles can also be transported. At this time, the automatic guided vehicle is provided with an imaging device for imaging the floor below the guide rail and an abnormality detection device for detecting an abnormality around the guide rail. When an abnormality is detected during patrol / monitoring, Connected to a mobile phone, the position coordinates (character data) detected by the coordinate detection device and the image data captured by the imaging device are transmitted.

  In the present embodiment, the automatic guided vehicle 3 is connected to the external mobile phone 42 when an abnormality is detected by the abnormality detection device in the “monitoring mode”, and an abnormality occurs in the external mobile phone 42. The surrounding situation (image data captured by the monitoring camera 24) and the occurrence location (current position data detected by the overall controller 35) are transmitted, but only in such “monitoring mode”. In other words, even in the “patrol mode” or “actual operation in which the automatic guided vehicle 3 is actually guided by the guideway 4 and is transporting goods such as the operation time of the factory (facility)” When an abnormality is detected by the abnormality detection device, an external mobile phone 42 may be connected to transmit the surrounding situation where the abnormality has occurred to the external mobile phone 42 and the location where the abnormality occurred. Kill. Further, even if a specific abnormality detection device (for example, the human sensors 19a to 19d) is operated during the “traveling mode” or “during actual work”, it may be regarded as not abnormal.

  Moreover, in this Embodiment, although the automatic guided vehicle 3 is provided with the transfer apparatus 13 on the trolley | bogie main body 11, although such a transfer apparatus 13 is not provided, the location which mounts articles | goods on the trolley | bogie main body 11, The automatic guided vehicle 3 may be provided with an area. In the case of the automatic guided vehicle 3 having such an article conveying function but not having a transfer means (transfer apparatus 13), the article is transferred even if a crane, a fork or the like is provided in the station 1. .

  Moreover, in this Embodiment, the flame detection sensor 18 and human sensor 19a-19d (abnormality detection apparatus) which detect the abnormality around the surveillance camera 24 (imaging apparatus) and the guidance path 4 in all the automatic guided vehicles 3; Is added, and the function of monitoring the surroundings of the taxiway 4 is added, of course, to the specific (at least one) automatic guided vehicle 3, the function of monitoring the periphery of the taxiway 4 is added, Outside the operating hours, patrol and monitoring may be performed by this specific automatic guided vehicle 3. At this time, the automatic guided vehicle 3 to which the monitoring function is not added is retracted to the second route, the third route, or the like so that the specific automatic guided vehicle 3 can move along the guide path 4. Further, the transfer device 13 is removed from the specific automatic guided vehicle 3 and an unmanned (conveyed) vehicle in which no place or area for mounting an article is provided on the cart body 11, that is, an autonomous vehicle that does not have only a transport function. It can also be a running car. This self-propelled vehicle is guided by the existing guideway 4 of the unmanned conveyance facility and travels and monitors the above. The self-propelled vehicle can be operated not only during the operation time but also during the operation time.

  Further, in this embodiment, the buzzer 15 is provided as the abnormality alarm device. However, the buzzer 15 is not limited to the buzzer 15, and any device capable of issuing an abnormality alarm may be used, such as a siren or an alarm rotating light. May be.

  Further, each automatic guided vehicle 3 is equipped with a wireless LAN capable of high-speed and large-capacity communication instead of the card-type telephone 44 and the wireless terminal 45 that can communicate with the external mobile phone 42 in the present embodiment. It is also possible to provide a monitor connected to the wireless LAN at the monitoring center and display the image data of the monitoring camera 24 on the monitor of the monitoring center when an abnormality is detected.

  In this embodiment, a magnetic or optical guiding path 4 for guiding the automatic guided vehicle 3 is laid along a route connecting the stations 1. However, such a magnetic or optical guiding path 4 is laid. The automatic guided vehicle 3 is provided with an optical laser device that rotates horizontally with the gyro, and a plurality of retroreflectors that reflect the light emitted from the optical laser device along the optical path are provided around the facility. The current coordinates (position) may be confirmed by the laser device, and may be moved according to preset coordinates (conveyance path coordinates).

  Further, in the present embodiment, for each of the first to fourth routes of the guiding path 4, coordinates allocated by the moving distance from the origin (the detected object 6) are set, and by the route name and the position coordinates, It is set so that the current position of the automatic guided vehicle 3 can be specified, is reset by the detection signal of the origin detection sensor 27, and counts the output pulses of the pulse encoder 32, thereby detecting the current travel distance from the origin. A preset position coordinate is obtained from the detected current travel distance and the set route and transmitted to the mobile phone 42 as character data. However, the position coordinate can also be obtained as follows. As shown in FIG. 9, along the guide path 4, a decelerated position detector 61 indicating the decelerating position is provided in front of each station 1, and a stopped position detector 62 is provided at the stop position of each station 1. The position coordinates are set for each automatic guided vehicle 3 for each of the first to fourth routes of the guide path 4 based on the number of counts detected for the decelerated position detector 61 and the stopped position detector 62. A deceleration position detection sensor and a stop position detection sensor for detecting the deceleration position detection body 61 and the stop position detection body 62 are provided, and after detecting the origin, the deceleration position detection body is detected by the deceleration position detection sensor and the stop position detection sensor. 61 and a counter for counting the number of detected stop position detectors 62 are provided, and preset position coordinates are obtained from the count value of this counter and the set route. It may be. When the deceleration position detection sensor detects the deceleration position detection body 61 of the target station 1, the traveling speed of the automatic guided vehicle 3 is reduced, and the stop position detection body 62 of the target station 1 is detected by the stop position detection sensor. If detected, the automatic guided vehicle 3 can be controlled to stop.

  In this embodiment, the card-type telephones 44 and 51 are used for connection to the external mobile phone 42. However, instead of the card-type telephone, the mobile phone itself is mounted and connected to the communication terminals 45 and 52. You may make it do. In addition, as an example of a mobile phone with an image display function capable of displaying a moving image, a FOMA (registered trademark) compatible mobile phone 42 is used. However, a so-called videophone compatible mobile phone may be used, and the Internet is used. It is also possible.

  In the present embodiment, the external mobile phone 42 is a mobile phone with an image display function capable of displaying a moving image, but does not have such an image display function, but has a function of displaying character data. A mobile phone having a so-called mail function can be used. Even with such a mobile phone, the mode setting such as the patrol mode and the monitoring mode of the automatic guided vehicle 3 by key operation, the voice response with the site using the intercom 17 of the automatic guided vehicle 3, the automatic guided vehicle 3 remote control operations and the like are possible. In addition, since communication using character data is possible, when an abnormality is detected by the abnormality detection device, “automatic occurrence, content of abnormality, location (coordinate position data)” is notified from the automatic guided vehicle 3 to the mobile phone by character data. it can. For example, when the flame detection sensor 18 is activated, “abnormality occurrence, fire occurrence, occurrence location (coordinate position data)” is transmitted, and when the human sensors 19a to 19d are activated, “abnormality occurrence, intruder present, occurrence location” (Coordinate position data) "is transmitted.

  In the present embodiment, a pair of lights (illuminating devices) 16 that illuminate the front are provided on the front surface (front surface) of the cart body 11, but rotate in the direction of the surveillance camera 24 together with the surveillance camera 24 on the platform 41. It is also possible to provide a light (illumination device) that moves up and down, and to turn this light on and off in conjunction with the driving of the surveillance camera 24. As a result, the direction in which the monitoring camera 24 during imaging faces is always illuminated, and a clear image can be obtained.

  In this embodiment, an unmanned transport facility is configured by a plurality of stations 1 and a plurality of automatic guided vehicles 3. However, as shown in FIG. 10, a single station 1 and a single automatic guided vehicle 3 are used. Unmanned transport equipment can also be formed. In this automatic transfer facility, the automatic guided vehicle 3 is loaded with articles by the station 1 and travels while slowing down in the work area, and the worker works on the slow guided automatic transport vehicle 3 to take in the articles. Like to do.

  In the present embodiment, in the monitoring mode, the automatic guided vehicle 3 is activated when the operation key switch 23 provided on the rear main body 11a of the cart body 11 is in the OFF position. Regardless of the position, it may be confirmed whether it is other than the preset operation time (work start time) of the factory (facility), and the automatic guided vehicle 3 may be activated at times other than the operation time.

  In the present embodiment, the automatic guided vehicle 3 is moving on the exclusive fourth route in the “monitoring mode using the card-type telephone 44 of the automatic guided vehicle 3 from the external mobile phone 42”. Of course, the route is not limited to the fourth route, and the set route can be moved.

  In the present embodiment, the abnormality detection device includes the flame detection sensor 18 and the human detection sensors 19a to 19d. However, the present invention is not limited to these sensors. It is also possible to detect. As shown in FIG. 11, for example, a temperature sensor 71, a humidity sensor 72, an odor sensor 73, an atmospheric pressure sensor 74, and a light intensity sensor 75 are newly installed in the automatic guided vehicle 3 as environment detection devices. Detection data and the sound collection data collected by the microphone of the intercom 17 are input to the monitoring control device 49, and the current position data detected by the overall controller 35 is input to the monitoring control device 49. In addition, the current position data, the detection data of the sensors 71 to 75, and the sound data may be stored in the memory 49A of the monitoring control device 49. Alternatively, when a preset position is detected based on the current position data, the detection data and sound collection data of the sensors 71 to 75 can be stored in the memory 49A of the monitoring control device 49. Thereby, it can also be used as an environmental information collection device that collects facility information while traveling around the automated guided vehicle 3. The monitoring control device 49 analyzes the facility information (detected data of the sensors 71 to 75 and sound data) collected in the memory 49A at predetermined time intervals, for example, performs statistical processing. When an abnormality is detected and a surrounding abnormality is detected, an external mobile phone 42 is connected, and the position coordinates and the detected surrounding abnormal data can be transmitted as character data to the mobile phone 42 for display. For example, when there is a change in the sound data at a predetermined position, it is considered that some abnormality has occurred in the device in the vicinity of this position. At this time, the external mobile phone 42 may be a mobile phone having a function of displaying character data, a so-called mail function.

  Further, in the present embodiment, four human sensors 19a to 19d are provided, but the number is not limited to four, and as shown in FIG. By providing the vehicle 3 on both side surfaces, both ends of the front surface, and both ends of the back surface, the detection ranges of adjacent human sensors can be overlapped, and more reliable human detection can be performed. Further, for the purpose of reducing the cost, it is possible to provide only one human sensor, for example, the human sensor 19a whose detection range is the front surface. At this time, the predetermined distance P to be stopped is a distance in which the detection range of the human sensor 19a on the front surface can cover the route 4a where the guide path 4 is laid (overlapping range), and the detection by the human sensor 19a. In the range, the automatic guided vehicle 3 repeats running and stopping to detect a person.

  In the present embodiment, the sound generation device 56 generates sound information including an event detected by the abnormality detection device. The guide path of the automatic guided vehicle 3 is detected in the event detected by the abnormality detection device. It is also possible to generate audio information to which the position coordinates in 4 are added. At this time, if an abnormality occurs, it is possible to confirm by voice the location where the abnormality has occurred, in addition to the content of the abnormality, using the mobile phone 42.

It is an arrangement plan of unmanned conveyance equipment in an embodiment of the invention. It is a perspective view of the automatic guided vehicle of the automatic guided equipment. It is a control block diagram of the automatic guided vehicle of the automatic guided facility. It is a signal connection figure in the unmanned conveyance equipment. It is a flowchart explaining the operation | movement at the time of patrol and monitoring in the unmanned conveyance equipment. It is a flowchart explaining the operation | movement at the time of patrol and monitoring in the unmanned conveyance equipment. It is a control block diagram in connection with the human sensor in the unmanned conveyance equipment. It is a figure which shows the distance which stops the detection range of the human sensitive sensor in the unmanned conveyance equipment, and an automatic guided vehicle. It is a partial arrangement view of the automatic transfer facility in another embodiment of the present invention. It is an arrangement plan of unmanned conveyance equipment in other embodiments of the present invention. It is a partial block diagram of the unmanned conveyance equipment in other embodiments of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Station 2 Control apparatus 3 Automatic guided vehicle 4 Guide path 5 Branched detection body 6 Origin detection body 11 Carriage body 13 Transfer apparatus 15 Buzzer 16 Light 17,59 Intercom 18 Flame detection sensor 19a-19d Human sensor 24 Monitoring Camera 33, 34 Wireless communication device 35 General controller 41 Head 42 External mobile phone 43 Communication network 44, 51 Card type phone 45, 52 Communication terminal 47, 53 DTMF decoder 48 Recording / recording device 56, 57 Audio generator S Control panel U unit

Claims (23)

Equipment for transferring articles in at least one station and transporting articles along a predetermined route. A control device is provided in which a guide path is laid along the route and controls the transportation of the article. And at least one automatic guided vehicle that has a function of transmitting and receiving data to and from the control device, is guided by the guideway according to command data from the control device, and transports the article. An unmanned transport facility equipped with
In the automatic guided vehicle,
An abnormality detection device for detecting an abnormality around the taxiway;
An imaging device capable of changing the orientation in at least the horizontal direction;
A transmission / reception device that can be connected to a mobile phone with an image display function capable of displaying a moving image via a communication network, and capable of transmitting and receiving data including image data captured by the imaging device;
Comprising a coordinate detection device for detecting position coordinates in the taxiway;
When the automated guided vehicle is guided by the taxiway and is self-propelled, when the abnormality detection device detects a surrounding abnormality, the mobile phone is connected by the transmission / reception device and detected by the coordinate detection device. An unmanned transport facility characterized in that the position coordinates and the image data captured by the imaging device are transmitted to the mobile phone and displayed. The unmanned transport equipment according to claim 1, wherein when an abnormality is detected by the abnormality detection device, the imaging device changes the direction in the abnormality detection direction of the abnormality detection device. The automatic guided vehicle is provided with an abnormality alarm device,
The unmanned conveyance facility according to claim 1 or 2, wherein when an abnormality is detected by the abnormality detection device, the abnormality alarm device is driven to notify the abnormality. The automatic guided vehicle includes a sound collecting device and a sound device,
When the mobile phone and the transmission / reception device are connected, sounds collected by the sound collection device are output to the mobile phone, and sound from the mobile phone is output by the audio device. The unmanned conveyance equipment according to any one of claims 1 to 3. Comprising a sound generating device for generating sound information comprising events detected by the abnormality detecting device;
When an abnormality in the surroundings is detected by the abnormality detection device and the mobile phone and the transmission / reception device are connected, sound information including events detected by the abnormality detection device is output from the sound generation device to the sound device. The unmanned transport equipment according to claim 4, wherein the sound collected by the sound collecting device is output to the mobile phone. The automatic guided vehicle includes, as the abnormality detection device, a plurality of human sensors that detect the presence of a person,
The automatic guided vehicle according to any one of claims 1 to 5, wherein the automatic guided vehicle is stopped each time a predetermined distance is moved, and a human is detected by the human sensor. . The unmanned conveyance facility according to claim 6, wherein the predetermined moving distance is a distance in a range where detection ranges of the human sensor overlap in the route. The unmanned conveyance equipment according to any one of claims 1 to 7, wherein at least the transmission / reception device and the imaging device are unitized and can be attached to and detached from the automatic guided vehicle. The remote control operation of the automatic guided vehicle can be performed by an instruction from the mobile phone via the transmission / reception device when the mobile phone is connected to the transmission / reception device. The unmanned conveyance equipment according to any one of the above. The automatic guided vehicle according to any one of claims 1 to 9, wherein the automatic guided vehicle transports fire extinguishing equipment except for a normal operation time for transporting an article between the stations. . When detecting a surrounding abnormality by the abnormality detection device, the position coordinates detected by the coordinate detection device are transmitted to the control device,
The said control apparatus transmits the movement command data to the vicinity of the received said position coordinate with respect to each automatic guided vehicle, The automatic guided equipment of any one of Claims 1-10 characterized by the above-mentioned. . In addition to the taxiway, a dedicated taxiway that guides the automatic guided vehicle is laid, and the automatic guided vehicle can be guided and moved by the special taxiway except during normal operation time. The unmanned conveyance equipment according to any one of claims 1 to 11. The control device is provided with a second transmission / reception device that can be connected to the mobile phone via a communication network, and when connected, can transmit / receive data to / from the mobile phone,
When a plurality of routes for moving the taxiway are set in advance in the control device, and the mobile phone and the second transmission / reception device are connected, the route is set by the mobile phone and the automatic guided vehicle is activated. The automatic transmission according to any one of claims 1 to 12, wherein the control device transmits command data to each automatic guided vehicle based on the setting and activation of these routes. Facility. Equipment for transferring articles in at least one station and transporting articles along a predetermined route. A control device is provided in which a guide path is laid along the route and controls the transportation of the article. And at least one automatic guided vehicle that has a function of transmitting and receiving data to and from the control device, is guided by the guideway according to command data from the control device, and transports the article. An unmanned transport facility equipped with
In the automatic guided vehicle,
An environment detection device for detecting environmental information around the taxiway;
Comprising a coordinate detection device for detecting position coordinates in the taxiway;
When the automated guided vehicle is guided and guided by the taxiway, the surrounding environment information detected by the environment detection device and the position coordinates detected by the coordinate detection device are stored every predetermined time. Alternatively, the unmanned conveyance equipment stores ambient environment information detected by the environment detection device when the position coordinates detected by the coordinate detection device are preset position coordinates. The unmanned conveyance equipment according to claim 14, wherein a surrounding abnormality is detected based on the stored surrounding environment information. In the automatic guided vehicle,
A transmission / reception device capable of transmitting / receiving data including character data when connected to an external mobile phone capable of displaying at least character data via a communication network,
When a surrounding abnormality is detected from the stored surrounding environment information, the cellular phone is connected by the transmitting / receiving device, and the position coordinates detected by the coordinate detecting device and the surrounding abnormality data are transmitted to the cellular phone. The unmanned conveyance equipment according to claim 15, wherein transmission is performed. An unmanned conveyance facility equipped with at least one unmanned conveyance vehicle that transfers articles at at least one station and conveys the articles guided by a guide path laid along a predetermined route. ,
Comprising at least one self-propelled vehicle guided by the taxiway and self-propelled,
In the self-propelled vehicle,
An abnormality detection device for detecting an abnormality around the taxiway;
An imaging device capable of changing the orientation in at least the horizontal direction;
A transmission / reception device that can be connected to a mobile phone with an image display function capable of displaying a moving image via a communication network, and capable of transmitting and receiving data including image data captured by the imaging device;
Comprising a coordinate detection device for detecting position coordinates in the taxiway;
When the self-propelled vehicle is guided by the taxiway and is self-propelled, if the abnormality is detected by the abnormality detection device, the mobile phone is connected by the transmission / reception device and detected by the coordinate detection device. An unmanned transport facility characterized in that the position coordinates and the image data captured by the imaging device are transmitted to the mobile phone and displayed. The unmanned transport equipment according to claim 17, wherein when an abnormality is detected by the abnormality detection device, the imaging device changes a direction in an abnormality detection direction of the abnormality detection device. The self-propelled vehicle is provided with an abnormality alarm device,
The unmanned conveyance facility according to claim 17 or 18, wherein when an abnormality is detected by the abnormality detection device, the abnormality alarm device is driven to notify the abnormality. The self-propelled vehicle includes a sound collecting device and a sound device,
When the mobile phone and the transmission / reception device are connected, sounds collected by the sound collection device are output to the mobile phone, and sound from the mobile phone is output by the audio device. The unmanned conveyance equipment according to any one of items 17 to 19. Comprising a sound generating device for generating sound information comprising events detected by the abnormality detecting device;
When an abnormality in the surroundings is detected by the abnormality detection device and the mobile phone and the transmission / reception device are connected, sound information including events detected by the abnormality detection device is output from the sound generation device to the sound device. 21. The unmanned conveyance facility according to claim 20, wherein the sound collected by the sound collecting device is output to the mobile phone. The self-propelled vehicle includes a human sensor that detects the presence of a person as the abnormality detection device,
The unmanned conveyance facility according to any one of claims 17 to 21, wherein the self-propelled vehicle stops each time it moves a predetermined distance and detects a person by the human sensor. . The unmanned conveyance facility according to claim 22, wherein the predetermined moving distance is a distance in a range where detection ranges of the human sensor overlap in the route.

Images